JPH01117139A - Paper feeder - Google Patents
Paper feederInfo
- Publication number
- JPH01117139A JPH01117139A JP27017687A JP27017687A JPH01117139A JP H01117139 A JPH01117139 A JP H01117139A JP 27017687 A JP27017687 A JP 27017687A JP 27017687 A JP27017687 A JP 27017687A JP H01117139 A JPH01117139 A JP H01117139A
- Authority
- JP
- Japan
- Prior art keywords
- sheet
- paper
- feeding
- double
- paper feeding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000002265 prevention Effects 0.000 claims description 11
- 238000003825 pressing Methods 0.000 abstract description 6
- 238000012856 packing Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 230000035699 permeability Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 241000024192 Aloa Species 0.000 description 1
- 235000013527 bean curd Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Landscapes
- Controlling Sheets Or Webs (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
Description
【発明の詳細な説明】
【産業上の利用分野〕
本発明は給紙装置に係り，特に厚さが異なる用紙を１枚
ずつ確実に分離給紙する給紙装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a paper feeding device, and more particularly to a paper feeding device that reliably separates and feeds sheets of different thickness one by one.
従来の装置にも重送防止機構が付いていたが。 Conventional equipment also had a mechanism to prevent double feeding.
枚葉紙の給紙に際して枚葉紙の厚みが変化した際。When the thickness of the sheet changes during sheet feeding.
給紙部の駆動状態を制御するようなことをしていなかっ
た．この為、枚葉紙が重送された場合には枚葉紙はその
ままの状態で給紙されるので，転写時の印字状態が変化
したり定着時に搬送ガイドに衝突し滞留を生じる等の問
題点を有していた．なお、この種の装置としては，例え
ば特開昭５２−１５８００６号が挙げられる。There was no control over the driving status of the paper feed section. For this reason, when sheets are fed double, the sheets are fed as they are, resulting in problems such as changes in the print condition during transfer or collision with the conveyance guide during fixation, resulting in stagnation. It had a point. An example of this type of device is disclosed in Japanese Patent Application Laid-Open No. 52-158006.
ｒ発明が解決しようとする問題点〕 上記従来技術は，重送防止機構がついているが。rProblems that the invention attempts to solve] The above conventional technology has a mechanism to prevent double feeding.
給紙する前に枚葉紙の厚みを検出していなし為薄紙から
厚紙までと厚さが大きく異なる枚葉紙までは対応し切れ
ず，空送りあるいは重送がしばしば発生していた。Because the thickness of the sheet was not detected before it was fed, it was not possible to handle sheets with widely varying thicknesses, from thin paper to thick paper, and skip feeding or double feeding often occurred.
本発明の目的は、確実に枚葉紙が１枚毎順次に給紙が出
来る給紙装置を提供することにある。SUMMARY OF THE INVENTION An object of the present invention is to provide a paper feeding device that can reliably feed sheets one by one in sequence.
上記゜目的は，枚葉紙への情報を給紙前に操作者が入力
し、その入力情報を元の枚葉紙に対応した給紙条件及び
重送防止条件を設定することにより、達成される。The above objective is achieved by having the operator input information on the sheet before feeding, and using that input information to set paper feeding conditions and double feeding prevention conditions that correspond to the original sheet. Ru.
操作者が枚葉紙の補給時に、枚葉紙の情報を給紙装置に
入力する。その入力情報を元に給紙装置の制御装置から
あらかじめ設定した枚葉紙の給紙条件及び重送防止条件
を検索する。それによって、枚葉紙の厚みに対応した給
紙条件で給紙出来るので１重送することなく確実に１枚
毎給紙することが出来る。When replenishing sheets, an operator inputs sheet information into the sheet feeding device. Based on the input information, the sheet feeding conditions and double feeding prevention conditions set in advance are searched from the control device of the sheet feeding device. As a result, sheets can be fed under feeding conditions that correspond to the thickness of the sheets, so that each sheet can be reliably fed without double feeding.
以下、本発明の給紙装置の具体的な実施例を図面によっ
て説明する。Hereinafter, specific embodiments of the paper feeding device of the present invention will be described with reference to the drawings.
第１図は本発明の複写装置１１２０の概観図で、第２図
は複写装置２０内の給紙部の構成を示し、操作者が枚葉
紙の情報を入力する複写装５２２０の上面の入力装置部
２１．吸着ベルト１．真空チャンバ室２．吹き出し口３
からなる給紙部、枚葉紙Ａの重送を防止する重送防止部
４２枚葉紙Ａを梱包体１０のままセット出来る載置台５
．案内軸６゜駆動モータからなる駆動部、給紙部及び駆
動部を制御する制御装置部８を主要構成要素とする。第
３図は枚葉紙Ａが入っている梱包体１ｏの構成を示して
おり、梱包体１０の内側底部には約１５ｋｇ程度の重量
の枚葉紙Ａを載せても大丈夫な耐重量性がある保持材１
１を離間して配設する。又梱包体１０の上面１３及び前
面１４が開放出来るようにしている１枚葉紙Ａは梱包体
１ｏ内保持材１１の上に載置する。FIG. 1 is an overview diagram of a copying apparatus 1120 of the present invention, and FIG. 2 shows the configuration of a paper feed section in the copying apparatus 20, and an input on the top surface of the copying apparatus 5220 where an operator inputs sheet information. Device section 21. Suction belt 1. Vacuum chamber 2. Air outlet 3
A paper feed section consisting of a double feed prevention section 42 that prevents double feeding of sheets A, a mounting table 5 on which sheets A can be set as they are in the package 10;
．． The main components are a drive unit consisting of a 6° guide shaft drive motor, a paper feed unit, and a control device unit 8 that controls the drive unit. Figure 3 shows the structure of a package 1o containing sheets A, and the inner bottom of the package 10 has a weight capacity that is sufficient to hold sheets A weighing about 15 kg. A certain holding material 1
1 are spaced apart from each other. Further, a single sheet of paper A whose top surface 13 and front surface 14 of the package 10 can be opened is placed on the holding material 11 inside the package 1o.
次に枚葉補給から給紙までの動作を第３図から第５図ま
でを用いて説明する。Next, the operations from sheet replenishment to sheet feeding will be explained using FIGS. 3 to 5.
複写装置２０への枚葉紙Ａセット時、操作者は梱包体１
０の上面１３及び前面１４を開放する。When setting sheet A to the copying machine 20, the operator
The top surface 13 and front surface 14 of 0 are opened.
上面１３及び前面１４が開放された枚葉紙Ａ入り梱包体
１０を最下点まで下降して来た櫛歯形状載置台５に合わ
せて挿入し扉２２を閉める。載置５にセットされた枚葉
紙Ａは、外部指令で駆動モータ７により、案内軸６に沿
って上昇を始める。上昇した枚葉紙Ａは上部に配設した
位置検出器２３で分離位置を検出される。その検出信号
により制御装置ｌ！８を介してモータ２６を駆動し吸着
ベルト１を定速回転する。ブロア２４も回転を開始し。The package 10 containing sheets A with the top surface 13 and front surface 14 open is inserted into the comb-shaped mounting table 5 that has descended to the lowest point, and the door 22 is closed. The sheet A set on the tray 5 starts to rise along the guide shaft 6 by the drive motor 7 in response to an external command. The separation position of the lifted sheet A is detected by a position detector 23 disposed at the top. Based on the detection signal, the control device l! The motor 26 is driven via the motor 8 to rotate the suction belt 1 at a constant speed. Blower 24 also starts rotating.
その回転によりブロア２４の排出管３２を経て吹き出し
口３から空気が吹き出される。その空気流で枚葉紙Ａが
１枚毎にさばかれる。又ブロア２４の吸引力で真空チャ
ンバ室２は負圧となり１名の周りを回転している吸着ベ
ルト１に吹き出し口３でさばかれた最上位の枚葉紙は吸
着される。このようにして、吸着された枚葉紙Ａは重送
防止部４を経て、下流の搬送路９へ受は渡される。しか
し、複写装置２０で給紙される枚葉紙の種類はたくさん
あり、紙の厚み、透気度、平滑度や剛性等の特性が大き
く異なっている。今までの複写装置！２０は、給紙条件
が一定であり枚葉紙の特性によっては、吹き出し口３か
らの空気流が強すぎて枚葉紙Ａが１枚毎に良くさばかれ
ずに重送が発生したり。Due to the rotation, air is blown out from the outlet 3 through the exhaust pipe 32 of the blower 24. The airflow separates the sheets of paper A one by one. Also, the vacuum chamber 2 becomes a negative pressure due to the suction force of the blower 24, and the uppermost sheet of paper, which has been handled by the outlet 3, is sucked onto the suction belt 1 rotating around one person. In this way, the sucked sheets A pass through the double-feed prevention section 4 and are transferred to the downstream conveyance path 9. However, there are many types of sheets fed by the copying device 20, and their characteristics such as paper thickness, air permeability, smoothness, and rigidity vary greatly. Conventional copying equipment! 20, the paper feeding conditions are constant, and depending on the characteristics of the sheets, the air flow from the air outlet 3 may be too strong, and the sheets A may not be properly sorted one by one, resulting in double feeding.
逆に弱すぎて空送りを発生していた。この為、収納部（
図示せず）に白紙の紙が送られ頁揃えが出来なくなった
り、印字部で枚葉紙が滞留が生ずるという問題が起って
いた。On the contrary, it was too weak and caused blank feed. For this reason, the storage section (
Problems have arisen in that blank sheets are fed during the printing process (not shown), making it impossible to align the pages, and that sheets accumulate in the printing section.
そこで、給紙前に枚葉紙Ａの情報を操作者が梱包体１０
から読み取って複写装置！２０に入力することにより複
写袋ｖ１２０自身が枚葉紙Ａの特性に合わせて複写装置
２０の給紙条件を自動的に設定して給紙を行う、第６図
にこの流れをフローチャートにして示す、すなわち、複
写装［２０への枚葉紙Ａの補給の際、第７図に示す梱包
体１０側面に表示されている枚葉紙Ａの情報２８（メー
カ。Therefore, before feeding the paper, the operator inputs the information about the sheet A to the package 10.
Copying device to read from! 20, the copying bag v120 itself automatically sets the paper feeding conditions of the copying device 20 according to the characteristics of the sheet A and feeds the paper. This process is shown in a flow chart in FIG. That is, when replenishing the sheet A to the copying unit [20], the information 28 (manufacturer) of the sheet A displayed on the side of the package 10 shown in FIG.
型式、厚み、透気度、平滑度等）から操作者が例えば枚
葉紙Ａの厚みと透気度を入力装置部２１に入力する。そ
して第１及び第４図に示す複写装置２０の扉２２を開放
して１枚葉紙Ａが入った梱包体１０の上面及び前面を関
き載置台５へセットした後、扉２２を閉じる。ここで、
第８図に示す制御装置部８にはテーブル化した記憶器８
２に予め枚葉紙Ａに対応して、複数の給紙条件を記憶し
ておく、扉２２を閉じた時の外部信号により、操作者の
入力値に応じて記憶器８２の中から検索器８１で最適値
を検索する。それにより、制御指令装置！８３からは第
９図に示すように検索した値で。The operator inputs, for example, the thickness and air permeability of sheet A into the input device section 21 based on the type, thickness, air permeability, smoothness, etc. Then, the door 22 of the copying machine 20 shown in FIGS. 1 and 4 is opened, and the top and front surfaces of the package 10 containing the sheet A are set on the mounting table 5, and then the door 22 is closed. here,
The control device section 8 shown in FIG.
2, a plurality of paper feeding conditions are stored in advance in correspondence with the sheet A. An external signal when the door 22 is closed causes a search device to be searched from the memory device 82 according to the input value by the operator. 81 to search for the optimum value. Thereby, the control command device! From 83 onwards, use the searched values as shown in Figure 9.
ブロア２４さらには重送防止用ソレノイド４ａへ電圧が
印加される。ブロア２４の印加電圧を制御することによ
り、ブロア２４の回転数が変化し、それに伴い排出流及
び真空圧が適正な値に設定される。又、ソレノイド４ａ
は、第２図に示すように重送防止部４の下ローラ４ｂを
上ローラ４Ｃに押付けるために用いるもので、電圧を制
御することにより、押付力は適正な値となる。その結果
、ブロア２４からの排出流が排出管３ａを経て、吹き出
し口３からは枚葉紙Ａの特性に対応した適正な空気流が
吹き出し枚葉紙Ａがさばかれ真空チャンバ室２も適正な
真空圧となり、確実に１枚の枚葉紙Ａが吸着ベルト１に
吸着し、搬送される。又。A voltage is applied to the blower 24 and further to the double feed prevention solenoid 4a. By controlling the voltage applied to the blower 24, the rotation speed of the blower 24 is changed, and accordingly, the exhaust flow and vacuum pressure are set to appropriate values. Also, solenoid 4a
is used to press the lower roller 4b of the double feeding prevention section 4 against the upper roller 4C as shown in FIG. 2, and by controlling the voltage, the pressing force becomes an appropriate value. As a result, the discharge flow from the blower 24 passes through the discharge pipe 3a, and the appropriate air flow corresponding to the characteristics of the sheet A is blown out from the air outlet 3, the sheet A is blown, and the vacuum chamber 2 is also properly controlled. A vacuum pressure is created, and one sheet A is surely attracted to the suction belt 1 and conveyed. or.
重送防止部４もソレノイド４ａによって１枚葉紙Ａの厚
みに応じた適正な押付力が決定され、万−給紙部で重送
が発生した場合でも、電送を防止することが出来る。又
、吹き出し口３からの空気流及び真空チャンバ室２の真
空圧の調整を、流量調整部２５で行っても同様の効果を
得られることはいつまでもない。The double feed prevention section 4 also determines an appropriate pressing force according to the thickness of the single sheet A by the solenoid 4a, and even if double feed occurs in the paper feed section, electric feeding can be prevented. Further, even if the air flow from the outlet 3 and the vacuum pressure in the vacuum chamber 2 are adjusted by the flow rate adjustment section 25, the same effect will never be obtained.
ここで、前記テーブル化した記憶器８２に記憶される給
紙条件（圧力、風量、押付力）は１次のように決定する
。第１０図に示すように、枚葉紙Ａの厚みＴ及び透気度
Ｐ領域を適当に複数に区分して、例えば厚みを最小厚み
Ｔ ｗｉｎから最大厚みＴ ｗａｘまでｍ区分し、透気
度Ｐを最小透気度Ｐ■１ｎから最大透気度Ｐ ｗａｘま
でをｎ区分する。Here, the paper feeding conditions (pressure, air volume, pressing force) stored in the tabulated memory 82 are determined as follows. As shown in FIG. 10, the thickness T and air permeability P area of sheet A are appropriately divided into a plurality of regions, for example, the thickness is divided into m sections from the minimum thickness T win to the maximum thickness T wax, and the air permeability P is divided into n sections from the minimum air permeability P1n to the maximum air permeability Pwax.
これらの各領域には予め枚葉紙Ａの特性から定めた値が
記憶されている。第１１図に示すように。Values determined in advance from the characteristics of sheet A are stored in each of these areas. As shown in FIG.
摩擦分離においてもソレノイド２８ａを用い枚葉紙Ａの
厚みに対応した抵抗部材２８の給紙ローラへの押圧力を
付加することにより、確実な給紙が出来る。Even in the case of frictional separation, reliable sheet feeding can be achieved by applying the pressing force of the resistance member 28 to the sheet feeding roller corresponding to the thickness of the sheet A using the solenoid 28a.
こうすることにより、梱包体に表示された枚葉紙の情報
によって給紙前に枚葉紙の特性に対応した給紙条件を設
定出来るので、確実に１枚毎給紙する事が出来、複写装
置として、信頼性が非常に高くなる。By doing this, it is possible to set the paper feeding conditions that correspond to the characteristics of the paper sheets before feeding them, based on the sheet information displayed on the package, so that it is possible to reliably feed each sheet and make copying easier. The reliability of the device is extremely high.
本発明によれば１枚葉紙の特性に対応して給紙条件を設
定出来るので、重送することがなく確実に一枚毎給紙出
来る信頼性の高い複写装置となる。According to the present invention, since paper feeding conditions can be set in accordance with the characteristics of each sheet, a highly reliable copying apparatus that can reliably feed each sheet without double feeding can be achieved.
第１図は本発明の複写装置の概観を示す図、第２図は本
発明の給紙部の概要を示す図、第３図は梱包体の構成を
示す図、第４図は梱包体の補給状態を示す図、第５図は
給紙部の斜視図、第６図は本発明の流れを示すフローチ
ャート図、第７図は梱包体斜視図、第８図は制御装置部
の構成図、第９図は補給及び給紙の状態を説明するため
の図。
第１０図は給紙条件のテーブル化を説明する図、第１１
図は本発明の別の実施例を説明する図である。
１・・・吸着ベルト、２・・・真空チャンバ室、３・・
・吹き出し口、４・・・重送防止部、５・・・載置台、
７・・・駆動モータ、８・・・制御装置部、１０・・・
梱包体、２０複写装置、２４・・・ブロア、２６・・・
モータ。
５、→
ノ／
乎 ＩＩ！］
ａ
２２・・・扉
第 ３ 口
／とフ・シト１１２： イ；ｆζ
／ｌ ・ イ呆 ４？「 オ司−
夢 ４ の
Ａ″枚粟駅
第 ５ 口
２．．４！警チャン八へ １０ ・・＃ｌｌ
ヒ依３・・吠すとしル ２４・・アロア４・・皇
逸防を部 ２６ ・丑−夕第 ６ 図
８３・・・セ１重指令褒量
早７図
八・・挾饗抵
第 ８目
４・・・！送防ｆｆｌ：部 ２ｂ・七−タ第 ７
０ 口Fig. 1 is a diagram showing an overview of the copying apparatus of the present invention, Fig. 2 is a diagram showing an overview of the paper feed section of the invention, Fig. 3 is a diagram showing the configuration of the package, and Fig. 4 is a diagram showing the structure of the package. 5 is a perspective view of the paper feeding section, FIG. 6 is a flowchart showing the flow of the present invention, FIG. 7 is a perspective view of the package, and FIG. 8 is a configuration diagram of the control device section. FIG. 9 is a diagram for explaining the state of replenishment and paper feeding. Figure 10 is a diagram explaining the tabulation of paper feeding conditions, Figure 11
The figure is a diagram illustrating another embodiment of the present invention. 1... Adsorption belt, 2... Vacuum chamber, 3...
・Air outlet, 4...Double feeding prevention part, 5...Placement table,
7... Drive motor, 8... Control device section, 10...
Packing body, 20 copying device, 24... blower, 26...
motor. 5, → ノ / 乎 II! ] a 22...door 3rd exit/tofu・sito 112: I; fζ /l ・I 4? ``Oshi-Yume 4 A'' Hiraiwa Station Exit 5 2. ．． 4! To Kei Chanpachi 10...#ll
Hii 3... Toshiru 24... Aloa 4... Koibo wo part 26 - Ushi-Yu No. 6 Figure 83... Se 1 heavy command reward early 7 Figure 8... Hakumei No. 8 Eye 4...! Transmission/defense ffl: Part 2b/7-ta No. 7
0 mouths
Claims (1)
させるための駆動部と枚葉紙を１枚毎順次給紙する給紙
手段及び枚葉紙が重送した場合に防止する重送防止手段
から構成される給紙装置において、枚葉紙の情報を操作
者が入力する入力部を備え、この入力部への情報により
、テーブル化した領域に記憶されている複数の給紙条件
の中から入力情報に対応した給紙条件を検索し、かつそ
の給紙条件で制御指令装置から給紙手段及び重送防止手
段を制御させる制御装置を備えたことを特徴とする給紙
装置。1. A loading table for loading sheets, a drive unit for moving the loading table in the vertical direction, a paper feeding means for sequentially feeding sheets one by one, and prevention of double feeding of sheets. A paper feeding device comprising double feeding prevention means includes an input section through which an operator inputs sheet information, and information input to this input section allows multiple feeding sheets stored in a tabular area to be fed. A paper feeding device comprising a control device that searches paper feeding conditions corresponding to input information from conditions and causes a control command device to control a paper feeding means and a double feeding prevention means based on the paper feeding conditions. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27017687A JPH01117139A (en) | 1987-10-28 | 1987-10-28 | Paper feeder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27017687A JPH01117139A (en) | 1987-10-28 | 1987-10-28 | Paper feeder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01117139A true JPH01117139A (en) | 1989-05-10 |
Family
ID=17482585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP27017687A Pending JPH01117139A (en) | 1987-10-28 | 1987-10-28 | Paper feeder |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01117139A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06166443A (en) * | 1992-12-01 | 1994-06-14 | Xerox Corp | Self-adjustable waveform vacuum transfer device |
| JPH1035914A (en) * | 1996-07-19 | 1998-02-10 | Ricoh Co Ltd | Paper separation feeder |
| JP2001031273A (en) * | 1999-07-23 | 2001-02-06 | Fuji Xerox Co Ltd | Sheet supply device |
| US6354585B1 (en) * | 1999-06-04 | 2002-03-12 | Ricoh Company, Ltd. | Image forming apparatus and sheet feeder for the same |
| JP2006225087A (en) * | 2005-02-16 | 2006-08-31 | Fuji Xerox Co Ltd | Sheet feeding device and image forming apparatus |
| JP2009001408A (en) * | 2007-06-25 | 2009-01-08 | Canon Inc | Sheet feeder and image forming device |
| JP2017145083A (en) * | 2016-02-15 | 2017-08-24 | 株式会社リコー | Control device, control method, program and conveyance system |
| JP2017149557A (en) * | 2016-02-26 | 2017-08-31 | 株式会社リコー | Transport system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62201736A (en) * | 1986-02-28 | 1987-09-05 | Fujitsu Ltd | Document feed mechanism |
-
1987
- 1987-10-28 JP JP27017687A patent/JPH01117139A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62201736A (en) * | 1986-02-28 | 1987-09-05 | Fujitsu Ltd | Document feed mechanism |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06166443A (en) * | 1992-12-01 | 1994-06-14 | Xerox Corp | Self-adjustable waveform vacuum transfer device |
| JPH1035914A (en) * | 1996-07-19 | 1998-02-10 | Ricoh Co Ltd | Paper separation feeder |
| US6354585B1 (en) * | 1999-06-04 | 2002-03-12 | Ricoh Company, Ltd. | Image forming apparatus and sheet feeder for the same |
| JP2001031273A (en) * | 1999-07-23 | 2001-02-06 | Fuji Xerox Co Ltd | Sheet supply device |
| JP2006225087A (en) * | 2005-02-16 | 2006-08-31 | Fuji Xerox Co Ltd | Sheet feeding device and image forming apparatus |
| JP2009001408A (en) * | 2007-06-25 | 2009-01-08 | Canon Inc | Sheet feeder and image forming device |
| JP2017145083A (en) * | 2016-02-15 | 2017-08-24 | 株式会社リコー | Control device, control method, program and conveyance system |
| JP2017149557A (en) * | 2016-02-26 | 2017-08-31 | 株式会社リコー | Transport system |
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