JP5918157B2 - Laminate feeder - Google Patents

Laminate feeder Download PDF

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JP5918157B2
JP5918157B2 JP2013033296A JP2013033296A JP5918157B2 JP 5918157 B2 JP5918157 B2 JP 5918157B2 JP 2013033296 A JP2013033296 A JP 2013033296A JP 2013033296 A JP2013033296 A JP 2013033296A JP 5918157 B2 JP5918157 B2 JP 5918157B2
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laminate
stacked
laminated body
claw
robot hand
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篤也 余吾
篤也 余吾
智子 松尾
智子 松尾
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株式会社フジキカイ
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この発明は、複数枚積み重ねた段ボールシートなどのシート材からなる積層体を、ダンボールケーサーやカートナーなどの箱詰機に供給する供給装置に関するものである。   The present invention relates to a supply device that supplies a laminated body made of sheet materials such as corrugated cardboard sheets stacked to a packaging machine such as a cardboard caser or a car toner.

特許文献１に開示のように、シート材の束(以下、積層体という)を複数段積み重ねた集積状態から１つの積層体を取り出し、この積層体をダンボールケーサーやカートナーなどの箱詰機に供給する装置がある。特許文献１の装置は、一方の短辺に切れ込みを形成したシート材を複数枚積み重ねて構成された積層体を、切れ込みが互い違いになるように交互に向きを変えて段積みし、最上段の積層体の切り込みがない短辺の下側に、直下段の積層体の切れ込みによってできる隙間を介して、ハンドの一方の鉤を引っ掛ける。そして、最上段の積層体を、切り込みがある短辺側にずらすことで、直下段の積層体の短辺から突き出した該短辺の下側に、ハンドの他方の鉤を引っ掛けて、最上段の積層体を持ち上げて取り出している。   As disclosed in Patent Document 1, one stacked body is taken out from a stacked state in which a stack of sheet materials (hereinafter referred to as a stacked body) is stacked, and this stacked body is supplied to a packaging machine such as a cardboard caser or a car toner. There is a device to do. The apparatus of Patent Document 1 stacks a plurality of sheet materials formed by stacking a plurality of sheet materials having cuts on one short side, and alternately stacks the stacks so that the cuts are staggered. One hook of the hand is hooked on the lower side of the short side where there is no cut of the laminated body through a gap formed by the cut of the laminated body immediately below. Then, by shifting the uppermost layered product to the short side where the cut is made, the other side of the short side protruding from the short side of the lower layered product is hooked on the other side of the hand, The laminate is lifted and removed.

特開２００１−１６３４６２号公報JP 2001-163462 A

特許文献１に開示の供給方法は、対向する縁部のうちの片方に切り込みを形成したシート材にしか用いることができず、シート材の外縁形状が該シート材を移載するだけのために制限されてしまう問題がある。しかも、特許文献１の供給方法は、最上段の積層体において切り込みがある短辺に、直下段の積層体との間に隙間がないので、積層体を確実に把持することが難しく、また前述したような複雑な順序でハンドを動かさないと持ち上げることができず、積層体の供給に時間がかかってしまう。   The supply method disclosed in Patent Document 1 can be used only for a sheet material in which a notch is formed on one of opposing edges, and the outer edge shape of the sheet material is only for transferring the sheet material. There is a problem that is limited. In addition, since the supply method of Patent Document 1 has no gap between the shortest side where the cut is made in the uppermost layered product and the lowermost layered product, it is difficult to reliably hold the layered product. If the hand is not moved in such a complicated order, it cannot be lifted, and it takes time to supply the laminate.

すなわち本発明は、従来の技術に係る前記問題に鑑み、これらを好適に解決するべく提案されたものであって、シート材の外縁形状に影響されることなく積層体を確実に支持し、積層体を効率よく供給し得る供給装置を提供することを目的とする。 That is, the present invention has been proposed to solve these problems in view of the above-described problems related to the prior art, and reliably supports the laminate without being affected by the outer edge shape of the sheet material. It aims at providing the supply apparatus which can supply a body efficiently.

前記課題を克服し、所期の目的を達成するため、本願の請求項１に係る発明の積層体の供給装置は、
複数枚のシート材を積み重ねた積層体を箱詰機に供給する積層体の供給装置において、
第１の方向に長手を揃えて互いに間隔をあけて並行配置した複数の積層体からなる段と、前記第１の方向と交差する第２の方向に長手を揃えて互いに間隔をあけて並行配置した複数の積層体からなる段とが、各積層体の短手側の端部が直下段の積層体の長手側の縁部から突出するように交互に段積みされた集積部が設けられ、
前記集積部における前記積層体の底に鉤部を引っ掛けて取り出す爪を有するロボットハンドを備え、
前記爪は、最上段にある取り出し対象の前記積層体において、その直下段の積層体の長手側の縁部から突出した突出端部における長手側の両縁部の底を前記鉤部で支持可能な第１の爪と、直下段で隣り合う積層体の間に架け渡された架け渡し部における長手側の両縁部の底を前記鉤部で支持可能な第２の爪を備え、
前記第２の爪の一方は、前記架け渡し部の上方から隣り合う積層体の間の隙間に挿入され、
前記ロボットハンドは、最上段にある積層体の前記突出端部および架け渡し部を対応する前記第１の爪および第２の爪で夫々両側から引っ掛けて該積層体を集積部から取り出すと共に、該積層体を所定方向に向きを揃えて箱詰機に供給するよう構成されたことを特徴とする。
請求項１に係る発明によれば、各段の積層体が互いに間隔をあけて並行配置されると共に、上下に隣り合う段の積層体が異なる向きで積み重なっているので、各段で隣り合う積層体の間にロボットハンドの爪を挿入可能な隙間ができ、また取り出し対象の積層体と直下段の積層体との間にロボットハンドの爪を挿入可能な隙間ができる。すなわち、積層体をなすシート材の外縁形状に影響されることなく、前記隙間を介してロボットハンドの爪によって積層体を確実かつ簡単に支持することができ、効率よく積層体を供給することができる。
また、積層体が直下段の積層体の長手側の縁部から突出すると共に、該積層体が直下段において隣り合う積層体の間に架け渡されるように積み重ねてあるから、直下段の積層体から突出する積層体の端部の下側および架け渡し部の下側に隙間ができ、ロボットハンドの爪によって該隙間を介して当該突出端部および架け渡し部の底を確実かつ簡単に支持することができる。 In order to overcome the above-mentioned problems and achieve the intended object, the laminate supply device of the invention according to claim 1 of the present application comprises:
In the supply device of the laminated body that supplies the laminated body in which a plurality of sheet materials are stacked to the boxing machine,
A stage composed of a plurality of laminated bodies arranged in parallel in the first direction with the length aligned, and a parallel arrangement in which the length is aligned in the second direction intersecting the first direction with a distance in between. The stacked layers are provided with stacking portions that are alternately stacked so that the end portion on the short side of each stacked body protrudes from the edge on the long side of the directly stacked layer ,
Comprising a robot Han de having a pawl to retrieve Hook the hook on the bottom of the laminate in the stacking unit,
The claw can support the bottom of both edge portions on the long side of the protruding end portion protruding from the edge portion on the long side of the laminated body immediately below in the laminated body to be taken out at the uppermost stage. A first claw, and a second claw capable of supporting the bottom of both edge portions on the long side of the bridging portion spanned between the adjacent laminated bodies in the lower stage with the collar portion,
One of the second claws is inserted into a gap between adjacent stacked bodies from above the bridging portion,
The robot hand takes out the laminated body from the stacking unit by hooking the protruding end portion and the bridging portion of the laminated body at the uppermost stage with the corresponding first claw and second claw respectively from the both sides. characterized in that it is configured so supplied in a box packer laminate aligned orientation in a predetermined direction.
According to the first aspect of the present invention, the stacked bodies at each stage are arranged in parallel with a space therebetween, and the stacked bodies at the upper and lower adjacent stages are stacked in different directions. body nails robot hand can insertable gap between, and may insertable gap nails robot hand between the laminate and the straight lower stack of extraction target. That is, the laminate can be reliably and easily supported by the nail of the robot hand through the gap without being affected by the outer edge shape of the sheet material forming the laminate, and the laminate can be efficiently supplied. it can.
In addition, since the laminated body protrudes from the edge on the longitudinal side of the immediately lower laminated body and the laminated body is stacked so as to be bridged between adjacent laminated bodies in the immediately lower stage, the laminated body of the immediately lower stage A gap is formed on the lower side of the end of the laminated body protruding from the lower side and the lower side of the bridging portion, and the bottom of the projecting end and the bridging portion is reliably and easily supported by the claw of the robot hand through the gap. be able to.

請求項２に係る発明では、前記各爪は、前記積層体を引っ掛けて支持する際に、該積層体の側面に当接して挟持する挟持部を備えたことを特徴とする。 The invention according to claim 2 is characterized in that each of the claws includes a clamping portion that comes into contact with and sandwiches the side surface of the laminate when the laminate is hooked and supported .

請求項３に係る発明では、前記集積部には、長手を揃えて互いに間隔をあけて並行配置した複数の段部に、最下段の積層体を該段部の長手辺に対して長手を交差するように載置した状態でパレット上に段積みされた積層体が配置されていることを特徴とする。
請求項３に係る発明によれば、段部によって最下段の積層体の下側に隙間ができ、該隙間を介してロボットハンドによって積層体を確実かつ簡単に支持することができる。 In the invention according to claim 3 , the stacking portion has a plurality of step portions arranged in parallel at regular intervals in the stacking portion, and the lowermost stacked body intersects with the long side of the step portion. The laminated body stacked on the pallet in the state mounted so as to be arranged is arranged.
According to the third aspect of the present invention, a gap is formed on the lower side of the lowermost layered product by the step part, and the layered product can be reliably and easily supported by the robot hand through the gap.

請求項４に係る発明では、前記ロボットハンドは、最上段にある取り出し対象の積層体の位置を撮像手段によって認識し、この認識に基づき当該積層体を支持するよう構成したことを特徴とする。
請求項４に係る発明によれば、撮像手段の認識に基づいてロボットハンドが位置合わせされるので、積層体の位置ズレなどに対応することができ、積層体をより確実に支持することができる。 The invention according to claim 4 is characterized in that the robot hand is configured to recognize the position of the stack to be taken out at the uppermost stage by the imaging means and to support the stack based on this recognition.
According to the invention of claim 4 , since the robot hand is aligned based on the recognition of the imaging means, it is possible to cope with the positional deviation of the laminated body and to support the laminated body more reliably. .

本発明に係る積層体の供給装置によれば、シート材の外縁形状に影響されることなく積層体を確実に支持することができ、支持した積層体を箱詰機に効率よく供給し得る。 According to the laminate supply device of the present invention, the laminate can be reliably supported without being affected by the outer edge shape of the sheet material, and the supported laminate can be efficiently supplied to the boxing machine.

本発明の実施例に係る供給装置を示す概略平面図である。It is a schematic plan view which shows the supply apparatus which concerns on the Example of this invention. 実施例の集積部を示す概略斜視図である。It is a schematic perspective view which shows the stacking part of an Example. 実施例の集積部での積層体の取り出し状況を示す説明図であって、(ａ)と(ｂ)とは異なる向きにある積層体を取り出している。It is explanatory drawing which shows the taking-out condition of the laminated body in the integration | stacking part of an Example, Comprising: The laminated body in the direction different from (a) and (b) is taken out.

次に、本発明に係る積層体の供給装置につき、実施例を挙げて、添付図面を参照して以下に説明する。   Next, an example of an apparatus for supplying a laminate according to the present invention will be described below with reference to the accompanying drawings.

図１に示すように、実施例の供給装置は、段ボールシートなどのシート材を複数枚積み重ねた積層体Ｌが複数段積みされた集積部１０と、この集積部１０から積層体Ｌを１つずつ取り出し、箱詰機ＰのシートホッパーＨに供給するロボットハンド１６を有する移載ロボット１４とを備えている。積層体Ｌは、箱詰機Ｐで箱状に組み立てられる前の展開した状態にあるシート材を、外縁を揃えて複数枚積み重ねたものであり、各シート材の外形形状は、略長方形状である。図２に示すように、集積部１０には、第１の方向(例えば前後)に長手を揃えて互いに間隔をあけて並行配置した複数の積層体Ｌからなる段と、前記第１の方向と交差する第２の方向(例えば左右)に長手を揃えて互いに間隔をあけて並行配置した複数の積層体Ｌからなる段とが、パレット１２上に交互に段積みされている。実施例では、長手側の縁部を並行させて離間配置した２つの積層体Ｌ,Ｌで各段が構成され、上下の段で積層体Ｌの長手側の縁部が互いに直交するように交互に向きを変えた井桁状に段積みされる。   As shown in FIG. 1, the supply device of the embodiment includes a stacking unit 10 in which a plurality of stacked bodies L each having a plurality of stacked sheet materials such as corrugated cardboard sheets are stacked, and one stacked body L from the stacking unit 10. A transfer robot 14 having a robot hand 16 that is taken out one by one and supplied to the sheet hopper H of the boxing machine P is provided. The laminated body L is a sheet material in a developed state before being assembled into a box shape by the boxing machine P, and a plurality of sheets are stacked with the outer edges aligned, and the outer shape of each sheet material is substantially rectangular. is there. As shown in FIG. 2, the stacking unit 10 includes a plurality of stacked bodies L that are aligned in the first direction (for example, front and rear) and arranged in parallel at intervals, and the first direction Stages composed of a plurality of stacked bodies L that are aligned in the second direction (for example, left and right) intersecting and arranged in parallel at intervals are alternately stacked on the pallet 12. In the embodiment, each layer is composed of two laminated bodies L, L that are spaced apart in parallel with the longitudinal edge, and the longitudinal edges of the laminated body L are alternately arranged at the upper and lower stages. It is stacked in the form of a cross-girder that changes its direction.

図２に示すように、前記パレット１２には、長手を揃えて互いに間隔をあけて並行配置した複数(実施例では２つ)の段部１３,１３が一体形成されており、最下段の積層体Ｌは、その長手を段部１３の長手辺に対して交差させて載置される。なお、段部１３の上面は、平坦であり、積層体Ｌの平面形状と略同じ大きさに設定されている。また、複数の段部１３の離間間隔は、各段での積層体Ｌの離間間隔に合わせて設定されている。ここで、各積層体Ｌは、その短手側の端部の少なくとも一方が、直下段の積層体Ｌまたは段部１３の長手側の縁部から外側へ突出するように積み重ねられる。図３に示すように、集積部１０では、各段で隣り合う積層体Ｌ,Ｌの間に隙間Ｓがあき、各積層体Ｌにおいて直下段で隣り合う積層体Ｌ,Ｌ間または段部１３,１３間に架け渡された架け渡し部分の下側に隙間Ｓがあくと共に、各積層体Ｌにおいて直下段の積層体Ｌまたは段部１３の長手側の縁部から外側へ突き出た端部(以下、突出端部という)の下側に隙間Ｓがあいている。   As shown in FIG. 2, the pallet 12 is integrally formed with a plurality of (two in the embodiment) step portions 13 and 13 which are arranged in parallel at a distance from each other, and the bottom layer is laminated. The body L is placed with its length intersecting the long side of the stepped portion 13. Note that the upper surface of the stepped portion 13 is flat and is set to have approximately the same size as the planar shape of the stacked body L. Further, the separation intervals of the plurality of step portions 13 are set in accordance with the separation intervals of the stacked body L at each step. Here, each laminated body L is stacked so that at least one of its short-side end portions protrudes outward from the immediately lower laminated body L or the long-side edge of the stepped portion 13. As shown in FIG. 3, in the stacking unit 10, there is a gap S between the stacked bodies L and L adjacent to each other in each stage, and in each stacked body L, the stacked bodies L and L that are adjacent to each other immediately below or between the stacked parts 13. , 13, and a gap S is opened below the bridging portion spanned between 13 and 13, and in each laminated body L, an end portion projecting outward from an edge on the longitudinal side of the immediately lower laminated body L or the stepped portion 13 ( Hereinafter, a gap S is formed on the lower side of the projecting end portion.

前記移載ロボット１４は、自在に動作可能なロボットアーム１５に支持されて、集積部１０とシートホッパーＨとの間で移動可能で、集積部１０やシートホッパーＨなどの適宜位置で昇降移動可能なロボットハンド１６を備えている。ロボットハンド１６は、ロボットアーム１５に対して上下方向に向いた軸周りに回転可能に配設されて、ロボットアーム１５の水平方向の移動およびロボットハンド１６自身の回転によって水平方向の向きを任意に変更可能になっている。図２に示すように、ロボットハンド１６は、ロボットアーム１５に対して回転可能に支持された支持部１８の下方に延出して、ガイドレール２０を介して互いに近接・離間移動可能に配設された対をなす把持爪２２,２２を有している。ロボットハンド１６には、対をなす把持爪２２,２２が、両把持爪２２,２２の近接離間方向と直交する方向に離間して２組配設され、合計４つの把持爪２２によって積層体Ｌの長手に離間した位置で該積層体Ｌの長手側の両縁部を把持するようになっている。各把持爪２２は、上下方向に延在する挟持部２３と、この挟持部２３の下端に、対をなす他方の把持爪２２側に延出するように折り曲げ形成された鉤部２４とを有し、把持爪２２で積層体Ｌを把持する際に、挟持部２３を積層体Ｌの側面に当接させると共に鉤部２４を積層体Ｌの底に当接させて支持する。ロボットハンド１６は、図示しない作動手段によって組毎に独立して対をなす把持爪２２,２２を近接・離間移動し得るように構成されて、積層体Ｌを把持する部位の幅に合わせて対をなす把持爪２２,２２の間隔を夫々変更可能になっている。ここで、ロボットハンド１６は、一方の組の把持爪(第１の爪)２２,２２で積層体Ｌの前記突出端部の長手側の両縁部を把持すると共に、他方の組の把持爪(第２の爪)２２,２２で積層体Ｌの前記架け渡し部分(架け渡し部)の長手側の両縁部を把持する。 The transfer robot 14 is supported by a freely movable robot arm 15 and can be moved between the stacking unit 10 and the seat hopper H, and can be moved up and down at appropriate positions such as the stacking unit 10 and the sheet hopper H. The robot hand 16 is provided. The robot hand 16 is disposed so as to be rotatable about an axis oriented in the vertical direction with respect to the robot arm 15, and the horizontal direction can be arbitrarily determined by the horizontal movement of the robot arm 15 and the rotation of the robot hand 16 itself. It can be changed. As shown in FIG. 2, the robot hand 16 extends below a support portion 18 that is rotatably supported with respect to the robot arm 15, and is disposed so as to be movable toward and away from each other via a guide rail 20. A pair of gripping claws 22 and 22 are provided. In the robot hand 16, two pairs of gripping claws 22, 22 are arranged apart from each other in a direction perpendicular to the approaching / separating direction of the gripping claws 22, 22. Both edge portions on the long side of the laminate L are gripped at positions spaced apart in the longitudinal direction. Each gripping claw 22 has a holding part 23 extending in the vertical direction, and a hook part 24 bent at the lower end of the holding part 23 so as to extend to the other holding claw 22 side. When the laminated body L is gripped by the gripping claws 22, the sandwiching portion 23 is brought into contact with the side surface of the laminated body L and the flange portion 24 is brought into contact with the bottom of the laminated body L to be supported. The robot hand 16 is configured to be able to move the gripping claws 22, 22 that are paired independently for each set by an operating means (not shown) so as to move close to and away from each other. The distance between the gripping claws 22, 22 can be changed. Here, the robot hand 16 grips both edges on the long side of the protruding end of the laminated body L with one set of gripping claws (first claws) 22 and 22, and the other set of gripping claws. (Second claws) 22 and 22 hold both edge portions on the long side of the bridge portion (bridge portion) of the laminate L.

前記移載ロボット１４は、ロボットハンド１６に配設され、集積部１０の最上段にある把持対象の積層体ＬやシートホッパーＨを撮像可能なＣＣＤやＣＭＯＳなどの撮像手段２６を備えている。撮像手段２６は、ロボットハンド１６が把持した積層体Ｌに邪魔されずに撮像し得る部位に配設され、実施例ではガイドレール２０の端部に設けられている。そして、供給装置は、撮像手段２６で撮像した積層体ＬまたはシートホッパーＨの位置を画像処理により認識し、この認識に基づきロボットハンド１６を移動して、把持対象の積層体ＬまたはシートホーパーＨに対してロボットハンド１６を位置合わせしている。   The transfer robot 14 includes an image pickup means 26 such as a CCD or a CMOS that is disposed in the robot hand 16 and can pick up an image of the stack L and the sheet hopper H to be gripped at the uppermost stage of the stacking unit 10. The imaging means 26 is disposed at a portion where the imaging can be performed without being obstructed by the stacked body L gripped by the robot hand 16, and is provided at the end of the guide rail 20 in the embodiment. Then, the supply device recognizes the position of the laminated body L or the sheet hopper H imaged by the imaging means 26 by image processing, and moves the robot hand 16 based on this recognition, to thereby grasp the laminated body L or the sheet hopper to be gripped. The robot hand 16 is aligned with H.

次に、実施例の積層体Ｌの供給方法について説明する。集積部１０には、パレット１２上に段部１３を介して井桁状に段積みされた複数の集積体Ｌが配置されている。供給装置は、最上段の積層体Ｌの１つを取り出す際に、ロボットハンド１６に取り付けられた撮像手段２６によって把持対象の積層体Ｌを撮像し、撮像データの画像処理により把持対象の積層体Ｌの位置を認識する。把持対象の積層体Ｌの位置認識により、ロボットハンド１６の４つの把持爪２２が積層体Ｌの把持位置に合致するように、ロボットアーム１５を移動すると共にロボットハンド１６を回転させて水平方向の位置合わせを行う。これにより、ロボットハンド１６は、対をなす２つの把持爪２２,２２が把持対象の積層体Ｌの短手に沿って向かい合い、一方の組の把持爪２２,２２が積層体Ｌの前記突出端部の上方位置に配置されると共に、他方の組の把持爪２２,２２が積層体Ｌの前記架け渡し部分の上方位置に配置される。   Next, the supply method of the laminated body L of an Example is demonstrated. In the stacking unit 10, a plurality of stacks L stacked in a grid pattern on the pallet 12 via the step unit 13 are arranged. When taking out one of the uppermost stacked bodies L, the supply apparatus images the grip target stack L with the imaging unit 26 attached to the robot hand 16, and performs gripping target stack processing by image processing of the imaged data. Recognize the position of L. By recognizing the position of the stack L to be gripped, the robot arm 15 is moved and the robot hand 16 is rotated in the horizontal direction so that the four gripping claws 22 of the robot hand 16 match the gripping position of the stack L. Perform alignment. As a result, the robot hand 16 has two gripping claws 22, 22 that face each other along the short side of the stack L to be gripped, and one set of gripping claws 22, 22 is the protruding end of the stack L. And the other set of gripping claws 22, 22 are arranged above the bridging portion of the laminate L.

前記ロボットハンド１６は、積層体Ｌにおける把持部位の短手幅よりも対をなす把持爪２２,２２を開いた状態で下降することで、対をなす把持爪２２,２２によって積層体Ｌの長手側の両縁部を挟む。最上段に複数の積層体Ｌがある場合に、ロボットハンド１６は、片側の把持爪２２を同じ段で隣り合う積層体Ｌとの隙間Ｓに挿入する。そして、ロボットハンド１６は、一方の組の把持爪２２,２２の鉤部２４,２４を積層体Ｌの突出端部下側の隙間Ｓに臨ませると共に、他方の組の把持爪２２,２２の鉤部２４,２４を積層体Ｌの架け渡し部分下側の隙間Ｓに臨ませる。ロボットハンド１６は、一方の組の把持爪２２,２２を互いに近接移動することで、両把持爪２２,２２の鉤部２４,２４を積層体Ｌの突出端部下側の隙間Ｓに挿入すると共に、該突出端部の長手側の両縁部を挟持部２３,２３によって挟持する。また、ロボットハンド１６は、他方の組の把持爪２２,２２を互いに近接移動することで、両把持爪２２,２２の鉤部２４,２４を積層体Ｌの架け渡し部分下側の隙間Ｓに挿入すると共に、該架け渡し部分の長手側の両縁部を挟持部２３,２３によって挟持する。そして、ロボットハンド１６は、挟持部２３によって積層体Ｌの突出端部および架け渡し部分を挟持すると共に鉤部２４によって積層体Ｌの突出端部および架け渡し部分の底を支持した状態で上昇し、集積部１０から積層体Ｌを取り出す。   The robot hand 16 descends with the gripping claws 22, 22 that are paired with respect to the short width of the gripping portion in the laminate L open, and the pair of gripping claws 22, 22 makes the longitudinal length of the laminate L. Hold both side edges. When there are a plurality of laminated bodies L in the uppermost stage, the robot hand 16 inserts the gripping claws 22 on one side into the gap S between the adjacent laminated bodies L in the same stage. Then, the robot hand 16 causes the flanges 24, 24 of one set of gripping claws 22, 22 to face the gap S below the protruding end of the laminate L, and the other pair of gripping claws 22, 22 The portions 24 and 24 are made to face the gap S below the bridge portion of the laminate L. The robot hand 16 moves the one pair of gripping claws 22 and 22 close to each other, thereby inserting the flange portions 24 and 24 of the gripping claws 22 and 22 into the gap S below the protruding end of the laminated body L. The both edge portions on the long side of the protruding end portion are sandwiched by the sandwiching portions 23 and 23. Further, the robot hand 16 moves the other pair of gripping claws 22, 22 close to each other so that the flanges 24, 24 of both gripping claws 22, 22 are placed in the gap S below the spanning portion of the laminate L. While inserting, both the edge parts of the longitudinal side of this bridge | crossover part are clamped by the clamping parts 23 and 23. FIG. Then, the robot hand 16 is lifted in a state where the projecting end portion and the bridging portion of the multilayer body L are sandwiched by the sandwiching portion 23 and the projecting end portion and the bottom of the bridging portion are supported by the flange portion 24. Then, the stacked body L is taken out from the stacking unit 10.

前記供給装置は、ロボットハンド１６で把持した積層体ＬをシートホッパーＨの上方まで搬送すると、撮像手段２６によってシートホッパーＨを撮像し、撮像データの画像処理によりシートホッパーＨの位置を認識する。シートホッパーＨの位置認識により、積層体Ｌを予め決められた方向に向けると共にシートホッパーＨに収まるように、ロボットアームを移動すると共にロボットハンド１６を回転させて水平方向の位置合わせを行う。そして、移載ロボット１４は、対をなす把持爪２２,２２を互いに離間移動して積層体Ｌの挟持を解除することで、積層体Ｌを所定方向に揃えてシートホッパーＨに供給する。このように、供給装置は、前述した移載ロボット１４の動作を繰り返すことで、積層体Ｌを集積部１０から取り出してシートホッパーＨに順次供給する。   When the stack L held by the robot hand 16 is conveyed above the sheet hopper H, the supply device images the sheet hopper H by the imaging unit 26, and recognizes the position of the sheet hopper H by image processing of the imaging data. By recognizing the position of the seat hopper H, the robot body 16 is moved and the robot hand 16 is rotated so that the laminated body L is oriented in a predetermined direction and is accommodated in the seat hopper H, thereby performing horizontal alignment. Then, the transfer robot 14 moves the pair of gripping claws 22 and 22 away from each other to release the holding of the stacked body L, and supplies the stacked body L to the sheet hopper H in a predetermined direction. As described above, the supply device repeats the operation of the transfer robot 14 described above to take out the stacked body L from the stacking unit 10 and sequentially supply it to the sheet hopper H.

〔実施例の作用〕
このように、集積部１０において各段の積層体Ｌが互いに間隔をあけて並行配置されると共に、上下に隣り合う段の積層体Ｌが異なる向きで積み重なっているので、各段で隣り合う積層体Ｌ,Ｌの間にロボットハンド１６の把持爪２２を挿入可能な隙間Ｓができ、把持対象の積層体Ｌと直下段の積層体Ｌとの間に把持爪２２の鉤部２４を挿入可能な隙間Ｓができる。より具体的には、積層体Ｌが直下段の積層体Ｌの長手側の縁部から突出するように積み重ねてあるから、直下段の積層体Ｌから突出する積層体Ｌの突出端部の下側に隙間Ｓができる。また、積層体Ｌが直下段において隣り合う積層体Ｌ,Ｌの間に架け渡されるように積み重ねてあるから、積層体Ｌの架け渡し部分の下側に隙間Ｓができる。すなわち、積層体Ｌをなすシート材の外縁形状がどのようなものであっても、積層体Ｌにおける前記突出端部および前記架け渡し部分下側の隙間Ｓを介してロボットハンド１６の把持爪２２によって積層体Ｌを確実かつ簡単に把持することができる。更に、前記供給装置によれば、把持爪２２を挿入するための隙間Ｓを作って積層体Ｌを分離するための機構や複雑な動作を必要とせず、簡単な機構による簡単な動作によって積層体Ｌを集積部１０から１つずつ確実に取り出すことができ、シートホッパーＨへの積層体Ｌの供給を高速化することができるから、積層体Ｌを効率よく供給することができる。幅の狭いシート材からなる積層体Ｌであっても、前述したように積層体Ｌを段積みすることで、積層体Ｌに接触した際などに積層体Ｌの荷崩れを防止することができる。 (Effects of Example)
As described above, in the stacking unit 10, the stacked bodies L at each stage are arranged in parallel at intervals, and the stacked bodies L at the upper and lower stages are stacked in different directions. A gap S in which the gripping claws 22 of the robot hand 16 can be inserted is formed between the bodies L, L, and the collar 24 of the gripping claws 22 can be inserted between the stack L to be gripped and the stack L immediately below. Gap S is created. More specifically, since the stacked body L is stacked so as to protrude from the edge on the longitudinal side of the immediately lower stacked body L, the lower side of the protruding end portion of the stacked body L protruding from the immediately lower stacked body L A gap S is formed on the side. Further, since the stacked body L is stacked so as to be bridged between the adjacent stacked bodies L and L in the immediately lower stage, a gap S is formed below the bridging portion of the laminated body L. That is, regardless of the outer edge shape of the sheet material forming the laminated body L, the gripping claws 22 of the robot hand 16 through the protruding end portion and the gap S below the bridging portion in the laminated body L. Thus, the laminated body L can be reliably and easily gripped. Furthermore, according to the supply device, a mechanism for separating the laminated body L by creating a gap S for inserting the gripping claws 22 and a complicated operation are not required, and the laminated body is obtained by a simple operation by a simple mechanism. Since L can be reliably taken out from the stacking unit 10 one by one and the supply of the stacked body L to the sheet hopper H can be speeded up, the stacked body L can be efficiently supplied. Even in the case of the laminated body L made of a narrow sheet material, it is possible to prevent the laminated body L from collapsing when contacting the laminated body L by stacking the laminated bodies L as described above. .

最下段の積層体Ｌを把持する際には、最下段の積層体Ｌの下面を支持する段部１３によって該積層体Ｌの下側に隙間Ｓができるから、前述した上段の積層体Ｌの取り出しと同様に該隙間Ｓを介してロボットハンド１６によって積層体Ｌを確実かつ簡単に支持することができる。ここで、段部１３をパレット１２に一体形成してあるので、段部１３の位置ズレはなく、積層体Ｌを安定して段積みすることができる。   When gripping the lowermost layered product L, a gap S is formed on the lower side of the layered product L by the step part 13 that supports the lower surface of the lowermost layered product L. Similar to the removal, the laminated body L can be reliably and easily supported by the robot hand 16 through the gap S. Here, since the step part 13 is integrally formed with the pallet 12, there is no position shift of the step part 13, and the laminated body L can be stacked stably.

前記供給装置は、撮像手段２６の認識に基づいてロボットハンド１６が、集積部１０の積層体Ｌに位置合わせされるので、積層体Ｌの位置ズレなどに対応することができ、積層体Ｌをより確実に把持することができる。同様に、撮像手段２６の認識に基づいてロボットハンド１６が、シートホッパーＨに位置合わせされるので、積層体ＬをシートホッパーＨの適切な位置に供給することができる。   Since the robot hand 16 is aligned with the stacked body L of the stacking unit 10 based on the recognition of the imaging unit 26, the supply device can cope with a positional shift of the stacked body L, and the stack L It can be gripped more reliably. Similarly, since the robot hand 16 is aligned with the seat hopper H based on the recognition of the imaging unit 26, the stacked body L can be supplied to an appropriate position of the sheet hopper H.

(変更例)
本願発明は実施例の構成に限定されるものではなく、例えば、以下のようにも変更実施可能である。また、以下の変更例に限らず、実施例に記載した構成については、本発明の主旨の範囲内において種々の実施形態を採用し得る。
(１)積層体の段積み態様は、各段において３つ以上の積層体を並行配置してもよく、３つの積層体が並列配置された段の上に、２つの積層体を並列した段を積み重ねるなど、各段で積層体の並び数が異なっていてもよい。
(２)積層体の段積み態様は、直下段の積層体の長手側の縁部より積層体の短手側の両端部が突出するように積み重ねてもよい。また、直下段の積層体の長手側の縁部より積層体の短手側の両端部が突出しないように積み重ねてもよい。
(３)直下段の積層体の長手側の縁部より積層体の短手側の両端部が突出するように積み重ねる段積み態様において、積層体における両側の突出端部の夫々を把持爪で把持してもよい。積層体の突出端部を把持する場合に、積層体の長手側の両縁部を把持しても、積層体の短手側の両縁部を把持してもよい。また、積層体の架け渡し部分だけを把持爪で把持してもよい。
(４)最下段の積層体を支持する段部は、パレットに一体形成する構成に限られず、段部をパレットと別体に構成し、積層体の大きさに合わせて隣り合う段部の離間間隔を調節したり、上面の大きさが積層体の大きさに合った段部をパレットに取り付けることができる。
(５)把持対象の積層体の位置認識は、撮像手段を用いることなく、ロボットハンドによって集積部の積層体を把持する順番を予め決めるティーチングプレイバック方式によって移載ロボットの動作を設定しておいてもよい。
(６)箱詰機、シートホッパーおよび移載ロボットの位置は夫々固定されているので、撮像手段を用いることなく、積層体をシートホッパーに供給する際の移載ロボットの動作を予め設定しておいてもよい。 (Change example)
The present invention is not limited to the configuration of the embodiment, and can be modified as follows, for example. Further, not limited to the following modification examples, various embodiments may be adopted for the configurations described in the examples within the scope of the gist of the present invention.
(1) As for the stacking mode of the stacked body, three or more stacked bodies may be arranged in parallel in each stage, and two stacked bodies are arranged in parallel on the stage where the three stacked bodies are arranged in parallel. For example, the number of stacked layers may be different at each stage.
(2) The stacked body may be stacked in such a manner that both end portions on the short side of the stacked body protrude from the edge on the long side of the stacked body immediately below. Moreover, you may stack | stack so that the both ends of the short side of a laminated body may not protrude from the edge part of the longitudinal side of the laminated body of a directly lower stage.
(3) In the stacking mode in which the both ends on the short side of the laminated body protrude from the edge on the long side of the laminated body immediately below the laminated body, each of the protruding end portions on both sides of the laminated body is gripped with the gripping claws May be. When gripping the protruding end of the laminated body, both edges on the long side of the laminated body may be gripped, or both edges on the short side of the laminated body may be gripped. Moreover, you may hold | grip only the bridging part of a laminated body with a holding nail | claw.
(4) The stepped portion that supports the lowermost layered product is not limited to a structure that is integrally formed on the pallet, but the stepped portion is formed separately from the pallet, and the adjacent stepped portions are separated according to the size of the laminated material. The step can be attached to the pallet by adjusting the interval or by matching the size of the upper surface with the size of the laminate.
(5) The position of the stack to be grasped can be recognized by setting the operation of the transfer robot by a teaching playback method that determines the order of gripping the stack of stacks by the robot hand without using an imaging means. May be.
(6) Since the positions of the boxing machine, the sheet hopper, and the transfer robot are fixed, the operation of the transfer robot when supplying the laminate to the sheet hopper is set in advance without using the imaging means. It may be left.

１０ 集積部，１２ パレット，１３ 段部，１６ ロボットハンド，
２２ 把持爪(第１の爪、第２の爪)，２３ 挟持部，２４ 鉤部，
２６ 撮像手段，Ｌ 積層体，Ｐ 箱詰機，Ｓ 隙間 10 stacking units, 12 pallets, 13 steps, 16 robot hands,
22 gripping claws (first claw, second claw), 23 clamping part, 24 collar part,
26 Imaging means , L stack, P boxing machine, S gap

Claims (4)

複数枚のシート材を積み重ねた積層体(L)を箱詰機(P)に供給する積層体の供給装置において、
第１の方向に長手を揃えて互いに間隔をあけて並行配置した複数の積層体(L)からなる段と、前記第１の方向と交差する第２の方向に長手を揃えて互いに間隔をあけて並行配置した複数の積層体(L)からなる段とが、各積層体(L)の短手側の端部が直下段の積層体(L)の長手側の縁部から突出するように交互に段積みされた集積部(10)が設けられ、
前記集積部(10)における前記積層体(L)の底に鉤部(24)を引っ掛けて取り出す爪(22)を有するロボットハンド(16)を備え、
前記爪(22)は、最上段にある取り出し対象の前記積層体(L)において、その直下段の積層体(L)の長手側の縁部から突出した突出端部における長手側の両縁部の底を前記鉤部(24)で支持可能な第１の爪(22)と、直下段で隣り合う積層体(L,L)の間に架け渡された架け渡し部における長手側の両縁部の底を前記鉤部(24)で支持可能な第２の爪(22)を備え、
前記第２の爪(22,22)の一方は、前記架け渡し部の上方から隣り合う積層体(L,L)の間の隙間(S)に挿入され、
前記ロボットハンド(16)は、最上段にある積層体(L)の前記突出端部および架け渡し部を対応する前記第１の爪(22,22)および第２の爪(22,22)で夫々両側から引っ掛けて該積層体(L)を集積部(10)から取り出すと共に、該積層体(L)を所定方向に向きを揃えて箱詰機(P)に供給するよう構成された
ことを特徴とする積層体の供給装置。 In a laminate supply apparatus that supplies a laminate (L) in which a plurality of sheet materials are stacked to a boxing machine (P),
A stage composed of a plurality of stacked bodies (L) that are arranged in parallel in the first direction with the length being aligned with each other, and a length that is aligned with the length in the second direction that intersects the first direction and that is spaced from each other. And a plurality of laminated bodies (L) arranged in parallel so that the end on the short side of each laminated body (L) protrudes from the edge on the long side of the laminated body (L) immediately below. Stacked portions (10) stacked alternately are provided ,
A robot hand (16 ) having a claw (22) that hooks and takes out a hook part (24) on the bottom of the laminate (L) in the stacking part (10) ,
The claw (22) is the upper edge of the stack (L) to be taken out, and both edges on the long side at the protruding end projecting from the edge on the long side of the stack (L) immediately below Both edges on the long side of the bridging portion spanned between the first claw (22) capable of supporting the bottom of the heel portion (24) with the adjacent laminated body (L, L) immediately below A second claw (22) capable of supporting the bottom of the part with the collar (24),
One of the second claws (22, 22) is inserted into the gap (S) between the adjacent stacked bodies (L, L) from above the bridging portion,
The robot hand (16) has the first claw (22, 22) and the second claw (22, 22) corresponding to the projecting end portion and the bridging portion of the uppermost layered body (L ). hook respectively from both sides is taken out laminate (L) is an integrated unit (10), configured so supplied in a box packer (P) aligned orientation laminate (L) is in a predetermined direction <br A laminate supply apparatus characterized by the above. 前記各爪(22)は、前記積層体(L)を引っ掛けて支持する際に、該積層体(L)の側面に当接して挟持する挟持部(23)を備えたことを特徴とする請求項１記載の積層体の供給装置。 Each of the claws (22) is provided with a clamping part (23) that abuts against a side surface of the laminate (L) when the laminate (L) is hooked and supported. Item 2. A laminate supply apparatus according to Item 1. 前記集積部(10)には、長手を揃えて互いに間隔をあけて並行配置した複数の段部(13)に、最下段の積層体(L)を該段部(13)の長手辺に対して長手を交差するように載置した状態でパレット(12)上に段積みされた積層体(L)が配置されていることを特徴とする請求項１または２記載の積層体の供給装置。 In the stacking portion (10), a plurality of step portions (13) arranged in parallel with an interval in the longitudinal direction, the lowermost stacked body (L) with respect to the long side of the step portion (13) The laminated body supply device according to claim 1 or 2, wherein the laminated bodies (L) stacked on the pallet (12) in a state of being placed so as to cross the longitudinal direction are arranged. 前記ロボットハンド(16)は、最上段にある取り出し対象の積層体(L)の位置を撮像手段(26)によって認識し、この認識に基づき当該積層体(L)を支持するよう構成したことを特徴とする請求項１〜３の何れか一項に記載の積層体の供給装置。 The robot hand (16) is configured to recognize the position of the stack (L) to be taken out at the top by the imaging means (26) and to support the stack (L) based on this recognition. The supply device for a laminate according to any one of claims 1 to 3 .
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