JP2020200133A - Delivery apparatus - Google Patents

Abstract

To provide a delivery apparatus capable of delivering plate-like work-pieces one by one in an upright state.SOLUTION: A delivery apparatus 10 comprises a pushing unit 20 that presses a plurality of work-pieces lined in an upright state in a predetermined first direction, a to-be-pushed unit 30 that maintains the plurality of work-pieces in the upright state with the pushing unit 20 by undergoing a press force applied to the plurality of work-pieces pressed in the first direction by means of the pushing unit 20, and a delivery unit 40 that is provided on the to-be-pushed unit 30 and delivers a work-piece closest to the to-be-pushed unit 30 out of the plurality of work-pieces pressed in the first direction by the pushing unit 20 one at a time in an upright state in a second direction orthogonal to the first direction.SELECTED DRAWING: Figure 1

Description

The present invention relates to a feeding device that feeds out workpieces such as booklets one by one.

Conventionally, various devices have been known as devices for stacking booklets flat. For example, in the booklet flat stacking device disclosed in Patent Document 1, double-folded booklets such as bank passbooks, passports, and notebooks are sequentially drawn out from a feeding roll and dropped onto a cradle, so that the booklet is placed on the cradle. It is designed to be stacked flat.

Tokusho 7-55751

In a booklet flat stacking device as disclosed in Patent Document 1, the thickness of the fold portion of the booklet is larger than the thickness of other portions. Therefore, when a plurality of booklets are stacked flat, the surface of the uppermost booklet becomes a horizontal plane. On the other hand, it tilts. In this case, when the booklet in the flat stack state is taken out by suction by, for example, a robot arm, the surface of the top layer booklet is inclined with respect to the horizontal plane, so that the top layer booklet can be taken out successfully by suction. Was not possible in some cases. Further, even when the booklet is taken out by gripping with the robot hand, when the booklet is stacked flat on the cradle, the top layer booklet may not be gripped well with the robot hand.

The present invention has been made in consideration of such a point, and provides a feeding device capable of feeding flat plates one by one in an upright state so that they can be easily taken out by a robot arm or the like. The purpose is.

The feeding device of the present invention is a feeding device that feeds out a plurality of flat plate-shaped workpieces one by one, and is a pressing portion that pushes a plurality of workpieces arranged in an upright state in a predetermined first direction, and the pressing portion. A pressed portion that maintains a plurality of workpieces in an upright state with the pressed portion by receiving a pressing force applied to the plurality of workpieces pressed in the first direction, and a pressed portion provided on the pressed portion and said to be pressed. It is provided with a feeding portion in which the work closest to the pressed portion among the plurality of works pressed in the first direction by the portion is fed out one by one in the second direction orthogonal to the first direction in an upright state. It is characterized by that.

According to such a feeding device, flat plates can be fed one by one in an upright state so that they can be easily taken out by a robot arm or the like.

In the feeding device of the present invention, the feeding portion includes one or a plurality of first transport portions that transport the workpieces one by one in the second direction in an upright state, and downstream of the first transport portion in the second direction. It may have one or a plurality of second transport portions provided on the side and transport the workpieces delivered from the first transport portion one by one in the second direction in an upright state.

In this case, the feeding device of the present invention further includes a control unit that controls the feeding unit, and the control unit conveys the work in the second direction by the first conveying portion, and the work is conveyed by the first conveying portion. The feeding portion may be controlled so as to stop the first transport portion after the portion is delivered to the second transport portion.

Alternatively, the feeding device of the present invention further includes a control unit that controls the feeding unit, and the control unit causes the work to be conveyed in the second direction by the first conveying portion, and the work is conveyed to the first conveying portion. The feeding portion may be controlled so that the first conveying portion is moved in the direction opposite to the second direction after being delivered to the second conveying portion.

Further, in the feeding portion, there may be an overlapping region in which a part of the first transport portion and a part of the second transport portion overlap along the second direction.

In this case, the reversing roller is provided in the feeding portion so as to face the overlapping region in a part of the first conveying portion and a part of the second conveying portion, and the reversing roller and the first conveying portion are provided. A gap may be formed between the portion and the second transport portion for the work to pass through.

Further, a plurality of the first transport portions are provided so as to be arranged in parallel, and a plurality of the second transport portions are provided so as to be arranged in parallel, and the interval between the first transport portions and the interval between the second transport portions are set. They may be substantially the same size.

Further, the first transport portion and the second transport portion may each have an endless belt.

Further, the feeding device of the present invention further includes an accumulating portion in which the work unleashed by the feeding portion is accumulated in an upright state, and the accumulating portion prepares the work unwound by the feeding portion to a predetermined ejection position. It may have a third transport portion that transports in the second direction in an upright state.

In this case, the feeding device of the present invention further includes a work information receiving means for receiving information regarding the type of the work, and the amount of the work conveyed by the third conveying portion relates to the type of the work received by the work information receiving means. It may be determined by information.

Further, the feeding device of the present invention has information on a detection unit that detects the work when the work by the third transport portion is transported to a predetermined take-out position and the type of the work received by the work information receiving means. If the work is not detected by the detection unit after the work has been transported by the third transport portion by the transport amount determined based on the above, an error information output unit that outputs information that an error has occurred, and an error information output unit. May be further provided.

According to the feeding device of the present invention, the flat plate-shaped workpieces can be fed one by one in an upright state.

It is a perspective view which shows the appearance of the feeding device by embodiment of this invention. FIG. 3 is a perspective view showing a pair of left and right endless belts, a pressing member, and a booklet mounted on each belt in the feeding device shown in FIG. It is a top view of the feeding device shown in FIG. It is a side view which shows the structure of the feeding part in the feeding device shown in FIG. It is a side view which shows the structure of the integrated part in the feeding device shown in FIG. It is a side view which shows the structure of the width adjustment part in the feeding device shown in FIG. It is a side view which shows the structure of the gate thickness adjustment part in the feeding device shown in FIG. It is a figure which shows the structure of the control system of the feeding device shown in FIG. 6 is a graph showing the states of the first motor to the fourth motor and the first sensor to the third sensor in the feeding device shown in FIG. 1 over time. It is a perspective view which shows the appearance of the feeding device which concerns on a modification.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 9 are diagrams showing a feeding device according to the present embodiment. In the feeding device according to the present embodiment, a plurality of booklets (workpieces) arranged in an upright state are fed one by one, and the drawn booklets can be picked up by a robot hand (not shown). The booklet may be a booklet that is folded in half or in four, such as an instruction manual. In FIGS. 2, 5 and 6, such a booklet is indicated by reference numeral W. Further, in FIGS. 1 to 5, the first direction is indicated by an arrow A, and the second direction, which is a direction orthogonal to the first direction, is indicated by an arrow B. The configuration of such a feeding device will be described below.

As shown in FIGS. 1 to 3, the feeding device 10 according to the present embodiment presses a plurality of booklets arranged in an upright state in a predetermined first direction (direction indicated by arrow A in FIGS. 1 and 3). The pressing portion 20 and the pressed portion 30 that keeps the plurality of booklets in an upright state between the pressing portion 20 by receiving the pressing pressure applied to the plurality of booklets pressed in the first direction by the pressing portion 20. I have. Further, the booklet closest to the pressed portion 30 among the plurality of booklets pressed in the first direction by the pressed portion 20 is placed on the pressed portion 30 in the second direction (FIGS. 1 and 3) orthogonal to the first direction. In the direction indicated by the arrow B), the feeding portions 40 are provided one by one in an upright state. In FIG. 3, the pressed portion 30 is shown by a chain double-dashed line in order to make each component of the feeding portion 40 easy to see. Further, in the feeding device 10 of the present embodiment, the booklet fed in an upright state by the feeding section 40 is sent to the collecting section 70. Details of each component of the pressing portion 20, the pressed portion 30, the feeding portion 40, and the integrated portion 70 in the feeding device 10 will be described below.

As shown in FIGS. 1 to 3, the pressing portion 20 has a pair of left and right endless belts 22 extending in parallel with each other in the horizontal direction, a plate-shaped pressing member 24, and a pressing member 24 pressed against the pressed portion 30. It has a drive mechanism 25 for moving toward, and a pair of left and right detection sensors 26 for detecting whether or not a booklet is placed on each belt 22. Each endless belt 22 extends in the vertical direction in FIG. 3, and a plurality of booklets arranged in an upright state are placed on each belt 22 so as to straddle a pair of left and right belts 22. Each belt 22 is driven by a motor (not shown) so that the booklet placed on each belt 22 moves in the direction of the arrow in FIG. A plurality of booklets are placed on each belt 22 in an upright state so that the folded portion of each booklet is in contact with each belt 22. Further, various types (that is, various sizes) of booklets are placed on each belt 22.

The pressing member 24 comes into contact with the booklet located on the side farthest from the pressed portion 30 among the plurality of booklets placed on each belt 22. Then, when the pressing member 24 is moved toward the pressed portion 30 by the drive mechanism 25, a plurality of booklets placed on each belt 22 are pressed toward the pressed portion 30. ..

As shown in FIG. 3, the pair of left and right detection sensors 26 that detect whether or not a booklet is placed on each belt 22 have a light emitting element 26a and a light receiving element 26b, respectively. In each detection sensor 26, the light emitted from the light emitting element 26a is received by the light receiving element 26b through the optical path 26c. When no booklet is placed on each belt 22, the light emitted from the light emitting element 26a is received by the light receiving element 26b through the optical path 26c. As a result, the detection sensor 26 detects that no booklet is placed on each belt 22. On the other hand, when at least one booklet is placed on each belt 22, the optical path 26c is blocked by this booklet, so that the light emitted from the light emitting element 26a cannot be received by the light receiving element 26b. As a result, the detection sensor 26 detects that the booklet is placed on each belt 22.

As shown in FIG. 4, the pressed portion 30 has a base member 31 and a contact member 32 such as a sheet metal that contacts the first booklet among the plurality of booklets pressed in the first direction by the pressing portion 20. The contacted member 32 is attached to the base member 31 by a spring (not shown). Further, the base member 31 is provided with a contact sensor 34 at a position slightly away from the contacted member 32. Then, when the booklet is pressed in the first direction by the pressing portion 20 and the spring is contracted by the leading booklet pushing the contacted member 32, the contacted member 32 pushed by the booklet from a predetermined position is pressed against the contact sensor 34. Upon contact, the contacted member 32 is detected by the contact sensor 34. In this way, the contact sensor 34 detects that the booklet pressed in the first direction by the pressing portion 20 is pushing the contacted member 32.

As shown in FIGS. 3 and 4, the feeding portion 40 includes three endless belts 42 (first transport portions) extending parallel to the base member 31 of the pressed portion 30, and each belt 42 is stretched. A plurality of pulleys 44, a shaft 45 attached to one of the plurality of pulleys 44 corresponding to each belt 42, and a first motor 46 capable of rotating the shaft 45 in both forward and reverse directions. have. Each belt 42 extends parallel to each other. Then, the booklet pressed against the contacted member 32 of the pressed portion 30 by the pressing portion 20 is fed out by each belt 42 in the left direction (the second direction orthogonal to the first direction described above) in FIG. There is.

Further, the feeding portion 40 includes two endless belts 48 (second transport portions) extending parallel to the base member 31 of the pressed portion 30, and a plurality of pulleys 50 on which each belt 48 is stretched. It has a shaft 51 attached to one of the plurality of pulleys 50 corresponding to each belt 48, and a second motor 52 capable of rotating the shaft 51 in both forward and reverse directions. Further, as shown in FIG. 4, each belt 48 is also stretched on the pulley 49. Each belt 48 extends parallel to each other. Further, the distance between the belts 42 and the distance between the belts 48 are substantially the same size. Further, along the second direction (that is, the left-right direction in FIG. 4), there is an overlapping region (indicated by reference numeral M in FIG. 4) in which a part of each belt 42 and a part of each belt 48 overlap. Then, the booklet conveyed in the second direction by each belt 42 is delivered from each belt 42 to each belt 48, and is continuously conveyed in the second direction by each belt 48.

Further, a reversing roller 54 is provided at a position facing the pulley 49 in each belt 48, and a shaft 55 is connected to each reversing roller 54. In addition, a third motor 56 that rotates the shaft 55 in one direction is provided. By such a third motor 56, each reversing roller 54 is rotated in a direction opposite to the direction in which the booklet is conveyed by each belt 48. Here, as shown in FIG. 4, each reversing roller 54 is arranged at a position facing the overlapping region (indicated by reference numeral M in FIG. 4) of each belt 42 and each belt 48. Further, a gap (gate) slightly larger than the thickness of the booklet to be fed out by the feeding portion 40 is formed between each belt 48 and each reversing roller 54, and is conveyed by each belt 42 and each belt 48. The booklet to be produced is conveyed in the second direction through a gate between each belt 48 and each reversing roller 54. Further, since the gap between each belt 48 and each reversing roller 54 is slightly larger than the thickness of the booklet to be fed out by the feeding portion 40, the booklets are fed out in a state where two booklets are overlapped by each belt 42. Even if this happens, the booklets in this overlapping state can be separated one by one by a gate formed between each belt 48 and each reversing roller 54.

As shown in FIG. 4, rollers 58 are arranged on the downstream side of each belt 48 in the second direction (that is, the left direction in FIG. 4), and the booklet conveyed by each belt 48 is delivered to the rollers 58. The roller 58 guides the booklet to the belt 72 of the accumulating portion 70, which will be described later.

Further, in the feeding portion 40, an elongated guide member (not shown) having a concave cross section is arranged at the bottom of a portion corresponding to each belt 48 or roller 58 in the second direction. Such a guide member extends linearly along the second direction. The lower end edge of the booklet conveyed by each of the belts 48 and the rollers 58 is adapted to enter the concave groove of the guide member. As a result, the booklet conveyed by each of the belts 48 and the rollers 58 can be guided by the guide member.

Further, as shown in FIGS. 3 and 4, a first sensor 60 is provided in the vicinity of each pulley 50 to which the shaft 51 is attached. The first sensor 60 is composed of, for example, an optical sensor, and when the booklet conveyed by each belt 48 reaches each pulley 50 on the downstream side, the booklet is detected by the first sensor 60. A second sensor 62 is provided in the vicinity of the roller 58. The second sensor 62 is composed of, for example, an optical sensor, and when the booklet conveyed by each belt 48 is delivered to the roller 58, the booklet is detected by the second sensor 62.

As shown in FIGS. 1, 3 and 5, the integrated portion 70 includes a pair of rollers 71, an endless belt 72 extending parallel to the base member 31 of the pressed portion 30, and a belt 72 stretched. A plurality of pulleys 75, a fourth motor 76 capable of rotating one of the plurality of pulleys 75 in both forward and reverse directions, and a shaft attached to another pulley 75 of the plurality of pulleys 75. It has a 77 and a roller 73 attached to the shaft 77. Further, a protrusion 74 is attached to the surface of the belt 72, and the protrusion 74 is provided with a pair of pushing members 74a. When the pulley 75 is driven by the fourth motor 76, the belt 72 circulates and moves, so that the booklet is pushed by the pushing member 74a and conveyed in an upright state in the direction indicated by the arrow B in FIG. Will be done. Further, the roller 73 also rotates as the shaft 77 rotates due to the circulation movement of the belt 72. By such an operation of the roller 73 and the belt 72, the booklet sent from the feeding section 40 to the stacking section 70 is conveyed to the location indicated by the reference numeral W in FIG. Further, an encoder is attached to the fourth motor 76, and the amount of rotation of the fourth motor 76 is detected by this encoder. This makes it possible to detect the amount of movement of the protrusion 74 attached to the belt 72. When the booklet is conveyed in an upright position to the location indicated by reference numeral W in FIG. 5, the booklet is picked up by a robot hand (not shown). Further, as shown in FIG. 5, the integrating unit 70 is provided with a third sensor 78 (for example, a contact sensor) that detects a booklet conveyed to the location indicated by the reference numeral W in FIG. As a result, the robot hand is driven by the detection of the booklet by the third sensor 78 as a trigger, so that the robot hand can pick up the booklet from the stacking unit 70.

Further, an elongated guide member (not shown) having a concave cross section is arranged at the bottom of the integrated portion 70. Such a guide member extends linearly along the second direction. The lower end edge of the booklet pushed by each pushing member 74a of the protrusion 74 is adapted to enter the concave groove of the guide member. As a result, the booklet pushed by each pushing member 74a of the protrusion 74 can be guided by the guide member.

Further, the feeding device 10 is provided with a width adjusting portion 80 for adjusting the width of the space on which the booklet is placed on each belt 22 of the pressing portion 20. Details of the configuration of the width adjusting unit 80 will be described with reference to FIGS. 6 and 7. In FIG. 6, a booklet mounted on each belt 22 of the pressing portion 20 is indicated by reference numeral W. As shown in FIGS. 6 and 7, the width adjusting portion 80 supports the width adjusting member 82 that contacts the side edge portion of the booklet placed on each belt 22 of the pressing portion 20 and the width adjusting member 82. A support member 84, a cylindrical member 85 attached to the base end portion of the support member 84, a ball screw 86 extending in the width direction of a booklet placed on each belt 22, and a ball screw 86 in both forward and reverse directions. It has a fifth motor 88 that can be rotated to. Here, the cylindrical member 85 is fitted into the ball screw 86, and a female screw portion corresponding to the male screw portion of the ball screw 86 is formed on the inner peripheral surface of the cylindrical member 85. As a result, when the cylindrical member 85 rotates the ball screw 86, the cylindrical member 85 moves in the left-right direction in FIG. 6, so that the width adjusting member 82 supported by the support member 84 also moves left and right in FIG. Move in the direction. In this way, the width of the space on which the booklet is placed on each belt 22 of the pressing portion 20 can be adjusted by the width adjusting member 82.

Further, the feeding device 10 is provided with a gate thickness adjusting portion 90 for adjusting the position of the reversing roller 54 with respect to each belt 42 of the feeding portion 40 and each belt 48. The details of the configuration of the gate thickness adjusting unit 90 will be described with reference to FIG. 7. As shown in FIG. 7, the gate thickness adjusting unit 90 includes a base member 92, a pair of linear guides 94 that support the base member 92 and guide the base member 92 in a direction orthogonal to the paper surface in FIG. A sixth motor 96 capable of reciprocating the base member 92 in a direction orthogonal to the paper surface in FIG. 7, and a detected portion 92a attached to the base member 92 when the base member 92 is in the initial position. It has an origin sensor 97 for detecting the above, and a limit sensor 98 for detecting when the base member 92 deviates from a predetermined movement range. Each belt 22, the pressing member 24, and the driving mechanism 25 of the pressing portion 20 are mounted on the base member 92. Further, each reversing roller 54, a shaft 55, and a third motor 56 of the feeding portion 40 are mounted on the base member 92. Further, the width adjusting member 82 of the width adjusting portion 80 and the fifth motor 88 are mounted on the base member 92. As a result, when the base member 92 is reciprocated along each linear guide 94 by the sixth motor 96 in a direction orthogonal to the paper surface in FIG. 7, each belt 22 of the pressing portion 20 and each reversing roller of the feeding portion 40 The 54 is integrally moved in the vertical direction in FIG. By such an operation, the size of the width of the gate formed between each belt 48 of the feeding portion 40 and each reversing roller 54 changes. By moving the base member 92 by the sixth motor 96 in this way, the width of the gate formed between each belt 48 of the feeding portion 40 and each reversing roller 54 can be adjusted. ..

Next, the configuration of the control system of the feeding device 10 will be described with reference to FIG. As shown in FIG. 8, the feeding device 10 has a control unit 12 such as a CPU, and the control unit 12 includes a pressing unit 20, a pressed unit 30, a feeding unit 40, an integrated unit 70, and a width adjusting unit 80. And each component such as the gate thickness adjusting unit 90 is connected to each other. Here, the control unit 12 sends a command signal to each component such as the pressing unit 20, the pressed unit 30, the feeding unit 40, the integrated unit 70, the width adjusting unit 80, and the gate thickness adjusting unit 90. It is designed to control the components. Further, the detection information by the detection unit such as the sensor provided in each component such as the pressing unit 20, the pressed unit 30, the feeding unit 40, the integrated unit 70, the width adjusting unit 80, and the gate thickness adjusting unit 90 is the control unit. It is supposed to be sent to 12.

Further, as shown in FIG. 8, a communication interface unit 14, an error information output unit 16, and a storage unit 18 are connected to the control unit 12, respectively. The communication interface unit 14 is used to transmit and receive a signal to an external device such as a host terminal provided separately from the feeding device 10. Further, in the present embodiment, information regarding the type of booklet to be processed by the feeding device 10 is sent from the external device to the control unit 12 via the communication interface unit 14. In this way, the communication interface unit 14 also functions as a work information receiving means for receiving the information (work information) of the booklet. Further, the error information output unit 16 outputs error information when an error occurs during the booklet feeding operation by the feeding device 10. The details of the content of the error information output by the error information output unit 16 and the method of outputting the error information will be described later. Further, the storage unit 18 is a memory such as a ROM or RAM that stores information such as setting information of the feeding device 10 and a history of a booklet feeding operation by the feeding device 10.

Next, the details of the operation of the feeding device 10 will be described with reference to the graph shown in FIG.

First, the operator places a plurality of booklets in an upright state on each belt 22 in the pressing portion 20 of the feeding device 10. The booklet placed on each belt 22 is detected by the detection sensor 26. Further, before the booklet feeding operation is performed by the feeding device 10, information regarding the type of booklet to be processed by the feeding device 10 is sent from an external device such as a host terminal to the control unit 12 via the communication interface unit 14. Be done. Based on the information regarding the type of booklet received by the communication interface unit 14, the control unit 12 makes the width adjusting member 82 contact the side edge portion of the booklet having the widest width among the booklets placed on each belt 22. , The width adjusting unit 80 (specifically, the fifth motor 88) is controlled. Further, in the control unit 12, the width of the gate formed between each belt 48 and each reversing roller 54 is placed on each belt 22 based on the information regarding the type of booklet received by the communication interface unit 14. The gate thickness adjusting unit 90 (specifically, the sixth motor 96) is controlled so that the thickness of the booklet is slightly larger than the thickness of the thickest booklet.

A plurality of booklets are placed on each belt 22 in the pressing portion 20 in an upright state, and after the booklet placed on each belt 22 is detected by the detection sensor 26, the booklet is transmitted from an external device such as a host terminal. When a signal related to the feeding start command is sent to the control unit 12 via the communication interface unit 14, a booklet placed on each belt 22 is moved by a motor (not shown) in the direction of arrow A in FIG. 2 (first direction). Each belt 22 is driven to move to. Further, when the signal related to the booklet feeding start command is sent to the control unit 12, the pressing member 24 is moved toward the pressed unit 30 (that is, in the first direction) by the drive mechanism 25. As a result, a plurality of booklets placed on each belt 22 are pressed toward the pressed portion 30. When a signal related to the booklet feeding start command is sent to the control unit 12, the detection sensor 26 detects the booklet placed on each belt 22 instead of driving each belt 22 and the pressing member 24. The belt 22 and the pressing member 24 may be driven even if the signal related to the booklet feeding start command is not sent to the control unit 12. Then, when it is detected by the contact sensor 34 of the pressed portion 30 that the booklet pressed in the first direction by each belt 22 or the pressing member 24 is pushing the contacted member 32, each belt 22 And the operation of the pressing member 24 is stopped.

Further, when the contact sensor 34 of the pressed portion 30 detects that the booklet pressed in the first direction by each belt 22 or the pressing member 24 is pushing the contacted member 32, the feeding portion 40 The first motor 46, the second motor 52, and the third motor 56 rotate in the normal direction, and each belt 42 and each belt 48 move in the left direction (second direction) in FIG. Further, the reversing roller 54 rotates in the direction opposite to the feeding direction of the booklet by each belt 42 and each belt 48. As a result, the booklets pressed against the contacted member 32 of the pressed portion 30 by the pressing portion 20 (specifically, each belt 22 and the pressing member 24) are one by each belt 42 in the left direction in FIG. It is conveyed in an upright position, the booklet is delivered from each belt 42 to each belt 48, and the booklet is continuously conveyed by each belt 48. Further, the booklet conveyed by each belt 42 and each belt 48 passes through a gate formed between each belt 48 and the reversing roller 54. Here, the width of the gate formed between each belt 48 and each reversing roller 54 by the gate thickness adjusting unit 90 is the thickest booklet among the booklets placed on each belt 22. It is adjusted to be slightly larger than the thickness. Therefore, even if the booklets are fed out in a state where two booklets are overlapped by each belt 42, the booklets in this overlapped state are combined into one by a gate formed between each belt 48 and each reversing roller 54. It will be possible to separate.

Further, in the present embodiment, as shown in the graph of FIG. 9, in the vicinity of the pulley 50 on the downstream side (that is, the pulley 50 attached to the shaft 51) of the pair of pulleys 50 on which each belt 48 is stretched. When the booklet fed by each belt 42 is detected by the first sensor 60 provided in the above, the first motor 46, the second motor 52, and the third motor 56 of the feeding unit 40 are stopped, respectively. After that, the second motor 52 and the third motor 56 rotate forward again, but the first motor 46 reverses. As a result, each belt 48 moves again in the left direction (second direction) in FIG. 4, but each belt 42 moves in the direction opposite to the second direction (that is, the right direction in FIG. 4). Here, there is one booklet unwound by each belt 42, and when this one booklet passes through a gate formed between each belt 48 and each reversing roller 54, the first motor 46 moves. Since this booklet is delivered from each belt 42 to each belt 48 before reversing, the booklet is continuously conveyed in the second direction by each belt 48. On the other hand, when the booklets are fed out in a state where two booklets are overlapped by each belt 42, the booklets are separated into one by a gate formed between each belt 48 and each reversing roller 54, and then 2 The second and subsequent booklets are conveyed by the belts 42 in the direction opposite to the second direction, and the booklets are returned to the positions between the pressing portion 20 and the pressed portion 30. In this way, even when the booklets are fed out in a state where two booklets are overlapped by each belt 42, the booklet feeding operation can be continuously performed without stopping the feeding device 10. After that, the booklet conveyed by each belt 48 is detected by the second sensor 62.

As shown in the graph of FIG. 9, after the booklet is detected by the second sensor 62, the booklet is further conveyed by each belt 48, and when this booklet is not detected by the second sensor 62, the booklet is fed out. It is delivered from 40 to the accumulation unit 70. Further, when the booklet conveyed by each belt 48 is not detected by the second sensor 62, the first motor 46, the second motor 52, and the third motor 56 are stopped, respectively. Further, when the booklet conveyed by each belt 48 is no longer detected by the second sensor 62, the fourth motor 76 rotates in the normal direction. As a result, the belt 72 and the protrusion 74 attached to the belt 72 move from the initial position (position shown in FIG. 5) to the second direction (that is, to the right in FIG. 5). In this way, the booklet delivered from the feeding portion 40 to the collecting portion 70 is pushed by each pushing member 74a of the protruding portion 74 attached to the surface of the belt 72, and the direction indicated by the arrow B in FIG. (That is, it is conveyed in the second direction). Then, when the booklet is conveyed to the location indicated by the reference numeral W in FIG. 5 by being provided on the belt 72, this booklet is detected by the third sensor 78. When the booklet is detected by the third sensor 78, the fourth motor 76 reverses and the protrusion 74 returns to the initial position. Further, a robot hand (not shown) is driven by the detection of the booklet by the third sensor 78 as a trigger, and the booklet located at the position indicated by the reference numeral W in FIG. 5 is picked up from the accumulating unit 70 by the robot hand.

When the booklet is picked up by the robot hand and the booklet is no longer detected by the third sensor 78, the belts 22 and the pressing member 24 of the pressing portion 20 are driven again. Then, when it is detected by the contact sensor 34 of the pressed portion 30 that the booklet pressed in the first direction by each belt 22 or the pressing member 24 is pushing the contacted member 32, the feeding portion 40 The first motor 46, the second motor 52, and the third motor 56 rotate in the normal direction. As a result, the next booklet will be paid out from the feeding unit 40. Such an operation is repeated until the booklet on each belt 22 is no longer detected by the detection sensor 26. When the booklet on each belt 22 is no longer detected by the detection sensor 26, the booklet feeding operation by the feeding device 10 is completed.

In this embodiment, when the booklet is conveyed by being pushed by each pushing member 74a of the protrusion 74 in the accumulating portion 70, the booklet is held until the booklet is detected by the third sensor 78. The mode is not limited to a mode in which the protrusion 74 is pushed by each pushing member 74a. As another example, even if the control unit 12 presets the amount of movement of the booklet by each pushing member 74a of the protrusion 74 based on the information regarding the type of booklet received by the communication interface unit 14. Good. In this case, when the booklet is delivered from the feeding section 40 to the collecting section 70 and the booklet is no longer detected by the second sensor 62, the fourth motor 76 moves the belt 72 by the set amount of movement. Turns forward. As a result, it is pushed by each pushing member 74a of the protrusion 74 and conveyed in the direction indicated by the arrow B in FIG. 5 (that is, the second direction). However, if the booklet is not detected by the third sensor 78 even if each pushing member 74a of the protrusion 74 moves by a preset amount of movement, the type of booklet received by the communication interface unit 14 and the actual type of booklet are actually used. There is a possibility that the type of booklet placed on the belt 22 does not match. In this case, the error information output unit 16 outputs information indicating that an error has occurred. Specifically, information indicating that an error has occurred is announced by voice by a voice unit (not shown) such as a speaker provided in the feeding device 10, or an error lamp (not shown) provided in the feeding device 10. ) Lights up. Alternatively, the information output by the error information output unit 16 to the effect that an error has occurred is transmitted to an external device such as a host terminal via the communication interface unit 14 and displayed on the monitor or the like of this external device. It may be.

According to the feeding device 10 of the present embodiment having the above configuration, a plurality of booklets arranged in an upright state are pressed by the pressing portion 20 in a predetermined first direction, and the pressed portion 30 is the pressing portion. By receiving the pressing force applied to the plurality of booklets pressed in the first direction by 20, the plurality of booklets are maintained in an upright state with the pressing portion 20. Then, the feeding portion 40 provided in the pressed portion 30 selects the booklet closest to the pressed portion 30 among the plurality of booklets pressed in the first direction by the pressing portion 20 in the second direction orthogonal to the first direction. One by one in a standing position. As a result, the flat plate-shaped booklets can be drawn out one by one in an upright state so that they can be easily taken out by a robot arm or the like.

Further, in the feeding device 10 of the present embodiment, the feeding unit 40 includes one or a plurality of first transport portions (specifically, the belt 42) that transport the booklets one by one in the second direction in an upright state. , One or a plurality of second transport portions (specifically,) which are provided on the downstream side of the first transport portion in the second direction and transport the booklets delivered from the first transport portion one by one in an upright state in the second direction. Has a belt 48) and. Further, a control unit 12 for controlling the feeding unit 40 is provided, and the control unit 12 transports the booklet in the second direction by each belt 42 as the first transport portion, and transfers the booklet from the first transport portion to the second transport portion. The feeding portion 40 is controlled so that the first transport portion is moved in the direction opposite to the second direction after being delivered to the transport portion. In this case, even when the booklets are fed in a state where two booklets are overlapped by the first transport portion, the second and subsequent booklets are pressed by the first transport portion that moves in the direction opposite to the second direction. It is returned to the position between the pressed portion 30 and the pressed portion 30. In this way, even when the booklet is fed in a state where two booklets are overlapped by the first transport portion, the booklet can be continuously fed out without stopping the feeding device 10.

In the present embodiment, the booklet is transported in the second direction by each belt 42 as the first transport portion, the booklet is delivered from the first transport portion to the second transport portion, and then the first transport portion is transferred to the second transport portion. Instead of moving in the direction opposite to the direction, the control unit 12 may control the feeding unit 40 so as to stop the first conveying unit. Even in this case, it is necessary to prevent the second and subsequent booklets from being delivered from the first transport portion to the second transport portion when the booklets are fed out in a state where two booklets are overlapped by the first transport portion. Will be able to. Therefore, even when the booklet is fed in a state where two booklets are overlapped by the first transport portion, the booklet can be continuously fed out without stopping the feeding device 10.

Further, in the feeding device 10 of the present embodiment, in the feeding portion 40, a part of the first conveying portion (specifically, the belt 42) and the second conveying portion (specifically, the belt 42) along the second direction. , There is an overlapping region (indicated by reference numeral M in FIG. 4) in which a part of the belt 48) overlaps. As a result, the booklet can be smoothly delivered from the first transport portion to the second transport portion. Further, in the feeding portion 40, a reversing roller 54 is provided so as to face the overlapping region in a part of the first conveying portion and a part of the second conveying portion, and the reversing roller 54, the first conveying portion and the second conveying portion are provided. A gap (gate) for the booklet to pass through is formed between the transport portion and the transport portion. In this case, when the booklet is delivered in a state where two booklets are overlapped by the first transport portion, the second and subsequent booklets are reversed rollers when the booklet is delivered from the first transport portion to the second transport portion. Since they are separated by 54, the booklets can be transported one by one by the second transport portion.

Further, in the feeding device 10 of the present embodiment, a plurality of first transport portions are provided so as to be lined up in parallel, and a plurality of second transport portions are provided so as to be lined up in parallel. The distance between the two transport portions is approximately the same. Further, each of the first transport portion and the second transport portion has an endless belt. In the present embodiment, the first transport portion and the second transport portion are not limited to the endless belt. As the first transport portion and the second transport portion, those other than the endless belt may be used as long as the booklet can be transported in an upright state.

Further, in the feeding device 10 of the present embodiment, a collecting section 70 is provided in which the booklets fed by the feeding section 40 are accumulated in an upright state, and the stacking section 70 is a booklet fed by the feeding section 40. It has a third transport portion (projection portion 74) that transports the head to a predetermined take-out position in a second direction in an upright state. In this case, the booklet conveyed by the third conveying portion to the predetermined take-out position of the accumulating portion 70 can be picked up by, for example, a robot hand. Further, since the take-out position of the booklet picked up by the robot hand is set to a predetermined position at this time, it is possible to suppress the occurrence of an error such as a take-out failure when performing the take-out operation. Further, a communication interface unit 14 is provided as a work information receiving means for receiving information on the type of the booklet, and the amount of the booklet transported by the third transporting portion is determined by the information on the type of the booklet received by the work information receiving means. It has become like. Further, a third sensor 78 is provided as a detection unit that detects the booklet when the booklet by the third transport portion is transported to a predetermined take-out position, and information on the type of booklet received by the work information receiving means. If the booklet is not detected by the third sensor 78 after the booklet is transported by the third transport portion by the transport amount determined based on the above, the error information output unit 16 outputs information indicating that an error has occurred. To. In this case, the operator is informed that the type of booklet received by the work information receiving means may not match the type of booklet actually placed on each belt 22 of the feeding device 10. It can be notified.

The feeding device according to the present embodiment is not limited to the above-described mode, and various changes can be made.

For example, the work delivered by the feeding device according to the present embodiment is not limited to the booklet. If it is a flat plate, workpieces other than the booklet can also be fed by the feeding device according to the present embodiment.

Further, the feeding portion is not limited to the one composed of the first feeding portion and the second feeding portion. Instead of using a feeding portion in which an upstream belt and a downstream belt are provided, one belt or a plurality of belts extending in parallel with each other feeds the booklet from the upstream side to the downstream side at once. It may be used.

Further, in the feeding device according to the present embodiment, the installation of the above-mentioned integrated unit 70 may be omitted. In this case, the booklet that is fed upright by the feeding unit is picked up by the robot hand as it is. Such a feeding device will be described below with reference to FIG. In FIG. 10, the flat plate-shaped work to be unwound by the feeding device is not a booklet, but a small box (specifically, a folded one in a state before being unfolded into a substantially rectangular parallelepiped shape) for accommodating confectionery. ..

The feeding device 110 shown in FIG. 10 includes a pressing portion 120 that presses a plurality of workpieces (indicated by reference numeral W in FIG. 10) arranged in an upright state in a predetermined first direction (direction indicated by an arrow A in FIG. 10). It is provided with a pressed portion 130 that maintains a plurality of workpieces in an upright state with the pressing portion 120 by receiving a pressing force applied to the plurality of works pressed in the first direction by the pressing portion 120. Further, on the pressed portion 130, the work closest to the pressed portion 130 among the plurality of works pressed in the first direction by the pressing portion 120 is placed in the second direction orthogonal to the first direction (arrow B in FIG. 10). The feeding portions 140 are provided one by one in the upright state (direction indicated by). Further, in the feeding device 110 shown in FIG. 10, the work delivered in the upright state by the feeding unit 140 is picked up by the robot hand. Details of each component of the pressing portion 120, the pressed portion 130, and the feeding portion 140 in the feeding device 110 according to such a modification will be described below.

As shown in FIG. 10, the pressing portion 120 is a drive mechanism for moving the pair of base members 122 and 123 on which the work is placed, the plate-shaped pressing member 124, and the pressing member 124 toward the pressed portion 130. It has 125 and a detection sensor (not shown) that detects whether or not a work is placed on the base members 122 and 123. Each of the base members 122 and 123 extends along the first direction, and a plurality of workpieces arranged in an upright state are placed on the base members 122 and 123. More specifically, each of the base members 122 and 123 is composed of a sheet metal having an L-shaped cross section, and both ends of the lower end edge of the upright work are placed on the base members 122 and 123. It has become. Further, various types (that is, various sizes) of workpieces are placed on the base members 122 and 123. Here, one of the two base members 122 and 123, the base member 123, can move in the width direction (that is, the direction orthogonal to the first direction) of the work placed on the base members 122 and 123. The width of the space on which the work is placed on the base members 122 and 123 can be adjusted by the base member 123. Further, the pressing member 124 comes into contact with the work located on the side farthest from the pressed portion 130 among the plurality of works placed on the base members 122 and 123. Then, when the pressing member 124 is moved toward the pressed portion 130 by the drive mechanism 125, a plurality of workpieces placed on the base members 122 and 123 are pressed toward the pressed portion 130. ing.

The pressed portion 130 of the feeding device 110 has substantially the same configuration as the pressed portion 30 of the feeding device 10 shown in FIGS. 1 to 9. Further, the feeding section 140 of the feeding device 110 has substantially the same configuration as the feeding section 40 of the feeding device 10 shown in FIGS. 1 to 10.

According to such a feeding device 110, similarly to the feeding device 10 shown in FIGS. 1 to 9, a plurality of workpieces arranged in an upright state are pressed by the pressing portion 120 in a predetermined first direction, and the pressed portion is pressed. The 130 keeps the plurality of works in an upright state with the pressing portion 120 by receiving the pressing pressure applied to the plurality of works pressed in the first direction by the pressing portion 120. Then, the feeding portion 140 provided in the pressed portion 130 makes the work closest to the pressed portion 130 among the plurality of works pressed in the first direction by the pressing portion 120 in the second direction orthogonal to the first direction. One by one in a standing position. As a result, the flat plate-shaped workpieces can be fed out one by one in an upright state so that they can be easily taken out by a robot arm or the like.

10 Feeding device 12 Control unit 14 Communication interface unit 16 Error information output unit 18 Storage unit 20 Pressing unit 22 Belt 24 Pressing member 25 Drive mechanism 26 Detection sensor 26a Light emitting element 26b Light receiving element 26c Optical path 30 Pressed unit 31 Base member 32 Contact Member 34 Contact type sensor 40 Feeding part 42 Belt 44 Pulley 45 Shaft 46 First motor 48 Belt 49 Pulley 50 Pulley 51 Shaft 52 Second motor 54 Reverse roller 55 Shaft 56 Third motor 58 Roller 60 First sensor 62 Second sensor 70 Integrated part 71 Roller 72 Belt 73 Roller 74 Protruding part 74a Pushing member 75 Pulley 76 4th motor 77 Shaft 78 3rd sensor 80 Width adjusting part 82 Width adjusting member 84 Support member 85 Cylindrical member 86 Ball screw 88 5th motor 90 Gate thickness adjustment part 92 Base member 92a Detected part 94 Linear guide 96 6th motor 97 Origin sensor 98 Limit sensor 110 Feeding device 120 Pushing part 122, 123 Base member 124 Pushing member 125 Drive mechanism 130 Pushed part 140 Feeding part

Claims (11)

It is a feeding device that feeds out a plurality of flat plates one by one.
A pressing portion that presses a plurality of workpieces arranged in an upright position in a predetermined first direction,
A pressed portion that maintains a plurality of workpieces in an upright state with the pressing portion by receiving a pressing force applied to the plurality of workpieces pressed in the first direction by the pressing portion.
Of the plurality of works provided on the pressed portion and pressed in the first direction by the pressing portion, the work closest to the pressed portion stands up one by one in the second direction orthogonal to the first direction. With the feeding part that feeds out in the state,
A feeding device equipped with. The feeding portion is provided on the downstream side of one or a plurality of first transport portions for transporting the workpieces one by one in the second direction in an upright state and the first transport portion in the second direction. The feeding device according to claim 1, further comprising one or a plurality of second transport portions that transport the workpieces delivered from the transport portions one by one in an upright state in the second direction. A control unit for controlling the feeding unit is further provided.
The control unit transports the work in the second direction by the first transport portion, delivers the work from the first transport portion to the second transport portion, and then stops the first transport portion. The feeding device according to claim 2, which controls a unit. A control unit for controlling the feeding unit is further provided.
The control unit transports the work in the second direction by the first transport portion, transfers the work from the first transport portion to the second transport portion, and then transfers the first transport portion to the second direction. 2. The feeding device according to claim 2, wherein the feeding unit is controlled so as to move in the opposite direction. The invention according to any one of claims 2 to 4, wherein in the feeding portion, there is an overlapping region in which a part of the first transport portion and a part of the second transport portion overlap along the second direction. Feeding device. In the feeding portion, a reversing roller is provided so as to face the overlapping region in a part of the first conveying portion and a part of the second conveying portion, and the reversing roller, the first conveying portion, and the said. The feeding device according to claim 5, wherein a gap is formed between the second conveying portion and the work for passing the work. A plurality of the first transport portions are provided so as to be lined up in parallel, and a plurality of the second transport portions are provided so as to be lined up in parallel.
The feeding device according to any one of claims 2 to 6, wherein the interval between the first conveying portions and the interval between the second conveying portions are substantially the same size. The feeding device according to any one of claims 2 to 7, wherein the first transport portion and the second transport portion each have an endless belt. Further provided with an accumulating portion in which the workpieces unwound by the feeding portion are accumulated in an upright state.
According to any one of claims 1 to 8, the integrated portion has a third transport portion that transports the work delivered by the feeding portion to a predetermined feeding position in the second direction in an upright state. The feeding device described. Further equipped with a work information receiving means for receiving information on the type of work,
The feeding device according to claim 9, wherein the amount of the work transported by the third transport portion is determined by the information regarding the type of the work received by the work information receiving means. A detection unit that detects the work when the work by the third transport portion is transported to a predetermined take-out position, and
If the work is not detected by the detection unit after the work is conveyed by the third transfer portion by the amount of transfer determined based on the information on the type of the work received by the work information receiving means, an error occurs. An error information output unit that outputs information to the effect that it has occurred,
10. The feeding device according to claim 10.

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