TWI774860B - Glass sheet packing system - Google Patents

Glass sheet packing system Download PDF

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Publication number
TWI774860B
TWI774860B TW107136303A TW107136303A TWI774860B TW I774860 B TWI774860 B TW I774860B TW 107136303 A TW107136303 A TW 107136303A TW 107136303 A TW107136303 A TW 107136303A TW I774860 B TWI774860 B TW I774860B
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Taiwan
Prior art keywords
web
glass sheet
suction
interleaf
glass
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TW107136303A
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Chinese (zh)
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TW201934424A (en
Inventor
湯原幸雄
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美商康寧公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B23/00—Packaging fragile or shock-sensitive articles other than bottles; Unpacking eggs
    • B65B23/20—Packaging plate glass, tiles, or shingles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H20/00—Advancing webs
    • B65H20/02—Advancing webs by friction roller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/50—Stacking one article, or group of articles, upon another before packaging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/20—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents
    • B65B61/207—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents for inserting partitions between package contents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
    • B65G49/069—Means for avoiding damage to stacked plate glass, e.g. by interposing paper or powder spacers in the stack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H16/00—Unwinding, paying-out webs
    • B65H16/10—Arrangements for effecting positive rotation of web roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H20/00—Advancing webs
    • B65H20/16—Advancing webs by web-gripping means, e.g. grippers, clips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
    • B65H23/022—Registering, tensioning, smoothing or guiding webs transversely by tentering devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H35/00—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers
    • B65H35/04—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers from or with transverse cutters or perforators
    • B65H35/06—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers from or with transverse cutters or perforators from or with blade, e.g. shear-blade, cutters or perforators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/04—Arrangements of vacuum systems or suction cups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/005—Stacking of articles by using insertions or spacers between the stacked layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/19—Specific article or web
    • B65H2701/1944—Wrapping or packing material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/81—Packaging machines

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Wrapping Of Specific Fragile Articles (AREA)
  • Collation Of Sheets And Webs (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Laminated Bodies (AREA)

Abstract

A glass sheet packing system includes a glass sheet feeding apparatus configured to feed glass sheets, which are successively conveyed thereto in the vertical orientation, onto a glass sheet placing surface 6a of a crate one by one. The system further includes an interleaf feeding apparatus configured to feed a sheet of interleaf paper, which is formed by cutting a web with a cutter, onto the crate. In the course of moving the interleaf paper to the lowermost position to feed the interleaf paper onto the crate, the interleaf feeding apparatus transfers the interleaf paper from clampers forming a web pull down unit to a suction holder forming an interleaf paper transfer unit together with a robot arm, so that the interleaf paper is handled by the suction holder.

Description

玻璃板包裝系統Glass plate packaging system

本發明涉及用於在條板箱上堆積薄玻璃板的玻璃板包裝系統，更具體地說，涉及一種用於以豎立位置交替地堆積玻璃板與插頁紙的玻璃板包裝系統。The present invention relates to a glass sheet packaging system for stacking thin glass sheets on crates, and more particularly, to a glass sheet packaging system for alternately stacking glass sheets and inserts in an upright position.

傳統上，例如，如日本未審查專利公開案第2006-056675號（以下稱為專利文獻1）中所教示，已知用於條板箱上的豎立位置交替地堆積玻璃板與插頁紙的玻璃板包裝系統。專利文獻1亦教示了當玻璃板如上所述堆積在條板箱上時，透過切割腹板來形成一張插頁紙。Conventionally, for example, as taught in Japanese Unexamined Patent Publication No. 2006-056675 (hereinafter referred to as Patent Document 1), there has been known a method for alternately stacking glass sheets and interleaf sheets at upright positions on a crate. Glass plate packaging system. Patent Document 1 also teaches that a sheet of interleaf is formed by cutting the web when the glass sheets are stacked on the crate as described above.

然而，對於傳統的玻璃板包裝系統，其中腹板經切割以形成一張插頁紙，並且玻璃板和插頁紙交替地堆積在豎立位置的條板箱上，仍然需要改進以減少從切割腹板到放置玻璃板的過程的時間。However, improvements are still needed for conventional glass sheet packaging systems in which the web is cut to form a sheet of interleaf and the glass sheets and interleaving sheets are alternately stacked on the crate in the upright position The time from the plate to the process of placing the glass plate.

鑑於上述情況，本案描述了一種玻璃板包裝系統，其允許減少完成從腹板的切割到玻璃板的放置的過程的時間。In view of the above, the present case describes a glass sheet packaging system that allows reducing the time to complete the process from the cutting of the web to the placement of the glass sheet.

玻璃板包裝系統的一態樣，為用於在一條板箱的玻璃板放置表面上的一豎立位置中交替地堆積玻璃板及插頁紙的一種玻璃板包裝系統，如以下所述，該包裝系統包含1)一玻璃板饋送裝置及2)一插頁饋送裝置。An aspect of the glass sheet packaging system is a glass sheet packaging system for alternately stacking glass sheets and inserts in an upright position on the glass sheet placement surface of a crate, as described below, the packaging The system includes 1) a glass sheet feeding device and 2) an insert feeding device.

亦即，形成玻璃板包裝系統的1)玻璃板饋送裝置包含： a. 一組吸盤，配置成將每個玻璃板抓持於該組吸盤上，每個玻璃板以垂直方向連續地傳送，並且在該玻璃板被放置於該玻璃放置表面上之後釋放該玻璃板；及 b. 一第一機器臂，包含固定在該一第一機器臂上的該些吸盤，且該第一機器臂配置成將被該些吸盤所抓持的該玻璃板饋送至該玻璃板放置表面上。That is, 1) the glass sheet feeding device forming the glass sheet packaging system comprises: a. a set of suction cups configured to grip each glass sheet on the set of suction cups, each glass sheet being conveyed continuously in a vertical direction, and Release the glass sheet after the glass sheet is placed on the glass placement surface; and b. a first robotic arm including the suction cups secured to the first robotic arm, and the first robotic arm is configured to The glass sheet gripped by the suction cups is fed onto the glass sheet placement surface.

再者，2)形成玻璃板包裝系統的插頁饋送裝置包含： a. 2-1)一輥軸，配置成抓持住纏繞在該輥軸上的該插頁紙的一腹板； b. 2-2)一腹板展開單元，配置成以藉由從該腹板展開單元的一前端側捲開該腹板而展開該腹板； c. 2-3)一腹板引導件，用以引導該被捲開的腹板，使得該被捲開的腹板的該前端從該玻璃板放置表面的上方向下移動，以允許該腹板面向該玻璃板放置表面； d. 2-4)一腹板下拉單元，其包括一對夾具，該對夾具配置成抓持及釋放該腹板的該前端附近的部件，及一升降機，配置成沿著該玻璃板放置表面上下移動該些夾具，其中該升降機移動向下，以將抓持該腹板的該些夾具向下移動，以在一第一時段與一第二時段期間內下拉該腹板，一休息時段係安插在該二時段之間； e. 2-5)一切割器，配置成在該休息時段期間，當該第一時段期間被下拉的該腹板位於面向該玻璃板放置表面的一位置時，從該腹板的該前端的一預定距離處切割該腹板，以形成一張插頁紙； f. 2-6)一插頁紙傳送單元，其包含一抽吸保持器，該抽吸保持器配置成抓持及釋放該插頁紙，及一第二機器臂，該第二機器臂配置成移動該抽吸保持器，其中該抽吸保持器在該休息時段期間抓持該插頁紙的一尾端附近的一部件，且該第二機器臂在該第二時段期間將該抽吸保持器向下移動而與該升降機的向下移動同步，從而傳送該插頁紙至一預定高度位置，在該預定高度位置處該插頁紙面向該玻璃板放置表面，並且在一玻璃板被該玻璃板饋送裝置饋送至該被傳送的插頁紙上之後，從該抽吸保持器的該吸盤釋放該插頁紙，以及 g. 2-7)一腹板固定單元，配置成在從該切割器切割該腹板直到該插頁紙傳送單元的該抽吸保持器抓持住該插頁紙之前的該休息時段期間內，將該腹板保持於一固定位置。Furthermore, 2) an interleaf feeding device forming a glass sheet packaging system comprising: a. 2-1) a roller configured to grip a web of the interleaf paper wound on the roller; b. 2-2) A web unfolding unit configured to unfold the web by unrolling the web from a front end side of the web unfolding unit; c. 2-3) A web guide for Guide the unrolled web so that the front end of the unrolled web moves downwardly from above the glass sheet placement surface to allow the web to face the glass sheet placement surface; d. 2-4) a web pull-down unit comprising a pair of clamps configured to grip and release components near the front end of the web, and a lift configured to move the clamps up and down along the glass sheet placement surface, Wherein the elevator moves downward to move the clamps gripping the web downward to pull down the web during a first period and a second period, and a rest period is arranged between the two periods e. 2-5) A cutter configured to, during the rest period, when the web being pulled down during the first period is in a position facing the glass sheet resting surface, cut from the web of the web cutting the web at a predetermined distance from the front end to form a sheet of interleaf paper; f. 2-6) an interleaf paper conveying unit comprising a suction holder configured to grip and releasing the interleaf, and a second robotic arm configured to move the suction holder, wherein the suction holder grips the interleaf near a trailing end of the interleaf during the rest period a part, and the second robotic arm moves the suction holder downward in synchronization with the downward movement of the elevator during the second period of time to deliver the insert to a predetermined height position at the predetermined height position the interleaf facing the glass plate placement surface, and release the interleaf from the suction cup of the suction holder after a glass plate is fed onto the conveyed interleaf by the glass plate feeder, and g. 2-7) a web fixing unit configured to cut the web from the cutter until the suction holder of the interleaf conveying unit grabs the interleaf during the rest period before the interleaf Inside, the web is held in a fixed position.

希望的是，腹板固定單元包含一抽吸桿，該抽吸桿包含一抽吸表面，該抽吸表面在被饋送至該腹板固定單元的該腹板的寬度方向上延伸，且配置成抽吸並固定面向該玻璃板放置表面的該腹板的該表面。It is desirable that the web fixing unit includes a suction rod including a suction surface extending in the width direction of the web fed to the web fixing unit and configured to The surface of the web facing the surface on which the glass sheet is placed is suctioned and secured.

更希望的是，抽吸桿可在一縮回位置與一抽吸位置間移動，在該縮回位置，當該抽吸桿未抽吸並固定該腹板時，該抽吸桿的該抽吸表面係與該腹板分離，在該抽吸位置，當該抽吸桿抽吸並固定該腹板時，該抽吸桿的該抽吸表面係與該腹板接觸。More desirably, the suction rod is movable between a retracted position and a suction position in which the suction rod of the suction rod is not sucking and securing the web in the retracted position. The suction surface is separated from the web, and in the suction position, the suction surface of the suction rod is in contact with the web when the suction rod sucks and secures the web.

在如上所述的腹板固定單元包括抽吸桿的情況下，希望插頁紙傳送單元的抽吸保持器將插頁紙的尾端附近的一部分吸住並保持固定在抽吸桿的抽吸表面上。在如上所述的腹板固定單元包括抽吸桿，且抽吸桿可在縮回位置和抽吸位置之間移動的情況下，希望插頁紙傳送單元的抽吸保持器將插頁紙的尾端附近的一部分吸住並保持固定在抽吸桿的抽吸表面上。In the case where the web fixing unit as described above includes the suction rod, it is desirable that the suction holder of the interleaf conveying unit sucks a part near the trailing end of the interleaf and holds the suction fixed to the suction rod on the surface. In the case where the web fixing unit as described above includes a suction rod, and the suction rod is movable between the retracted position and the suction position, it is desirable that the suction holder of the interleaf transport unit will A portion near the tail end sucks and remains fixed to the suction surface of the suction rod.

希望的是，在玻璃板包裝系統中，插頁紙傳送單元的抽吸保持器亦作為腹板固定單元。Desirably, in the glass sheet packaging system, the suction holder of the interleaf transport unit also acts as the web fixing unit.

希望的是，在玻璃板包裝系統中，腹板下拉單元的腹板的饋送速率係高於腹板展開單元的腹板的饋送速率，且在腹板展開單元與腹板下拉單元之間的腹板饋送路徑上提供一張力滾輪，該張力滾輪可移動以鬆弛該腹板並吸收該鬆弛。Desirably, in the glass sheet packaging system, the feed rate of the webs of the web pull-down unit is higher than the feed rate of the webs of the web-unfolding unit, and the web between the web-unfolding unit and the web pull-down unit is desirably A tension roller is provided on the plate feed path which can be moved to relax the web and absorb the slack.

希望的是，插頁紙傳送單元的抽吸保持器包含一抽吸表面，該抽吸表面在腹板的寬度上延伸，例如在整個寬度上延伸。Desirably, the suction holder of the interleaf transport unit comprises a suction surface extending over the width of the web, eg over the entire width.

希望的是，玻璃板饋送裝置配置成將以一垂直方向連續地運送至該玻璃板饋送裝置的該些玻璃板，沿著一最小路徑，饋送至該玻璃板放置表面上，該最小路徑係始於每個被饋送的玻璃板在一傳送路徑上被停止的一位置。Desirably, the glass sheet feeder is configured to feed the glass sheets continuously conveyed to the glass sheet feeder in a vertical direction, along a minimum path, onto the glass sheet placement surface, the minimum path starting from At a position where each fed glass sheet is stopped on a conveying path.

希望的是，第二機器臂執行該抽吸保持器的向下移動，該向下移動係與升降機的向下移動同步，而不會拉伸插頁紙。Desirably, the second robotic arm performs the downward movement of the suction holder, which is synchronized with the downward movement of the elevator, without stretching the interleaf.

希望的是，切割器包含一切割刀，該切割刀在腹板的寬度上延伸，例如在整個寬度上延伸，並且藉由移動切割刀於該腹板的厚度方向來切割該腹板。Desirably, the cutter includes a cutting knife that extends across the width of the web, eg, the entire width, and cuts the web by moving the cutting knife in the thickness direction of the web.

希望的是，條板箱的玻璃板放置表面係傾斜以稍微朝向上方。Desirably, the glass plate rest surface of the crate is sloped to face slightly upwards.

在玻璃板包裝系統中，透過切割腹板而形成的一張插頁紙，在將插頁紙移動至最下方位置以放置插頁紙於條板箱上的過程中，會從形成為腹板下拉單元的夾具，傳送到與機器臂一同形成為插頁紙傳送單元的抽吸保持器。為了將插頁紙饋送到條板箱的玻璃板放置表面上，使用相對不能高速操作但能夠高精度操作的機器臂，來傳送插頁紙。另一方面，在傳送之前拉下腹板，使用能夠高速操作的升降機塊及夾具。以這種方式提高腹板的下拉速度，允許減少從腹板的切割至玻璃板的放置的過程的完成的時間。In a glass plate packaging system, a sheet of interleaf formed by cutting a web will change from a web to a web during the process of moving the interleaf to the lowermost position to place the interleaf on the crate. The gripper of the pull-down unit is transferred to a suction holder formed together with the robot arm as an interleaf transfer unit. In order to feed the inserts onto the glass plate rest surface of the crate, a robotic arm, which is relatively incapable of operating at high speed but capable of high precision, is used to convey the inserts. On the other hand, the web is pulled down before transfer, using lift blocks and clamps that can be operated at high speed. Increasing the pull-down speed of the web in this way allows reducing the time to completion of the process from the cutting of the web to the placement of the glass sheet.

此外，將該張插頁紙從夾具傳送到抽吸保持器，允許形成為腹板下拉單元的升降機塊返回到最上方位置，以在該張插頁紙抵達最下方位置前，開始下一次的腹板的下拉，亦即，在一張玻璃板被放置在該張插頁紙上之前。本實施例的玻璃板包裝系統的此特徵，也有助於減少從腹板的切割至玻璃板的放置的過程的完成的時間。Furthermore, transferring the interleaf from the gripper to the suction holder allows the elevator block formed as the web pull-down unit to return to the uppermost position to start the next step before the interleaf reaches the lowermost position The pull-down of the web, that is, before a glass plate is placed on the insert. This feature of the glass sheet packaging system of the present embodiment also helps to reduce the time to completion of the process from the cutting of the web to the placement of the glass sheet.

現在將詳細參考本案的示例性實施例，將參考附圖對其進行描述。在整個附圖中將儘可能地使用相同的附圖標記來表示相同或相似的部分。然而，本揭示可以以許多不同的形式實現，並且不應被解釋為受限於此處所述的實施例。圖1與2分別為顯示依據例示實施例的玻璃板包裝系統1的一側視圖與一立體圖。如這些圖所示，系統1被配置成交替地堆積玻璃板G及插頁紙5於條板箱6上，玻璃板G通過玻璃板運送單元10一個接一個連續地運送到玻璃板G上。如圖1與2所示，系統1包含一玻璃板饋送裝置20及一插頁饋送裝置40。Reference will now be made in detail to exemplary embodiments of the present invention, which will be described with reference to the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. However, the present disclosure may be embodied in many different forms and should not be construed as limited to the embodiments described herein. 1 and 2 are a side view and a perspective view, respectively, showing a glass sheet packaging system 1 according to an exemplary embodiment. As shown in these figures, the system 1 is configured to alternately stack glass sheets G and interleaf sheets 5 on the crates 6 , and the glass sheets G are continuously transported to the glass sheets G one by one by the glass sheet transport unit 10 . As shown in FIGS. 1 and 2 , the system 1 includes a glass sheet feeding device 20 and an insert feeding device 40 .

玻璃板運送單元10配置成將玻璃板G運送至玻璃板饋送裝置20附近的一位置，且玻璃板運送單元10包括一軌道11，從軌道11懸吊並沿著軌道11行進的台車12，以及附接至每一個台車12的一保持器13以抓持一單一玻璃板G。軌道11沿著一環狀路徑延伸，以從一玻璃板製造區，行經玻璃板饋送裝置20的附近，再回到玻璃板製造區(未圖示)。每一個台車12係懸吊於環狀軌道11。在玻璃板製造區，每個台車12的保持器13將一單一玻璃板G抓持於一豎立位置。接著，每個抓持著單一玻璃板G的台車12沿著軌道11行進，並連續地抵達玻璃板饋送裝置20的附近。將玻璃板G運送至一位置以面向玻璃板饋送裝置20的每個台車12，係暫時地停在該位置。The glass sheet transport unit 10 is configured to transport the glass sheet G to a position near the glass sheet feeder 20, and includes a rail 11, a trolley 12 suspended from the rail 11 and traveling along the rail 11, and A holder 13 is attached to each trolley 12 to hold a single glass sheet G. The track 11 extends along an endless path to travel from a glass sheet production area, past the vicinity of the glass sheet feeder 20, and back to the glass sheet production area (not shown). Each of the trolleys 12 is suspended from the annular rail 11 . In the glass sheet manufacturing area, the holder 13 of each trolley 12 holds a single glass sheet G in an upright position. Next, each trolley 12 gripping a single glass sheet G travels along the track 11 and successively reaches the vicinity of the glass sheet feeding device 20 . The glass sheets G are transported to a position to face each of the carts 12 of the glass sheet feeding device 20, where they are temporarily stopped.

條板箱6係放置在玻璃板饋送裝置20的附近。條板箱6包括一玻璃板放置表面6a，在其上放置玻璃板G，一底板6b用來從下面支撐放置於玻璃板放置表面6a上的玻璃板G，以及放置在地板表面100上的一底座6c。玻璃板放置表面6a設置成當豎立條板箱6時，相對於垂直方向略微傾斜向上。此外，確定放置條板箱6的位置（條板箱設定位置），使得在玻璃板放置表面6a的水平方向上的中心，能與暫時停止的台車12所抓持的玻璃板G的水平方向上的中心對齊。The crate 6 is placed in the vicinity of the glass sheet feeder 20 . The crate 6 includes a glass plate placing surface 6a on which the glass plate G is placed, a bottom plate 6b for supporting the glass plate G placed on the glass plate placing surface 6a from below, and a floor surface 100. base 6c. The glass plate placing surface 6a is provided so as to be slightly inclined upward with respect to the vertical direction when the crate 6 is erected. Further, the position at which the crate 6 is placed (crate setting position) is determined so that the center in the horizontal direction of the glass plate placing surface 6a can be aligned with the horizontal direction of the glass plate G gripped by the temporarily stopped trolley 12 center aligned.

如後所述，玻璃板G及插頁紙5堆積在條板箱6上，且當堆積操作完成時，條板箱6從條板箱設定位置移開，而另一個空的條板箱6會被送入條板箱設定位置。條板箱6進出條板箱設定位置的饋送與移出，係透過沿著圖2中所示的箭頭Q（±Q方向）的方向移動地板表面100上的條板箱6來實現，使得條板箱不會干預到插頁饋送裝置40，其特徵將如後述。Q方向是在水平面中與玻璃板G的一輸送方向X傾斜交叉的方向。As will be described later, the glass sheets G and the insert sheets 5 are stacked on the crate 6, and when the stacking operation is completed, the crate 6 is removed from the crate setting position, and another empty crate 6 will be fed into the crate set position. The feeding and removal of the crate 6 into and out of the crate set position is achieved by moving the crate 6 on the floor surface 100 in the direction of the arrow Q (±Q direction) shown in FIG. The box does not interfere with the insert feeder 40, the features of which will be described later. The Q direction is a direction obliquely intersecting with one conveyance direction X of the glass sheet G in the horizontal plane.

應該注意的是，在條板箱6上將玻璃板G與插頁紙5一起堆積的過程，適用於玻璃板G作為以該狀態進行托運的最終產品的情況，或是運送玻璃板G去作進一步處理。此過程還可以應用於當玻璃板處理操作暫時無法進行時，由玻璃板運送單元10連續地運送玻璃板G至一特定玻璃加工操作地點的情況，例如，被運送的玻璃板G可被攜帶出並且在加工線之外暫時地堆積。It should be noted that the process of stacking the glass plate G with the interleaf paper 5 on the crate 6 is suitable for the case where the glass plate G is the final product to be shipped in this state, or when the glass plate G is transported for further processing. This process can also be applied to the case where the glass sheet G is continuously transported by the glass sheet transport unit 10 to a specific glass processing operation site when the glass sheet processing operation is temporarily unavailable, for example, the transported glass sheet G can be carried out And temporarily accumulate outside the processing line.

玻璃板饋送裝置20包括玻璃板保持框架21，由玻璃板保持框架21所保持的複數個吸嘴22，以及玻璃板饋送機器人23，例如六軸多關節機器人。玻璃板饋送機器人23的機器臂24係連接至玻璃板保持框架21。應注意的是，機器臂24形成本案的第一機器臂。The glass plate feeding device 20 includes a glass plate holding frame 21, a plurality of suction nozzles 22 held by the glass plate holding frame 21, and a glass plate feeding robot 23 such as a six-axis articulated robot. The robot arm 24 of the glass sheet feeding robot 23 is connected to the glass sheet holding frame 21 . It should be noted that the robotic arm 24 forms the first robotic arm of the present case.

吸嘴22可佈置成行與列。每個吸嘴22可經由一控制閥與共用抽吸源（未示出）流體連通。當打開控制閥並且吸嘴22吸入空氣時，吸嘴22（亦即，玻璃板保持框架21）可透過抽吸以抓持一單一玻璃板G。從該狀態開始，當關閉控制閥以藉由吸嘴22停止抽吸時，從吸嘴22的抽吸下釋放玻璃板G，且從玻璃板保持框架21釋放玻璃板G。吸嘴22可用一種柔軟材料例如橡膠來製造，以便不損壞玻璃板G，並且可以具有通常稱為｢吸盤｣的形狀。The suction nozzles 22 may be arranged in rows and columns. Each suction nozzle 22 may be in fluid communication with a common suction source (not shown) via a control valve. When the control valve is opened and the suction nozzle 22 sucks air, the suction nozzle 22 (ie, the glass plate holding frame 21 ) can hold a single glass plate G by suction. From this state, when the control valve is closed to stop suction by the suction nozzle 22 , the glass plate G is released from the suction by the suction nozzle 22 , and the glass plate G is released from the glass plate holding frame 21 . The suction nozzle 22 may be made of a soft material such as rubber so as not to damage the glass plate G, and may have a shape commonly referred to as a "suction cup".

再次參照圖1與2，插頁饋送裝置40包括：一輥軸41，配置成抓持一腹板5W，腹板5W為插頁紙的材料，而纏繞在輥軸41上；一輥軸驅動構件42，配置成將輥軸41旋轉於將腹板5W捲開的方向；導引輥43~48，圍繞其上包覆有捲開的腹板5W；一張力滾輪49，圍繞其上捲開的腹板5W係包覆在導引輥43與44之間；一導引件50，配置成導引腹板5W的前端；一切割器51，配置成切割通過導引件50的腹板5W；一對導引桿60；夾具62，每個夾具62配置成沿著相應的導引桿60行進；一插頁紙運送機器人63，例如六軸多關節機器人，其具有一機器臂72；及一抽吸桿64，作為該腹板固定單元。1 and 2 again, the interleaf feeding device 40 includes: a roller shaft 41 configured to grasp a web 5W, which is the material of the interleaf paper, and is wound on the roller shaft 41; a roller shaft drives The member 42 is configured to rotate the roller shaft 41 in the direction of unrolling the web 5W; the guide rollers 43 to 48 are wrapped around the unrolled web 5W; a tension roller 49 is unrolled around it The web 5W is wrapped between the guide rollers 43 and 44; a guide 50 is configured to guide the front end of the web 5W; a cutter 51 is configured to cut the web 5W passing through the guide 50 a pair of guide rods 60; grippers 62, each gripper 62 configured to travel along a corresponding guide rod 60; an interleaf transport robot 63, such as a six-axis articulated robot, having a robotic arm 72; and A suction rod 64 serves as the web fixing unit.

機器臂72對應於本案的第二機器臂，且包含一抽吸保持器70，被保持在機器臂72的前端。抽吸保持器70包括，在桿狀空氣管73的縱向方向配置的複數個吸嘴71，桿狀空氣管73沿圖1所示的x方向延伸。空氣管73是具有封閉的相對端的一中空管，空氣管73的內部經由一控制閥與一抽吸源（未圖示）連通。當控制閥打開並且吸嘴71吸入空氣時，吸嘴71（即，保持在抽吸保持器70上）可以透過抽吸來抓持插頁紙5。藉此狀態，當關閉控制閥以藉由吸嘴71停止抽吸時，插頁紙5從抽吸保持器70的抽吸中被釋放。抽吸保持器70及機器臂72配置成移動抽吸保持器70，而形成本案的插頁紙傳送單元。The robotic arm 72 corresponds to the second robotic arm of the present case, and includes a suction holder 70 held at the front end of the robotic arm 72 . The suction holder 70 includes a plurality of suction nozzles 71 arranged in the longitudinal direction of a rod-shaped air tube 73 extending in the x-direction shown in FIG. 1 . The air tube 73 is a hollow tube with closed opposite ends, and the interior of the air tube 73 communicates with a suction source (not shown) via a control valve. When the control valve is opened and the suction nozzle 71 sucks air, the suction nozzle 71 (ie, held on the suction holder 70 ) can grasp the insert sheet 5 by suction. In this state, when the control valve is closed to stop suction by the suction nozzle 71 , the interleaf paper 5 is released from the suction of the suction holder 70 . The suction holder 70 and the robot arm 72 are configured to move the suction holder 70 to form the interleaf conveying unit of the present case.

在導引輥43至48之中，導引輥47與48係配置成將腹板5W夾在其間。引導引輥47與48可由驅動構件（未圖示）可旋轉地驅動，以將夾在其間的腹板5W饋送至左側，如圖1所示。亦即，導引輥47與48以及上述輥軸驅動構件42形成腹板展開單元，該腹板展開單元配置成藉由從其前端側捲開腹板5W的方式來展開腹板5W。Among the guide rollers 43 to 48, the guide rollers 47 and 48 are arranged to sandwich the web 5W therebetween. The guide rollers 47 and 48 may be rotatably driven by a drive member (not shown) to feed the web 5W sandwiched therebetween to the left, as shown in FIG. 1 . That is, the guide rollers 47 and 48 and the above-described roller shaft driving member 42 form a web unfolding unit configured to unfold the web 5W by rolling up the web 5W from the front end side thereof.

由導引輥47與48所饋送的腹板5W係由導引件50所引導，以使腹板5W的前端從條板箱6的玻璃板放置表面6a上方向下移動，以允許腹板5W面向玻璃板放置表面6a。亦即，引導件50形成本案的腹板引導件。The web 5W fed by the guide rollers 47 and 48 is guided by the guide 50 to move the front end of the web 5W downward from above the glass plate placement surface 6a of the crate 6 to allow the web 5W The surface 6a is placed facing the glass plate. That is, the guide 50 forms the web guide of the present case.

切割器51包括下刀片52與上刀片53，下刀片52與上刀片53分別相對於腹板5W設置在後側及前側。下刀片52與上刀片53的每一者具有一長度，其比腹板5W的寬度還長。上刀片53經配置以在遠離下刀片52的一縮回位置與一切割位置之間往復運動，在切割位置上刀片53與下刀片52會相接合。當上刀片53從縮回位置移動到切割位置時，從與腹板5W的前端相距一預定距離處，在腹板5W的寬度上(例如整個寬度)切割腹板5W，以形成一單張的插頁紙5。The cutter 51 includes a lower blade 52 and an upper blade 53, and the lower blade 52 and the upper blade 53 are disposed on the rear side and the front side with respect to the web 5W, respectively. Each of the lower blade 52 and the upper blade 53 has a length that is longer than the width of the web 5W. The upper blade 53 is configured to reciprocate between a retracted position remote from the lower blade 52 and a cutting position in which the blade 53 and lower blade 52 would engage. When the upper blade 53 is moved from the retracted position to the cutting position, the web 5W is cut across the width (eg, the entire width) of the web 5W from a predetermined distance from the front end of the web 5W to form a single sheet of Insert 5.

抽吸桿64位於切割器51的正下方，亦即，在腹板5W饋送方向上位於切割器51的上游。抽吸桿64是具有封閉的相對端的一中空管，且在面向腹板5W的表面64S中包括複數個抽吸孔64a，如圖2清楚所示。抽吸桿64的內部透過一控制閥與抽吸源（未圖示）連通。當打開控制閥並且抽吸孔64a吸入空氣時，表面64S可透過抽吸來抓持腹板5W或插頁紙5。藉此狀態，當關閉控制閥以藉由抽吸孔64a停止抽吸時，腹板5W或插頁紙5從抽吸桿64的抽吸中被釋放。The suction rod 64 is located directly below the cutter 51 , that is, upstream of the cutter 51 in the feeding direction of the web 5W. The suction rod 64 is a hollow tube with closed opposite ends and includes a plurality of suction holes 64a in the surface 64S facing the web 5W, as best shown in FIG. 2 . The interior of the suction rod 64 communicates with a suction source (not shown) through a control valve. When the control valve is opened and the suction hole 64a sucks in air, the surface 64S can grip the web 5W or the interleaf 5 by suction. In this state, when the control valve is closed to stop the suction through the suction hole 64a, the web 5W or the interleaf 5 is released from the suction of the suction rod 64.

抽吸桿64藉由一驅動構件（未圖示）在圖3所示的箭頭m1、m2、m3、及m4的方向上移動至圖3所示的4個位置。第一位置是腹板接收位置，在圖3中以實線顯示。在此位置，抽吸桿64位於切割器51的下刀片52附近，且表面64S係與由引導件50所抓持的腹板5W的後側5B（與條板箱6的玻璃板放置表面6a接觸的一側）的一延長線稍微間隔開。腹板接收位置以P1標示，且在此位置的抽吸桿64於圖3中以｢64(P1)｣標示。第二位置是一縮回位置P2，抽吸桿64在遠離腹板5W的方向上從腹板接收位置P1被移動至縮回位置P2。在縮回位置P2的抽吸桿64於圖3中以｢64(P2)｣標示。第三位置是一下端位置P3，抽吸桿64在腹板5W被饋送的方向上從腹板接收位置P1稍微移動到下端位置P3。在下端位置P3的抽吸桿64於圖3中以｢64(P3)｣標示。第四位置是下端縮回位置P4，抽吸桿64在遠離腹板5W的方向上從下端位置P3被移動到下端縮回位置P4。在下端縮回位置P4的抽吸桿64於圖3中以｢64(P4)｣標示。The suction rod 64 is moved to the four positions shown in FIG. 3 in the directions of arrows m1 , m2 , m3 , and m4 shown in FIG. 3 by a driving member (not shown). The first position is the web receiving position, shown in solid lines in FIG. 3 . In this position, the suction rod 64 is located near the lower blade 52 of the cutter 51, and the surface 64S is in line with the rear side 5B of the web 5W held by the guide 50 (and the glass plate rest surface 6a of the crate 6). contact side) slightly spaced apart. The web receiving position is designated P1, and the suction rod 64 in this position is designated “64(P1)” in FIG. 3 . The second position is a retracted position P2, and the suction rod 64 is moved from the web receiving position P1 to the retracted position P2 in a direction away from the web 5W. The suction rod 64 in the retracted position P2 is indicated by "64(P2)" in FIG. 3 . The third position is the lower end position P3, and the suction rod 64 is slightly moved from the web receiving position P1 to the lower end position P3 in the direction in which the web 5W is fed. The suction rod 64 at the lower end position P3 is denoted by "64 (P3)" in FIG. 3 . The fourth position is the lower end retracted position P4 from which the suction rod 64 is moved in the direction away from the web 5W from the lower end position P3 to the lower end retracted position P4. The suction rod 64 at the lower end retracted position P4 is indicated by "64 (P4)" in FIG. 3 .

如圖2明確地圖示，該對導引桿60係設於橫向外側並且分別與條板箱6的左端和右端間隔開的位置。每個導引桿60包括連接到其上的一升降機塊61，其沿著導引桿60上下移動，且夾具62係安裝於升降機塊61。這兩個升降機塊61同步地上下移動，以保持在相對於彼此相同高度的位置。每個夾持器62將腹板5W抓持在夾具62的內端，即在面向另一夾具62的一端。此外，每個夾具62可在水平方向上移動，即如圖2所示，在升降機塊61上沿箭頭X的方向（±X方向）移動。此移動係同步發生，使得兩個夾具62朝向彼此或遠離彼此而移動。上述的導引桿60、升降機塊61、及夾具62形成本案的腹板下拉單元。As clearly shown in FIG. 2 , the pair of guide bars 60 are provided at laterally outer sides and at positions spaced apart from the left and right ends of the crate 6 , respectively. Each guide rod 60 includes an elevator block 61 attached thereto, which moves up and down along the guide rod 60 , and a clamp 62 is mounted to the elevator block 61 . The two elevator blocks 61 move up and down synchronously to remain at the same height relative to each other. Each gripper 62 grips the web 5W at the inner end of the clamp 62 , ie at the end facing the other clamp 62 . In addition, each clamp 62 is movable in a horizontal direction, that is, in the direction of the arrow X (±X direction) on the elevator block 61 as shown in FIG. 2 . This movement occurs synchronously so that the two clamps 62 move towards or away from each other. The above-mentioned guide rod 60 , the elevator block 61 , and the clamp 62 form the web pull-down unit of the present case.

更具體地說，如圖4中放大所示，每個夾具62包括安裝到升降機塊61的一基部62a，以及連接到基座62a的內端的一對夾具半部62b、62b。基部62a沿箭頭X的方向相對於升降機塊61移動。該對夾具半部62b、62b沿箭頭H的方向同步地朝向彼此或遠離彼此移動。More specifically, as shown enlarged in FIG. 4, each clamp 62 includes a base 62a mounted to the elevator block 61, and a pair of clamp halves 62b, 62b connected to the inner ends of the base 62a. The base 62a moves in the direction of arrow X relative to the elevator block 61 . The pair of clamp halves 62b, 62b move in the direction of arrow H synchronously toward or away from each other.

當夾具62抓持腹板5W時，首先，每個夾具62的該對夾具半部62b、62b係定位在彼此最大距離處。此外，該對夾具62的基部62a、62a彼此相距最大距離，使得它們分別設置在腹板5W的橫向外側並與左端和右端隔開的位置。藉此狀態，基部62a、62a向內移動，直到腹板5W位於每個夾具62的該對夾具半部62b、62b之間，然後該對夾具半部62b，62b再朝向彼此移動。以此方式，腹板5W會被每個夾具62的該對夾具半部62b、62b所抓持。亦即，當說｢夾具62抓持腹板5W｣時，更具體地意味著每個夾具62的夾具半部62b、62b抓持腹板5W。從腹板抓持狀態，當該對夾具半部62b、62b彼此遠離移動時，腹板5W從夾具半部62b、62b被釋放。亦即，當說｢夾具62釋放腹板5W｣時，更具體地意味著每個夾具62的夾具半部62b、62b釋放腹板5W。應該注意的是，在腹板5W已被切割成一張插頁紙5的情況下，如下所述，上述的由夾具62對腹板5W的抓持與釋放，意味著以夾具62抓持與釋放插頁紙5。When the clamps 62 grip the web 5W, first, the pair of clamp halves 62b, 62b of each clamp 62 are positioned at a maximum distance from each other. In addition, the bases 62a, 62a of the pair of clamps 62 are at a maximum distance from each other so that they are provided at positions laterally outside the web 5W and spaced apart from the left and right ends, respectively. From this state, the bases 62a, 62a move inward until the web 5W is located between the pair of clamp halves 62b, 62b of each clamp 62, and then the pair of clamp halves 62b, 62b move towards each other again. In this way, the web 5W will be gripped by the pair of clamp halves 62b, 62b of each clamp 62. That is, when it is said that "the gripper 62 grips the web 5W", it is more specifically meant that the gripper halves 62b, 62b of each gripper 62 grips the web 5W. From the web gripping state, when the pair of clamp halves 62b, 62b is moved away from each other, the web 5W is released from the clamp halves 62b, 62b. That is, when it is said that "the clamp 62 releases the web 5W", it is more specifically meant that the clamp halves 62b, 62b of each clamp 62 release the web 5W. It should be noted that, in the case where the web 5W has been cut into a sheet of interleaf 5, as described below, the above-mentioned grasping and releasing of the web 5W by the clamp 62 means that the clamp 62 grasps and releases the web 5W. Insert 5.

接著，將描述具有上述特徵的玻璃板包裝系統1的操作。當透過玻璃板包裝系統1將複數個玻璃板G包裝在條板箱6上時，首先，將腹板5W切割成預定長度以形成一張插頁紙5，然後將該張插頁紙5放置在條板箱6的玻璃板放置表面6a上。然後，在其上放置玻璃板G，並將另一張插頁紙5放在玻璃板G上。重複該過程以將玻璃板G與該張插頁紙5交替地堆積在條板箱6的玻璃板放置表面6a上。Next, the operation of the glass sheet packaging system 1 having the above-described features will be described. When a plurality of glass sheets G are packed on the crate 6 by the glass sheet packing system 1, first, the web 5W is cut into a predetermined length to form a sheet of interleaf 5, and then the sheet of interleaf 5 is placed On the glass plate placement surface 6a of the crate 6 . Then, the glass plate G is placed thereon, and another insert 5 is placed on the glass plate G. This process is repeated to stack the glass sheets G alternately with the sheets 5 on the glass sheet placement surface 6 a of the crate 6 .

圖5圖示了以包含導引輥47、48及輥軸驅動構件42的腹板展開單元來饋送（展開）腹板5W的速度，以及在上述過程中，沿著導引桿60的夾具62的移動速度（即，升降機塊61的移動）。在圖5中，前者的速度用點鏈線表示，後者的速度用粗實線表示。關於後者的速度，沿導桿60向下移動的速度顯示為｢+｣（正）值，而向上移動速度顯示為｢-｣（負）值。以下描述係參照圖5。FIG. 5 illustrates the speed at which the web 5W is fed (unrolled) by the web unwinding unit comprising the guide rollers 47 , 48 and the roller drive member 42 , and the gripper 62 along the guide bar 60 during the above process the movement speed (ie, the movement of the elevator block 61). In FIG. 5 , the speed of the former is represented by a dotted chain line, and the speed of the latter is represented by a thick solid line. With regard to the latter speed, the downward movement speed along the guide rod 60 is shown as a '+' (positive) value, while the upward movement speed is shown as a '-' (negative) value. The following description refers to FIG. 5 .

首先，在切割腹板5W的步驟之前，即在圖5所示的時間T0之前，抽吸桿64係位於圖3所示的腹板接收位置P1。在此時，該對升降機塊61處於最上方位置，其中夾具62處於抽吸桿64上方的位置（即，在引導件50附近）。該對夾具62分別位於橫向（箭頭X的方向）向外並遠離腹板5W的左右兩端的位置。在從該狀態開始的期間，即圖5所示的時間T0到時間T1的期間，該對夾具62朝向彼此移動並且將橫向端部保持在腹板5W的前端附近。First, before the step of cutting the web 5W, that is, before the time T0 shown in FIG. 5 , the suction rod 64 is in the web receiving position P1 shown in FIG. 3 . At this time, the pair of elevator blocks 61 are in the uppermost position with the clamp 62 in the position above the suction rod 64 (ie, near the guide 50). The pair of clamps 62 are located laterally outward (in the direction of arrow X) and away from the left and right ends of the web 5W, respectively. During the period from this state, that is, the period from time T0 to time T1 shown in FIG. 5 , the pair of clamps 62 move toward each other and hold the lateral ends near the front end of the web 5W.

在以該對夾具62抓持腹板5W之後，藉由夾具62的向下移動(即，升降機塊61的向下移動)而下拉腹板5W，以及藉由導引輥47、48及輥軸驅動構件42而展開腹板5W的步驟會開始。這會開始於圖5中所示的時間T1。在升降機塊61向下移動之前，抽吸桿64被移動到圖3所示的縮回位置P2，以便不會干擾升降機塊61與夾具62向下移動。After gripping the web 5W with the pair of clamps 62, the web 5W is pulled down by the downward movement of the clamps 62 (ie, the downward movement of the elevator block 61), and by the guide rollers 47, 48 and the roller shafts The step of driving the member 42 to deploy the web 5W begins. This will start at time T1 shown in FIG. 5 . Before the elevator block 61 moves downward, the suction rod 64 is moved to the retracted position P2 shown in FIG. 3 so as not to interfere with the downward movement of the elevator block 61 and the clamp 62 .

當從升降機塊61的向下移動開始經過一預定時間時，升降機塊61的一驅動源（未圖示）會被關閉。在驅動源關閉之後，升降機塊61藉由慣性繼續向下移動，然後在圖5所示的時間T4完全停止。也就是說，從圖5所示的時間T1到時間T4的時段，升降機塊61與夾具62向下移動並將腹板5W拉下。應注意的是，從時間T1到時間T4的時段對應於本案的第一時段。緊接在腹板5W的下拉完全停止之前，抽吸桿64從縮回位置P2返回到圖3所示的腹板接收位置P1。在此之前，抽吸桿64處於縮回位置P2，且因此被拉下的腹板5W不接觸抽吸桿64的表面64S。When a predetermined time elapses from the downward movement of the elevator block 61, a driving source (not shown) of the elevator block 61 is turned off. After the driving source is turned off, the elevator block 61 continues to move downward by inertia, and then completely stops at time T4 shown in FIG. 5 . That is, in the period from the time T1 to the time T4 shown in FIG. 5 , the elevator block 61 and the clamp 62 move downward and pull down the web 5W. It should be noted that the period from time T1 to time T4 corresponds to the first period of the present case. Immediately before the pull-down of the web 5W is completely stopped, the suction rod 64 returns from the retracted position P2 to the web receiving position P1 shown in FIG. 3 . Prior to this, the suction rod 64 is in the retracted position P2 and thus the web 5W being pulled down does not contact the surface 64S of the suction rod 64 .

當抽吸桿64返回到腹板接收位置P1並且腹板5W的下拉完全停止時，抽吸桿64的抽吸孔64a會抽吸空氣。因此，腹板5W被抽吸在抽吸桿64的表面64S上，該表面64S是抽吸表面，並且腹板5W被保持在固定位置，即，使得腹板5W不容易移動。應注意的是，從當腹板5W的下拉完全停止的圖5所示的時間T4開始，到當再次開始腹板5W的下拉的圖5所示的時間T5的時段，對應於本案的休息時段。應該注意的是，抽吸保持器70亦可用於將腹板5W抓持於固定位置。When the suction rod 64 returns to the web receiving position P1 and the pull-down of the web 5W is completely stopped, the suction hole 64a of the suction rod 64 sucks air. Therefore, the web 5W is sucked on the surface 64S of the suction rod 64, which is the suction surface, and the web 5W is held in a fixed position, ie, the web 5W is not easily moved. It should be noted that the period from the time T4 shown in FIG. 5 when the pull-down of the web 5W is completely stopped to the time T5 shown in FIG. 5 when the pull-down of the web 5W is started again corresponds to the rest period of the present case. . It should be noted that the suction holder 70 can also be used to hold the web 5W in a fixed position.

當如上所述將捲材5W保持在固定位置時，切割器51的上刀片53被驅動以在上刀片53的位置處沿著寬度上切割腹板5W（例如整個寬度）。以此方式，切割腹板5W以形成該張插頁紙5。在休息時段期間，進行在固定位置的腹板5W的抓持及切割。只要升降機塊61的向下移動速度和第一時段的長度不改變，從腹板5W的前端到腹板5W被切割的位置的長度就不變。以此方式，可以設定略大於玻璃板G長度的插頁紙5的一預定長度。另一方面，藉由選擇並使用具有適當寬度的腹板5W，可以設定略大於玻璃板G寬度的插頁紙5的一預定寬度。圖6圖示了在圖3所示的狀態之後形成一張插頁紙5的狀態。在這種狀態下，抽吸桿64通過抽吸將一部分的插頁紙5抓持在其尾端附近。插頁紙5的尾端指的是導引件50附近的一端，即插頁紙5的上端。When the web 5W is held in a fixed position as described above, the upper blade 53 of the cutter 51 is driven to cut the web 5W across the width (eg, the entire width) at the position of the upper blade 53 . In this manner, the web 5W is cut to form the sheet of interleaf 5 . During the rest period, the gripping and cutting of the web 5W in a fixed position is performed. As long as the downward movement speed of the elevator block 61 and the length of the first period do not change, the length from the front end of the web 5W to the position where the web 5W is cut does not change. In this way, a predetermined length of the interleaf paper 5 which is slightly larger than the length of the glass plate G can be set. On the other hand, by selecting and using the web 5W having an appropriate width, a predetermined width of the interleaf paper 5 which is slightly larger than the width of the glass plate G can be set. FIG. 6 illustrates a state in which a sheet of interleaf paper 5 is formed after the state shown in FIG. 3 . In this state, the suction lever 64 grips a part of the interleaf 5 near its trailing end by suction. The trailing end of the interleaf paper 5 refers to an end near the guide member 50 , that is, the upper end of the interleaf paper 5 .

在切割腹板5W後，驅動插頁紙傳送機器人63的機器臂72，以將連接到機器臂72的吸力保持器70設定在圖6中虛線所示的位置。抽吸保持器70的這個位置在腹板接收位置P1中略低於抽吸桿64，其中抽吸保持器70面對插頁紙5並與插頁紙5略微間隔開。當抽吸保持器70進入該位置時，接著，抽吸桿64向下移動到圖3與6中所示的下端位置P3，同時抽吸桿64藉由抽吸將該部分的插頁紙5抓持在其尾端附近。抽吸桿64的此向下移動在圖5所示的時間T5開始。抓持插頁紙5的夾具62（即升降機塊61），係與抽吸桿64向下移動同步地開始向下移動。After cutting the web 5W, the robot arm 72 of the interleaf conveying robot 63 is driven to set the suction holder 70 connected to the robot arm 72 at the position shown by the dotted line in FIG. 6 . This position of the suction holder 70 is slightly lower than the suction rod 64 in the web receiving position P1 , wherein the suction holder 70 faces the interleaf 5 and is slightly spaced from the interleaf 5 . When the suction holder 70 enters this position, then, the suction rod 64 is moved downward to the lower end position P3 shown in FIGS. Grab near its tail end. This downward movement of the suction rod 64 begins at time T5 shown in FIG. 5 . The gripper 62 (ie, the elevator block 61 ) holding the interleaf paper 5 starts to move downward in synchronization with the downward movement of the suction rod 64 .

當抽吸桿64到達下端位置P3時，驅動機器臂72以使抽吸保持器70與插頁紙5接觸。然後，抽吸保持器70的吸嘴71吸入空氣，以藉由抽吸而將插頁紙5的上端附近的一部分抓持於抽吸保持器70上。當抽吸保持器70藉由抽吸抓持插頁紙5時，停止抽吸桿64的抽吸孔64a的抽吸，以從抽吸桿64釋放插頁紙5。也就是說，將插頁紙5從抽吸桿64傳送到抽吸保持器70，並由抽吸保持器70藉由抽吸而抓持。在圖5所示的時間T5之後立即執行該傳送。應注意的是，在其中所形成的具有吸嘴71的抽吸保持器70的吸附表面的長度，與腹板5W的整個寬度相同或略大，使得吸抽吸保持器70的抽吸表面可在左、右導引桿60之間通過。應注意的是，圖1中實線所示的機器臂72與抽吸保持器70的位置，係當抽吸保持器70藉由上述抽吸的方式而抓持插頁紙5的位置。When the suction lever 64 reaches the lower end position P3 , the robot arm 72 is driven to bring the suction holder 70 into contact with the interleaf paper 5 . Then, the suction nozzle 71 of the suction holder 70 sucks air to hold a part of the vicinity of the upper end of the interleaf sheet 5 on the suction holder 70 by suction. When the suction holder 70 grips the interleaf 5 by suction, the suction of the suction hole 64 a of the suction lever 64 is stopped to release the interleaf 5 from the suction lever 64 . That is, the interleaf paper 5 is conveyed from the suction rod 64 to the suction holder 70 , and is gripped by the suction holder 70 by suction. This transfer is performed immediately after time T5 shown in FIG. 5 . It should be noted that the length of the suction surface of the suction holder 70 having the suction nozzle 71 formed therein is the same as or slightly larger than the entire width of the web 5W, so that the suction surface of the suction holder 70 can be Pass between the left and right guide rods 60 . It should be noted that the position of the robot arm 72 and the suction holder 70 shown by the solid line in FIG. 1 is the position where the suction holder 70 grasps the interleaf paper 5 by the above-mentioned suction.

藉由抽吸而抓持插頁紙5的抽吸保持器70，係透過與抓持插頁紙5的夾具62的向下移動（即，升降塊61的向下移動）同步驅動的機器臂72而向下移動。也就是說，在藉由夾具62的向下移動而下拉插頁紙5的同時，藉由抽吸保持器70傳送插頁紙5。應注意的是，在插頁紙5的拉下及傳送開始之前，抽吸桿64從圖3與6中所示的下端位置P3，移動至下端縮回位置P4，以避免插頁紙5接觸抽吸桿64的表面64S。當抽吸桿64到達下端縮回位置P4時，它會被移動到縮回位置P2，然後到腹板接收位置P1，以準備下一次切割腹板5W。The suction holder 70 gripping the interleaf 5 by suction is through a robot arm driven in synchronization with the downward movement of the gripper 62 gripping the insert 5 (ie, the downward movement of the lifting block 61 ). 72 and move down. That is, while the interleaf paper 5 is pulled down by the downward movement of the gripper 62 , the interleaf paper 5 is conveyed by the suction holder 70 . It should be noted that the suction lever 64 is moved from the lower end position P3 shown in FIGS. 3 and 6 to the lower end retracted position P4 before the pull-down of the interleaf sheet 5 and the start of conveying, so as to prevent the interleaf sheet 5 from coming into contact with each other. Surface 64S of suction rod 64 . When the suction rod 64 reaches the lower end retracted position P4, it is moved to the retracted position P2 and then to the web receiving position P1 in preparation for the next cutting of the web 5W.

機器臂72將抽吸保持器70沿著條板箱6的玻璃板放置表面6a向下移動至一位置，在該位置，藉由抽吸保持器70通過抽吸而抓持的插頁紙5的下端幾乎與底板6b的上表面對齊，然後將抽吸保持器70朝向玻璃板放置表面6a移動。以這種方式，當沒有玻璃板G放置在玻璃板放置表面6a上時，插頁紙5幾乎與玻璃板放置表面6a接觸，或者插頁紙5幾乎與放置在玻璃板放置表面6a上的玻璃板G接觸。The robotic arm 72 moves the suction holder 70 down along the glass plate placement surface 6a of the crate 6 to a position where the insert 5 grasped by suction by the suction holder 70 The lower end of the bottom plate 6b is almost aligned with the upper surface of the bottom plate 6b, and then the suction holder 70 is moved toward the glass plate placing surface 6a. In this way, when no glass plate G is placed on the glass plate placing surface 6a, the insert paper 5 is almost in contact with the glass plate placing surface 6a, or the insert paper 5 is almost in contact with the glass placed on the glass plate placing surface 6a. Board G contacts.

在抽吸保持器70移動朝向玻璃板放置表面6a之前，會停止與抽吸保持器70一起的該對升降機塊61的向下移動。接著，一段時間後，該對升降機塊61沿著導引桿60向上移動，然後停止。此時的升降機塊61的操作時機係參照圖5來描述。向下移動在時間T5開始，且向下移動在時間T6完全停止。然後，向上移動在時間T7開始，且向上移動在時間T10完全停止。從時間T5到時間T6的時段，對應於本案的第二時段。應注意的是，當如上所述停止該對升降機塊61的向下移動時，由各個升降機塊61保持的夾具62釋放插頁紙5，且夾具62橫向向外移動以與插頁紙5完全分離。從夾具62釋放的插頁紙5從下方被條板箱6的底板6b接收，並且將其放置在玻璃板放置表面6a上，或放置在已經放置在玻璃板放置表面6a上的玻璃板G上。The downward movement of the pair of elevator blocks 61 together with the suction holder 70 is stopped before the suction holder 70 is moved toward the glass plate placement surface 6a. Then, after a period of time, the pair of elevator blocks 61 move upward along the guide rod 60, and then stop. The operation timing of the elevator block 61 at this time is described with reference to FIG. 5 . The downward movement begins at time T5, and the downward movement stops completely at time T6. Then, the upward movement starts at time T7, and the upward movement stops completely at time T10. The period from time T5 to time T6 corresponds to the second period of this case. It should be noted that when the downward movement of the pair of elevator blocks 61 is stopped as described above, the clamps 62 held by the respective elevator blocks 61 release the interleaf 5, and the clamps 62 are moved laterally outward to be completely aligned with the interleaf 5. separation. The interleaf 5 released from the clamp 62 is received from below by the bottom plate 6b of the crate 6 and placed on the glass plate placing surface 6a, or on the glass plate G already placed on the glass plate placing surface 6a .

該對升降機塊61向上移動完全停止的位置，是先前描述的最上方位置。在此最上方位置，升降機塊61等待腹板5W的下一次下拉。升降機塊61返回到最上方位置（時間T10）的時間接近於插頁紙5與玻璃板放置表面6a或玻璃板G幾乎接觸的時間。亦即，如以所述，在一張玻璃板G被放置在此插頁紙5上之前，升降機塊61被返回到最上方位置。在當升降機塊61返回到最上方位置時，橫向向外移動的夾具62如上所述係位於橫向外側並與腹板5W的左端和右端隔開的位置。The position where the upward movement of the pair of elevator blocks 61 is completely stopped is the uppermost position described earlier. In this uppermost position, the elevator block 61 waits for the next pull-down of the web 5W. The time at which the elevator block 61 returns to the uppermost position (time T10 ) is close to the time at which the interleaf paper 5 is almost in contact with the glass plate placing surface 6 a or the glass plate G. That is, as described above, before a glass plate G is placed on this interleaf 5, the elevator block 61 is returned to the uppermost position. When the elevator block 61 is returned to the uppermost position, the laterally outwardly moving clamps 62 are positioned laterally outside and spaced from the left and right ends of the web 5W as described above.

應注意的是，抽吸保持器70沿玻璃板放置表面6a的向下移動的速度，係設定為略高於與抽吸保持器70一起向下移動的升降機塊61的向下移動的速度。這可以防止由抽吸保持器70與夾具62抓持的插頁紙5被張力破壞，該張力是另外由抽吸保持器70與夾具62所施加。It should be noted that the downward movement speed of the suction holder 70 along the glass plate placement surface 6a is set to be slightly higher than the downward movement speed of the elevator block 61 moving downward together with the suction holder 70 . This prevents the interleaf 5 held by the suction holder 70 and the clamp 62 from being damaged by the tension that is otherwise applied by the suction holder 70 and the clamp 62 .

接下來，描述如何進行玻璃板G的放置。例如，在如上所述切割腹板5W的時間附近，抓持單個玻璃板G的台車12沿著軌道11於圖2所示的箭頭X（+X方向）的方向前進一預定距離，並停止。當台車12停止時，由台車12保持的玻璃板G係位於前述位置，在該位置玻璃板G的水平方向上的中心係對齊於條板箱6的玻璃板放置表面6a的水平方向上的中心。以這種方式設定玻璃板G相對於條板箱6停止的位置，允許減小玻璃板G饋送到條板箱6的路徑。這反而允許節省堆積玻璃板的時間。Next, how the placement of the glass plate G is performed is described. For example, around the time of cutting the web 5W as described above, the trolley 12 gripping the single glass sheet G advances a predetermined distance along the rail 11 in the direction of arrow X (+X direction) shown in FIG. 2 , and stops. When the trolley 12 is stopped, the glass sheet G held by the trolley 12 is located at the aforementioned position where the center in the horizontal direction of the glass sheet G is aligned with the center in the horizontal direction of the glass sheet placing surface 6a of the crate 6 . Setting the position at which the glass sheet G stops relative to the crate 6 in this way allows the path of the glass sheet G to be fed to the crate 6 to be reduced. This in turn allows saving time in stacking glass sheets.

當台車12停止時，則玻璃板饋送機器人23的機器臂24被驅動，以將玻璃板保持框架21移動到該吸嘴22係與玻璃板G的一個表面相接觸的一位置。然後，吸嘴22吸入空氣以將玻璃板G抓持在玻璃板保持框架21上。當以這種方式由玻璃板保持框架21透過抽吸而抓持玻璃板G時，台車12的夾持器13釋放玻璃板G。然後，將台車12從玻璃板饋送裝置20移開，以沿著圓形軌道11運行回到前述的玻璃板製造區。When the trolley 12 is stopped, the robot arm 24 of the glass sheet feeding robot 23 is driven to move the glass sheet holding frame 21 to a position where the suction nozzle 22 is in contact with one surface of the glass sheet G. Then, the suction nozzle 22 sucks air to hold the glass plate G on the glass plate holding frame 21 . When the glass plate G is held by the glass plate holding frame 21 by suction in this way, the gripper 13 of the trolley 12 releases the glass plate G. The trolley 12 is then removed from the glass sheet feeder 20 to travel along the circular track 11 back to the aforementioned glass sheet manufacturing area.

如上所述，在當玻璃板保持框架21抓持玻璃板G時，該張插頁紙5幾乎與條板箱6的玻璃板放置表面6a接觸，或與已放置在玻璃板放置表面6a上的玻璃板G接觸。隨後，玻璃板饋送機器人23的機器臂24被驅動，以將玻璃板保持框架21移動到一位置，在該位置玻璃板G被保持於插頁紙5上，而玻璃板G的下端幾乎對齊於條板箱6的底板6b的上表面。在這種狀態下，停止吸嘴22的抽吸，而玻璃板G從玻璃板保持框架21上被釋放，以放置在插頁紙5上。此後，玻璃板饋送機器人23的機器臂24被驅動，以使玻璃板保持框架21返回到用於抓持下一個饋送的玻璃板G的位置。As described above, when the glass plate holding frame 21 grips the glass plate G, the sheet of interleaf paper 5 is almost in contact with the glass plate placing surface 6a of the crate 6, or with the glass plate placing surface 6a already placed on the glass plate placing surface 6a. Glass plate G contacts. Subsequently, the robot arm 24 of the glass sheet feeding robot 23 is driven to move the glass sheet holding frame 21 to a position where the glass sheet G is held on the interleaf 5 with the lower end of the glass sheet G almost aligned with The upper surface of the bottom plate 6b of the crate 6. In this state, the suction of the suction nozzle 22 is stopped, and the glass plate G is released from the glass plate holding frame 21 to be placed on the interleaf paper 5 . After that, the robot arm 24 of the glass plate feeding robot 23 is driven to return the glass plate holding frame 21 to the position for grasping the next fed glass plate G.

在將玻璃板G被放置在插頁紙5且插頁紙層5被玻璃板G的重量下壓的狀態下，停止抽吸保持器70的抽吸，而插頁紙5從抽吸保持器70的抽吸中被釋放。隨後，插頁紙傳送機器人63的機器臂72被驅動，以使抽吸保持器70向上返回到下一次抓持腹板5W的一位置。應注意的是，圖1中虛線所示的機器臂72與抽吸保持器70的位置，如上所述，係為當玻璃板G放置在插頁紙5上時的位置。In a state where the glass plate G is placed on the interleaf 5 and the interleaf layer 5 is pressed down by the weight of the glass plate G, the suction of the suction holder 70 is stopped, and the interleaf 5 is removed from the suction holder 70 is released during suction. Subsequently, the robot arm 72 of the interleaf conveying robot 63 is driven to return the suction holder 70 upward to a position where the web 5W is gripped next time. It should be noted that the positions of the robot arm 72 and the suction holder 70 shown in phantom in FIG. 1 are, as described above, the positions when the glass plate G is placed on the interleaf 5 .

重複上述的過程以交替地將玻璃板G與該張插頁紙5以豎立位置堆積於條板箱6的玻璃板放置表面6a。如前所述，該張插頁紙5的長度和寬度係分別大於玻璃板G的長度和寬度，且這允許用插頁紙5來保護玻璃板G的整個表面。需要說明的是，在此實施例中，作為一個例子，玻璃板G係以各玻璃板G朝向上方的所謂A面（使用玻璃板G的產品的前側的玻璃表面）來堆積。The above process is repeated to alternately stack the glass plate G and the sheet of interleaf paper 5 on the glass plate placement surface 6a of the crate 6 in an upright position. As previously mentioned, the length and width of the interleaf paper 5 are respectively greater than the length and width of the glass plate G, and this allows the interleaf paper 5 to be used to protect the entire surface of the glass plate G. In addition, in this Example, as an example, the glass plate G is piled up by the so-called A surface (glass surface of the front side of the product which uses the glass plate G) with each glass plate G facing upward.

如圖5所示，藉由導引輥47、48與輥軸驅動裝置42引起的腹板5W的展開速度及藉由夾具62的向下運動引起的腹板5W的下拉速度，從開始展開與下拉時會逐漸增加，並且在速度達到其最大值之後，將該最大值維持一預定時間。例如，在從時間T2到時間T8的時間段內，將腹板5W的展開速度保持在最大值。然後，當腹板5W的展開和下拉停止時，展開速度和下拉速度會從其最大速度逐漸減小到最終達到0。腹板5W的下拉速度在時間T4和時間T6達到0，並且腹板5W的展開速度在時間T9達到0。As shown in FIG. 5, the unfolding speed of the web 5W by the guide rollers 47, 48 and the roller shaft driving device 42 and the pulling-down speed of the web 5W by the downward movement of the clamp 62, from the start of unfolding and The pull-down increases gradually, and after the speed reaches its maximum value, the maximum value is maintained for a predetermined time. For example, in the period from time T2 to time T8, the deployment speed of the web 5W is kept at the maximum value. Then, when the deployment and pull-down of the web 5W is stopped, the deployment speed and the pull-down speed gradually decrease from their maximum speed to finally reach 0. The pull-down speed of the web 5W reaches 0 at time T4 and time T6, and the deployment speed of the web 5W reaches 0 at time T9.

透過將在輥軸41上的腹板5W捲開以實現展開腹板5W。因此，通常，腹板的展開速度的最大值，如圖5所示，不能增加到與腹板的下拉速度的最大值同樣高。由於這個原因，在圖1中所示的張力滾輪49下游的腹板5W的移動速度，係高於在張力滾輪49的上游（在張力滾輪49與輥軸41之間）的腹板5W的移動速度。移動速度的差異表現為腹板5W的移動量的差異。腹板5W的移動量的差異被相對於圖1所示的位置的向上移動的張力滾輪49所吸收。即，張力滾輪49配置為可上下移動以使腹板5W鬆弛，並吸收腹板5W的鬆弛。當張力滾輪49向下移動時，會吸收腹板5W的鬆弛。在圖5所示的例子中，腹板5W的移動量的差異從時間T1逐漸增加並且在時間T3達到最大值。當張力滾輪49向上移動以釋放鬆弛時，會吸收該移動量的差異。因此，設置張力滾輪49以允許足夠的向上與向下的行程，以吸收在時間T3的腹板的移動量的差異。The unfolding of the web 5W is achieved by unrolling the web 5W on the roller shaft 41 . Therefore, in general, the maximum value of the deployment speed of the web, as shown in Fig. 5, cannot be increased as high as the maximum value of the pull-down speed of the web. For this reason, the moving speed of the web 5W downstream of the tension roller 49 shown in FIG. 1 is higher than the movement of the web 5W upstream of the tension roller 49 (between the tension roller 49 and the roller shaft 41 ). speed. The difference in the moving speed appears as a difference in the moving amount of the web 5W. The difference in the amount of movement of the web 5W is absorbed by the upward movement of the tension roller 49 relative to the position shown in FIG. 1 . That is, the tension roller 49 is arranged so as to be movable up and down so as to loosen the web 5W and absorb the slack of the web 5W. When the tension roller 49 moves downward, the slack of the web 5W is absorbed. In the example shown in FIG. 5 , the difference in the movement amount of the web 5W gradually increases from the time T1 and reaches the maximum value at the time T3. This difference in the amount of movement is absorbed as the tension roller 49 moves up to release the slack. Therefore, the tension roller 49 is provided to allow sufficient upward and downward travel to absorb the difference in the amount of movement of the web at time T3.

應用如上所述運作的張力滾輪49允許以升降機塊61及夾具62高速地向下拉動腹板5W，且這對於減少從腹板5W的切割至玻璃板G的放置的過程的完成的時間而言是有利的。應注意的是，例如，在從圖5所示的時間T6到時間T9的時段內，腹板5W沒有被拉下，而腹板5W是從輥軸41展開。因此，腹板5W在此期間鬆弛，並且張力滾輪49向下移動以吸收該鬆弛。Applying the tension rollers 49 operating as described above allows the web 5W to be pulled down at high speed with the lift block 61 and clamps 62, and this is for reducing the time to completion of the process from the cutting of the web 5W to the placement of the glass sheet G is beneficial. It should be noted that, for example, in the period from time T6 to time T9 shown in FIG. 5 , the web 5W is not pulled down, but the web 5W is unwound from the roller shaft 41 . Therefore, the web 5W relaxes during this period, and the tension roller 49 moves downward to absorb the slack.

如上所述，在本實施例的玻璃板包裝系統1中，透過切割腹板5W而形成的一張插頁紙5，在將該張插頁紙5移動至最下方位置以放置插頁紙5於條板箱6上的過程中，會從形成為腹板下拉單元的夾具62，傳送到與機器臂72一同形成為插頁紙傳送單元的抽吸保持器70。為了將插頁紙5饋送到條板箱6的玻璃板放置表面6a上，使用相對不能高速操作但能夠高精度操作的機器臂72，來傳送插頁紙5。另一方面，在傳送之前拉下腹板5W，使用能夠高速操作的升降機塊61及夾具62。以這種方式提高腹板5W的下拉速度，允許減少從腹板5W的切割至玻璃板G的放置的過程的完成的時間。As described above, in the glass plate packaging system 1 of the present embodiment, a sheet of interleaf 5 formed by cutting the web 5W is moved to the lowermost position to place the interleaf 5 During the process on the crate 6 , it is transferred from the gripper 62 , which is formed as a web pull-down unit, to the suction holder 70 , which together with the robot arm 72 is formed as an insert transfer unit. In order to feed the interleaf 5 onto the glass plate placement surface 6a of the crate 6, the interleaf 5 is conveyed using a robot arm 72 that is relatively incapable of high-speed operation but capable of high-precision operation. On the other hand, the web 5W is pulled down before conveyance, and the elevator block 61 and the jig 62 which can be operated at high speed are used. Increasing the pull-down speed of the web 5W in this way allows reducing the time for completion of the process from the cutting of the web 5W to the placement of the glass sheet G.

此外，如上所述，將該張插頁紙5從夾具62傳送到抽吸保持器70，允許形成為腹板下拉單元的升降機塊61返回到最上方位置，以在該張插頁紙5抵達最下方位置前，開始下一次的腹板的下拉，亦即，在一張玻璃板G被放置在該張插頁紙5上之前。本實施例的玻璃板包裝系統1的此特徵，也有助於減少從腹板5W的切割至玻璃板G的放置的過程的完成的時間。Furthermore, as described above, transferring the sheet of interleaf 5 from the gripper 62 to the suction holder 70 allows the lifter block 61 formed as a web pull-down unit to return to the uppermost position for the arrival of the sheet of interleaf 5 Before the lowermost position, the next pull-down of the web starts, that is, before a glass plate G is placed on the interleaf 5 . This feature of the glass plate packaging system 1 of the present embodiment also contributes to reducing the time required for the completion of the process from the cutting of the web 5W to the placement of the glass plate G.

5‧‧‧插頁紙5B‧‧‧後側5W‧‧‧腹板6‧‧‧條板箱6a‧‧‧玻璃板放置表面6b‧‧‧底板6c‧‧‧底座10‧‧‧玻璃板運送單元11‧‧‧軌道12‧‧‧台車13‧‧‧保持器20‧‧‧玻璃板饋送裝置21‧‧‧玻璃板保持框架22‧‧‧吸嘴23‧‧‧玻璃板饋送機器人24‧‧‧機器臂40‧‧‧插頁饋送裝置41‧‧‧輥軸42‧‧‧輥軸驅動構件43‧‧‧導引輥44‧‧‧導引輥45‧‧‧導引輥46‧‧‧導引輥47‧‧‧導引輥48‧‧‧導引輥49‧‧‧張力滾輪50‧‧‧導引件51‧‧‧切割器52‧‧‧下刀片53‧‧‧上刀片60‧‧‧導引桿61‧‧‧升降機塊62‧‧‧夾具62a‧‧‧基部62b‧‧‧夾具半部63‧‧‧插頁紙運送機器人64‧‧‧抽吸桿64a‧‧‧抽吸孔64S‧‧‧表面70‧‧‧抽吸保持器71‧‧‧吸嘴72‧‧‧機器臂73‧‧‧桿狀空氣管100‧‧‧地板表面G‧‧‧玻璃板m1~m4‧‧‧箭頭5‧‧‧Insert paper 5B‧‧‧Rear side 5W‧‧‧Web 6‧‧‧Crate 6a‧‧‧Glass plate placement surface 6b‧‧‧Bottom plate 6c‧‧‧Base 10‧‧‧Glass plate Transport Unit 11‧‧‧Rail 12‧‧‧Trolley 13‧‧‧Retainer 20‧‧‧Glass Plate Feeding Device 21‧‧‧Glass Plate Holding Frame 22‧‧‧Suction Nozzle 23‧‧‧Glass Plate Feeding Robot 24‧ ‧‧Robot Arm 40‧‧‧Insertion Feeding Device 41‧‧‧Roller Shaft 42‧‧‧Roller Shaft Driving Member 43‧‧‧Guide Roller 44‧‧‧Guide Roller 45‧‧‧Guide Roller 46‧‧ ‧Guide Roller 47‧‧‧Guide Roller 48‧‧‧Guide Roller 49‧‧‧Tension Roller 50‧‧‧Guide 51‧‧‧Cutter 52‧‧‧Lower Blade 53‧‧‧Upper Blade 60 ‧‧‧Guide rod 61‧‧‧Elevator block 62‧‧‧Clamp 62a‧‧‧Base 62b‧‧‧Clamp half 63‧‧‧Insert paper conveying robot 64‧‧‧Suction rod 64a‧‧‧Suction Suction hole 64S‧‧‧Surface 70‧‧‧Suction holder 71‧‧‧Suction nozzle 72‧‧‧Robot arm 73‧‧‧Rod air pipe 100‧‧‧Floor surface G‧‧‧Glass plate m1~m4 ‧‧‧arrow

圖1為顯示依據例示實施例的一玻璃板包裝系統的一側面示意圖， a. 圖2為顯示玻璃板包裝系統的一立體示意圖， b. 圖3為顯示玻璃板包裝系統的腹板固定單元的一側面示意圖， c. 圖4為顯示玻璃板包裝系統的腹板下拉單元的一立體示意圖， d. 圖5為顯示玻璃板包裝系統的腹板下拉單元與腹板展開單元的操作時機的一示意圖，以及 e. 圖6為顯示圖3的不同狀態下的腹板固定單元的一側面示意圖。1 is a schematic side view showing a glass sheet packaging system according to an exemplary embodiment, a. FIG. 2 is a schematic perspective view showing the glass sheet packaging system, b. A schematic side view, c. FIG. 4 is a schematic perspective view showing the web pull-down unit of the glass sheet packaging system, d. FIG. 5 is a schematic diagram showing the operation timing of the web pull-down unit and the web unfolding unit of the glass sheet packaging system , and e. FIG. 6 is a side view showing the web fixing unit in different states of FIG. 3 .

國內寄存資訊 （請依寄存機構、日期、號碼順序註記） 無Domestic storage information (please note the storage institution, date and serial number) None

國外寄存資訊 （請依寄存國家、機構、日期、號碼順序註記） 無Foreign deposit information (please note in the order of deposit country, institution, date and number) None

5‧‧‧插頁紙 5‧‧‧Inserts

5W‧‧‧腹板 5W‧‧‧Web

6‧‧‧條板箱 6‧‧‧Crate

6a‧‧‧玻璃板放置表面 6a‧‧‧The surface on which the glass plate is placed

6b‧‧‧底板 6b‧‧‧Bottom

6c‧‧‧底座 6c‧‧‧Pedestal

10‧‧‧玻璃板運送單元 10‧‧‧Glass transport unit

11‧‧‧軌道 11‧‧‧Track

12‧‧‧台車 12‧‧‧trolley

13‧‧‧保持器 13‧‧‧Retainer

20‧‧‧玻璃板饋送裝置 20‧‧‧Glass Feeder

21‧‧‧玻璃板保持框架 21‧‧‧Glass plate holding frame

22‧‧‧吸嘴 22‧‧‧Nozzle

23‧‧‧玻璃板饋送機器人 23‧‧‧Glass Feeding Robot

24‧‧‧機器臂 24‧‧‧Robot Arm

40‧‧‧插頁饋送裝置 40‧‧‧Insert Feeder

41‧‧‧輥軸 41‧‧‧Rollers

42‧‧‧輥軸驅動構件 42‧‧‧Roller drive components

43‧‧‧導引輥 43‧‧‧Guide Roller

44‧‧‧導引輥 44‧‧‧Guide Roller

45‧‧‧導引輥 45‧‧‧Guide Roller

46‧‧‧導引輥 46‧‧‧Guide Roller

47‧‧‧導引輥 47‧‧‧Guide Roller

48‧‧‧導引輥 48‧‧‧Guide Roller

49‧‧‧張力滾輪 49‧‧‧Tension roller

50‧‧‧導引件 50‧‧‧Guide

51‧‧‧切割器 51‧‧‧Cutter

52‧‧‧下刀片 52‧‧‧Lower blade

53‧‧‧上刀片 53‧‧‧Top Blade

60‧‧‧導引桿 60‧‧‧Guide rod

61‧‧‧升降機塊 61‧‧‧Lift block

62‧‧‧夾具 62‧‧‧ Fixtures

63‧‧‧插頁紙運送機器人 63‧‧‧Insert paper delivery robot

64‧‧‧抽吸桿 64‧‧‧Suction rod

70‧‧‧抽吸保持器 70‧‧‧Suction Retainer

71‧‧‧吸嘴 71‧‧‧Nozzle

72‧‧‧機器臂 72‧‧‧Robot Arm

73‧‧‧桿狀空氣管 73‧‧‧Rod Air Tube

100‧‧‧地板表面 100‧‧‧Floor surface

G‧‧‧玻璃板 G‧‧‧glass plate

Claims (18)

一種用於在一條板箱的一玻璃板放置表面上的一豎立位置中交替地堆積玻璃板及插頁紙的玻璃板包裝系統，該包裝系統包含一玻璃板饋送裝置及一插頁饋送裝置；該玻璃板饋送裝置包含：一組吸盤，配置成將每個玻璃板抓持於該組吸盤上，每個玻璃板以豎立方向連續地傳送，並且在該玻璃板被放置於該玻璃放置表面上之後釋放該玻璃板，及一第一機器臂，包含固定在該一第一機器臂上的該些吸盤，且該第一機器臂配置成將被該些吸盤所抓持的該玻璃板饋送至該玻璃板放置表面上；且該插頁饋送裝置包含：一輥軸，配置成抓持住纏繞在該輥軸上的該插頁紙的一腹板，一腹板展開單元，配置成藉由從該腹板展開單元的一前端側捲開該腹板而展開該腹板，一腹板引導件，配置成引導該被捲開的腹板，使得該被捲開的腹板的該前端從該玻璃板放置表面的上方向下移動，以允許該腹板面向該玻璃板放置表面， 一腹板下拉單元，該腹板下拉單元包括：一對夾具，該對夾具配置成抓持及釋放該腹板的該前端附近的部件，及一升降機，配置成沿著該玻璃板放置表面上下移動該些夾具，其中該升降機移動向下，以將抓持該腹板的該些夾具向下移動，以在一第一時段與一第二時段期間內下拉該腹板，在該第一時段與該第二時段之間***一休息時段，一切割器，配置成在該休息時段期間，當在該第一時段期間被下拉的該腹板位於面向該玻璃板放置表面的一位置時，從該腹板的該前端的一預定距離處切割該腹板，以形成一張插頁紙，一插頁紙傳送單元，其包含一抽吸保持器，該抽吸保持器配置成抓持及釋放該插頁紙，及一第二機器臂，該第二機器臂配置成移動該抽吸保持器，其中該抽吸保持器在該休息時段期間抓持該插頁紙的一尾端附近的一部件，且該第二機器臂在第二時段期間將該抽吸保持器向下移動而與該升降機的向下移動大致同步而防止對該插頁紙施加張力，從而傳送該插頁紙至一預定高度位置，在該預定高度位置處該插頁紙面向該玻璃板放置表面，並且在一玻璃板被該玻璃板饋送裝置饋送至該被傳送的插頁紙上之後，從該抽吸保持器的該吸盤釋放該插頁紙，以 及一腹板固定單元，配置成在從該切割器切割該腹板直到該插頁紙傳送單元的該抽吸保持器抓持住該插頁紙之前的該休息時段期間內，將該腹板保持於一固定位置。 A glass sheet packaging system for alternately stacking glass sheets and inserts in an upright position on a glass sheet placement surface of a crate, the packaging system comprising a glass sheet feeder and an insert feeder; The glass sheet feeding device includes a set of suction cups configured to grip each glass sheet on the set of suction cups, each glass sheet is conveyed continuously in an upright orientation, and upon which the glass sheet is placed on the glass placing surface The glass sheet is then released, and a first robotic arm includes the suction cups fixed on the first robotic arm, and the first robotic arm is configured to feed the glass sheet gripped by the suction cups to the the glass sheet is placed on the surface; and the interleaf feeding device comprises: a roller configured to hold a web of the interleaf paper wound on the roller, and a web unfolding unit configured to be The web is unrolled from a front end side of the web unrolling unit to unroll the web, and a web guide is configured to guide the unrolled web so that the front end of the unrolled web extends from the web. The top of the glass plate rest surface is moved downward to allow the web to face the glass plate rest surface, A web pull-down unit comprising: a pair of clamps configured to grip and release components near the front end of the web, and a lift configured to go up and down along the glass sheet placement surface moving the clamps, wherein the elevator moves downward to move the clamps gripping the web downward to pull down the web during a first period of time and a second period of time, during the first period of time A rest period is inserted between the second period, a cutter configured to, during the rest period, when the web being pulled down during the first period is in a position facing the glass sheet resting surface, from The web is cut at a predetermined distance from the front end of the web to form an interleaf, an interleaf conveying unit that includes a suction holder configured to grip and release the insert, and a second robotic arm configured to move the suction holder, wherein the suction holder grips a near a trailing end of the insert during the rest period component, and the second robotic arm moves the suction holder downward during a second time period substantially in synchronization with the downward movement of the elevator to prevent tension from being applied to the interleaf, thereby conveying the interleaf to a A predetermined height position at which the interleaf paper faces the glass plate placement surface, and after a glass plate is fed onto the conveyed interleaf paper by the glass plate feeding device, from the suction holder The suction cup releases the insert to and a web fixing unit configured to hold the web during the rest period from when the cutter cuts the web until the suction holder of the interleaf conveying unit grabs the interleaf remain in a fixed position. 如請求項1所述的玻璃板包裝系統，其中該腹板固定單元包含一抽吸桿，該抽吸桿包含一抽吸表面，該抽吸表面在被饋送至該腹板固定單元的該腹板的寬度方向上延伸，且配置成抽吸並固定面向該玻璃板放置表面的該腹板的該表面。 The glass sheet packaging system of claim 1, wherein the web securing unit includes a suction rod including a suction surface at the web that is fed to the web securing unit The plate extends in the width direction and is configured to suction and secure the surface of the web facing the surface on which the glass plate is placed. 如請求項2所述的玻璃板包裝系統，其中該抽吸桿可在一縮回位置與一抽吸位置間移動，在該縮回位置，當該抽吸桿未抽吸並固定該腹板時，該抽吸桿的該抽吸表面係與該腹板分離，在該抽吸位置，當該抽吸桿抽吸並固定該腹板時，該抽吸桿的該抽吸表面係與該腹板接觸。 The glass sheet packaging system of claim 2, wherein the suction rod is movable between a retracted position and a suction position in which, when the suction rod is not suctioning and securing the web In the suction position, when the suction rod sucks and secures the web, the suction surface of the suction rod is separated from the web. web contact. 如請求項2所述的玻璃板包裝系統，其中該插頁紙傳送單元的該抽吸保持器，抽吸並保持被固定在該抽吸桿的該抽吸表面上的該插頁紙的該尾端附近的一部分。 The glass sheet packaging system of claim 2, wherein the suction holder of the interleaf conveying unit sucks and holds the interleaf fixed on the suction surface of the suction rod part near the end. 如請求項3所述的玻璃板包裝系統，其中該插頁紙傳送單元的該抽吸保持器，抽吸並保持被固定 在該抽吸桿的該抽吸表面上的該插頁紙的該尾端附近的一部分。 The glass sheet packaging system of claim 3, wherein the suction holder of the interleaf transport unit, sucks and remains fixed A portion near the trailing end of the interleaf on the suction surface of the suction rod. 如請求項1所述的玻璃板包裝系統，其中該插頁紙傳送單元的該抽吸保持器亦作為該腹板固定單元。 The glass sheet packaging system of claim 1, wherein the suction holder of the interleaf conveying unit also serves as the web fixing unit. 如請求項1所述的玻璃板包裝系統，其中該腹板下拉單元的該腹板的該饋送速率係高於該腹板展開單元的該腹板的該饋送速率，且在該腹板展開單元與該腹板下拉單元之間的一腹板饋送路徑上提供一張力滾輪，該張力滾輪可移動以鬆弛該腹板並吸收該鬆弛。 The glass sheet packaging system of claim 1, wherein the feed rate of the web of the web pull-down unit is higher than the feed rate of the web of the web unfolding unit, and the web unfolding unit A tension roller is provided on a web feed path between the web pull-down unit and is movable to relax the web and absorb the slack. 如請求項2所述的玻璃板包裝系統，其中該腹板下拉單元的該腹板的該饋送速率係高於該腹板展開單元的該腹板的該饋送速率，且在該腹板展開單元與該腹板下拉單元之間的一腹板饋送路徑上提供一張力滾輪，該張力滾輪可移動以鬆弛該腹板並吸收該鬆弛。 The glass sheet packaging system of claim 2, wherein the feed rate of the web of the web pull-down unit is higher than the feed rate of the web of the web unfolding unit, and wherein the web unfolding unit A tension roller is provided on a web feed path between the web pull-down unit and is movable to relax the web and absorb the slack. 如請求項1所述的玻璃板包裝系統，其中該插頁紙傳送單元的該抽吸保持器包含一抽吸表面，該抽吸表面在該腹板的整個寬度上延伸。 The glass sheet packaging system of claim 1, wherein the suction holder of the interleaf transport unit includes a suction surface extending the entire width of the web. 如請求項2所述的玻璃板包裝系統，其中該插頁紙傳送單元的該抽吸保持器包含一抽吸表面， 該抽吸表面在該腹板的整個寬度上延伸。 The glass sheet packaging system of claim 2, wherein the suction holder of the interleaf transport unit includes a suction surface, The suction surface extends over the entire width of the web. 如請求項1所述的玻璃板包裝系統，其中該玻璃板饋送裝置配置成將以一垂直方向連續地運送至該玻璃板饋送裝置的該些玻璃板，沿著一最小路徑，饋送至該玻璃板放置表面上，該最小路徑係始於每個被饋送的玻璃板在一傳送路徑上被停止的一位置。 The glass sheet packaging system of claim 1, wherein the glass sheet feeder is configured to feed the glass sheets continuously conveyed to the glass sheet feeder in a vertical direction, along a minimum path, to the glass sheet On the plate placement surface, the minimum path starts at a position where each fed glass plate is stopped on a conveying path. 如請求項2所述的玻璃板包裝系統，其中該玻璃板饋送裝置配置成將以一垂直方向連續地運送至該玻璃板饋送裝置的該些玻璃板，沿著一最小路徑，饋送至該玻璃板放置表面上，該最小路徑係始於每個被饋送的玻璃板在一傳送路徑上被停止的一位置。 The glass sheet packaging system of claim 2, wherein the glass sheet feeder is configured to feed the glass sheets continuously conveyed to the glass sheet feeder in a vertical direction, along a minimum path, to the glass sheet On the plate placement surface, the minimum path starts at a position where each fed glass plate is stopped on a conveying path. 如請求項1所述的玻璃板包裝系統，其中該第二機器臂執行該抽吸保持器的該向下移動，該向下移動係與該升降機的該向下移動同步，而不會拉伸該插頁紙。 The glass sheet packaging system of claim 1, wherein the second robotic arm performs the downward movement of the suction holder synchronized with the downward movement of the elevator without stretching the insert. 如請求項2所述的玻璃板包裝系統，其中該第二機器臂執行該抽吸保持器的該向下移動，該向下移動係與該升降機的該向下移動同步，而不會拉伸該插頁紙。 The glass sheet packaging system of claim 2, wherein the second robotic arm performs the downward movement of the suction holder synchronized with the downward movement of the elevator without stretching the insert. 如請求項1所述的玻璃板包裝系統，其中該切割器包含一切割刀，該切割刀在該腹板的整個寬度上延伸，且藉由移動該切割刀於該腹板的該厚度方 向來切割該腹板。 The glass sheet packaging system of claim 1, wherein the cutter comprises a cutter that extends across the entire width of the web, and wherein the cutter is moved across the thickness of the web by moving the cutter Always cut this web. 如請求項2所述的玻璃板包裝系統，其中該切割器包含一切割刀，該切割刀在該腹板的整個寬度上延伸，且藉由移動該切割刀於該腹板的該厚度方向來切割該腹板。 The glass sheet packaging system of claim 2, wherein the cutter comprises a cutting knife that extends over the entire width of the web and is cut by moving the cutting knife in the thickness direction of the web Cut the web. 如請求項1所述的玻璃板包裝系統，其中該條板箱的該玻璃板放置表面係傾斜以稍微朝向上方。 The glass sheet packaging system of claim 1, wherein the glass sheet placement surface of the crate is sloped to face slightly upward. 如請求項2所述的玻璃板包裝系統，其中該條板箱的該玻璃板放置表面係傾斜以稍微朝向上方。The glass sheet packaging system of claim 2, wherein the glass sheet placement surface of the crate is sloped to face slightly upward.
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