JP7818177B2 - Sheet bundle replenishing device and sheet bundle replenishing system - Google Patents

Description

The present invention relates to a sheet stack refilling device and a sheet stack refilling system.

Conventionally, a sheet bundle replenishing device is known that replenishes sheet bundles to an image forming device that forms images on sheets fed from a sheet bundle stored in a sheet bundle storage section.

For example, Patent Document 1 discloses a device for performing an attachment durability test on a sheet feed cassette (sheet stack storage section) that stores a sheet stack in a copier (image forming apparatus) that has the cassette detachably attached. This device performs an attachment durability test on a sheet feed cassette by repeatedly selecting and removing the desired sheet feed cassette from a sheet feed cassette shelf where multiple sheet feed cassettes are lined up, using a robot hand, and then attaching it to the copier.

However, conventionally, sheet bundles are replenished in the sheet bundle storage unit of an image forming device by an operator manually, and if the operator is inexperienced, the sheet bundles are not stored in the sheet bundle storage unit in the correct state, which can easily lead to problems such as sheet damage and sheet transport failure.

In order to solve the above-mentioned problems, the present invention provides a sheet bundle replenishing device that replenishes a sheet bundle to an image forming device that forms images on sheets fed from a sheet bundle stored in a sheet bundle storage section, the device comprising: a holding section that can be switched between a holding state that holds the sheet bundle and a holding release state that releases the holding state; a drive section that drives the holding section to move between a holding position for the sheet bundle and a replenishment position for the sheet bundle storage section; and a control section that executes sheet bundle replenishing control that puts the holding section in the holding state at the holding position, moves the holding section to the replenishment position, and puts the holding section in the holding release state at the replenishment position to replenish the sheet bundle to the sheet bundle storage section, the sheet bundle storage section comprising a guide member having a guide surface that guides one side of the replenished sheet bundle so that it is parallel to the sheet surface normal direction, and the holding section holds the sheet bundle so that at the replenishment position, the sheet surface normal direction of the held sheet bundle is non-parallel to the guide surface and the one side of the held sheet bundle is parallel to the guide surface .

This invention can reduce problems that can occur when sheet stacks are replenished by inexperienced workers.

FIG. 1 is an explanatory diagram showing a schematic configuration of a paper stack refill system according to an embodiment. FIG. 2 is an external perspective view of the robot arm in the paper stack refill system, seen obliquely from above. FIG. 2 is a perspective view showing a schematic configuration of a hand unit of the robot arm. FIG. 2 is a side view showing a schematic configuration of the hand unit. FIG. 2 is a perspective view showing an example of a paper bundle storage shelf in the paper bundle refill system. FIG. 2 is a perspective view showing an example of a paper stack stacker supported on the paper stack storage shelf. 10 is a cross-sectional view of the internal structure of the paper stack stacker as viewed from the lateral direction perpendicular to the paper stack removal direction from the paper stack stacker. FIG. 4 is a cross-sectional view of the internal structure of the paper stack stacker as viewed from the paper stack removal direction. FIG. 10A to 10D are explanatory diagrams illustrating an example of an operation in which a refill paper stack held in a paper stack stacker of a paper stack storage shelf is grasped using the hand portion of a robot arm and removed from the paper stack storage shelf. 10A to 10C are explanatory diagrams illustrating an example of an operation of replenishing a stack of sheets held by a hand portion into a paper feed cassette of an image forming apparatus using the hand portion of a robot arm;

Below, we will explain one embodiment in which the present invention is applied to a paper stack replenishment system (sheet stack replenishment system) that replenishes paper stacks (sheet stacks) into the paper feed cassette (sheet stack storage section) of an image forming device when performing a continuous paper feed test of the image forming device that involves continuous paper (sheet) feed.
In this embodiment, an example of replenishing a stack of paper into the paper feed cassette of an image forming device that is the subject of a continuous paper feed test will be described. However, the test content is not limited to this as long as it involves continuous paper feed that requires replenishing a stack of paper during the test. Furthermore, the test is not limited to a continuous paper feed test, and may be, for example, replenishing a stack of paper into the paper feed cassette of an image forming device being used by a user. Furthermore, the image forming device is not limited to a specific image formation method, and may be an electrophotographic type, an inkjet type, or another type.

FIG. 1 is an explanatory diagram showing a schematic configuration of a paper stack refill system 1 according to this embodiment.
The paper bundle refilling system 1 of this embodiment includes a robot arm 10 as a sheet bundle refilling device and a paper bundle storage shelf 30 as a sheet bundle storage unit that holds a plurality of refill paper bundles 201. The paper bundle refilling system 1 of this embodiment also includes an output paper bundle storage shelf 40 as a sheet bundle receiving unit that holds the paper bundles 202 of image-formed sheets discharged to a paper discharge tray 102 that serves as a sheet discharge unit of the image forming apparatus 100. The paper bundle refilling system 1 of this embodiment also includes an automatic cassette loading/unloading unit 50 as a moving unit that moves a paper feed cassette 101 as a sheet bundle storage unit of the image forming apparatus 100 between an installation position where the paper feed cassette 101 is installed in the image forming apparatus 100 main body and a replenishment position where the paper bundle 201 is replenished. The robot arm 10, hand unit 20, and automatic cassette loading/unloading unit 50 in the paper bundle refilling system 1 of this embodiment are controlled by a control unit 60.

In continuous paper feed tests, the refilling of the paper stack 201 into the paper feed cassette 101 of the image forming device 100 has traditionally been done manually by an operator (human). Therefore, if the operator is inexperienced, the paper stack 201 may not be stored in the paper feed cassette 101 in the correct state, resulting in damage to the paper due to folding or tearing during storage, or problems such as paper feeding or transport problems due to the paper stack 201 not being stored in the correct state.

Furthermore, if the paper feed cassette 101 is manually replenished with the stack of paper 201 by an operator (human), the continuous paper feed test can only be performed during the period when the operator is available at the image forming device (for example, only during the daytime). Therefore, the continuous paper feed test must be performed intermittently, which creates the problem of prolonging the time it takes to complete the continuous paper feed test.

The paper stack replenishment system 1 of this embodiment prepares multiple paper stacks 201 for replenishment on the paper stack storage shelf 30, and uses the robot arm 10 to replenish the paper stacks 201 on the paper stack storage shelf 30 to the paper feed cassette 101 of the image forming device 100. Therefore, the replenishment of the paper stacks 201 to the paper feed cassette 101 can be completed by the robot arm 10, without manual work by an operator (human). This prevents the above-mentioned problems that can occur when an inexperienced operator replenishes sheet stacks.

In addition, the paper stack refill system 1 of this embodiment is equipped with an automatic cassette loading/unloading unit 50. This means that the task of moving the paper feed cassette 101 of the image forming apparatus 100 between the installation position (the position where it is set in the device body) and the replenishment position (the position where it is pulled out from the device body) (the task of loading and unloading the paper feed cassette 101) does not need to be performed manually by an operator. As a result, the task of loading and unloading the paper feed cassette 101, which required manual work by an operator in conventional continuous paper feed tests, can now be completed by the automatic cassette loading/unloading unit 50 without manual work by an operator (human). As a result, it is possible to eliminate the process that requires manual work by an operator during the continuous paper feed test, making it possible to complete the continuous paper feed test even without an operator present.

The paper feed cassette 101 in this embodiment is a drawer type that is pulled out horizontally from the main body of the image forming apparatus 100. The automatic cassette loading/unloading unit 50 can be, for example, positioned opposite the paper feed cassette 101 of the image forming apparatus 100 and equipped with a handle gripping unit that grips the handle of the paper feed cassette 101 and a drive unit that moves the handle gripping unit up and down and in the direction of loading/unloading the paper feed cassette 101.

The image forming apparatus 100 itself may have the function of a moving unit that moves the paper feed cassette 101 of the image forming apparatus 100 between the installed position and the replenished position. In such an image forming apparatus 100, for example, when it detects that the paper feed cassette 101 is empty, the moving unit moves the paper feed cassette 101 to the replenished position, and when it detects that the paper feed cassette 101 has been replenished with a stack of paper 201 at the replenished position, the moving unit moves the paper feed cassette 101 to the installed position. In this case, even without the automatic cassette loading/unloading unit 50, it is possible to complete the continuous paper feed test without an operator present.

In addition, the paper stack refill system 1 of this embodiment uses the robot arm 10 to remove the paper stack 202 of image-formed paper discharged to the paper output tray 102 of the image forming device 100 from the paper output tray 102 to the paper stack storage shelf 40. Therefore, the task of removing the paper stack 202 of image-formed paper discharged to the paper output tray 102 of the image forming device 100 from the paper output tray 102 does not need to be performed manually by an operator. As a result, the task of removing the paper stack 202 of image-formed paper, which required manual work by an operator in conventional continuous paper feed tests, can now be completed without the manual work of an operator (human). As a result, it is possible to eliminate processes that require manual work by an operator during the continuous paper feed test, making it possible to complete the continuous paper feed test even without an operator present.

The image forming apparatus 100 itself may have a function for removing the image-formed sheet stack 202 from the image forming apparatus 100 (for example, a function for transporting the image-formed sheet stack 202 to a post-processing device). With such an image forming apparatus 100, even if the robot arm 10 does not have a function for removing the image-formed sheet stack 202, it is possible to complete the continuous paper feed test without the presence of an operator.

FIG. 2 is a perspective view of the robot arm 10 as seen obliquely from above.
The robot arm 10 has a base 11, an arm support 12, an arm 13, a hand 14, and a tip 15, and functions as a drive unit that drives the movement of a hand unit (described later) that serves as a holding unit. The base 11 is fixed to a base, for example, by bolts.

The arm support portion 12 is supported by the base portion 11 so as to be rotatable 360 degrees in the direction indicated by arrow A in the figure around a vertical axis passing through the center of the base portion 11. The arm portion 13 has an upper arm portion 13a and a forearm portion 13b. The base end of the upper arm portion 13a is supported by the arm support portion 12 so as to be rotatable in the direction indicated by arrow B in the figure around a first axis 13c extending horizontally. The base end of the forearm portion 13b is supported by the tip end of the upper arm portion 13a so as to be rotatable in the direction indicated by arrow C in the figure around a second axis 13d extending horizontally.

The base end of the hand 14 is supported at the distal end of the forearm 13b so as to be rotatable in the direction indicated by arrow D in the figure around a central axis 14a extending longitudinally of the forearm 13b. The end effector 15 is supported at the distal end of the hand 14 so as to be rotatable in the direction indicated by arrow E in the figure around a third axis 15a extending horizontally. Various types of end effectors can be attached and detached to the end effector 15; in this embodiment, a hand (gripping part) is attached.

FIG. 3 is a perspective view showing a schematic configuration of the hand unit 20 used as an end effector of the robot arm 10. As shown in FIG.
FIG. 4 is a side view showing a schematic configuration of the hand unit 20. As shown in FIG.
The hand unit 20 includes two stay members 21a and 21b as second clamping members, a paper pressing member 22 as a first clamping member, a clamping drive mechanism 23, a stay drive mechanism 24, and a trailing edge regulating unit 25 as a regulating member. Note that the drive mechanisms 23 and 24 are not shown in FIG. 3.

The two stay members 21a, 21b function as second clamping members that contact the underside of the paper stack 201 when the paper stack 201 is clamped and gripped by the hand unit 20 in the direction normal to the paper surface. In this embodiment, the stay members 21a, 21b are long members formed by bending the side edges of a long plate member at right angles, as shown in Figure 3, but they may also be cylindrical or columnar members, members with a rectangular cross section, or other shapes.

The longitudinal length (length) L1 of stay members 21a and 21b is preferably shorter than the length of paper stack 201 in the same direction, and is, for example, at least 2/3 of the length of paper stack 201 in the same direction. If stay members 21a and 21b are longer than the length of paper stack 201, there is a risk that the tips of stay members 21a and 21b may interfere with paper feed cassette 101, for example, when refilling paper feed cassette 101 with the gripped paper stack 201. Furthermore, if stay members 21a and 21b are shorter than 2/3 of the length of paper stack 201, the paper stack 201 may hang down from the tips of stay members 21a and 21b when gripping paper stack 201, which may interfere with refilling paper feed cassette 101 with paper stack 201.

Furthermore, it is preferable that the short-side length (width) L2 of each stay member 21a, 21b is, for example, 1/8 to 1/6 of the width of the paper stack 201. In this embodiment, L2 is set to, for example, 30 mm. Furthermore, it is preferable that the distance L3 between the two stay members 21a, 21b is, for example, 1/3 to 1/2 of the width of the paper stack 201. In this embodiment, L3 is set to, for example, 80 mm.

The paper pressure member 22 functions as a first clamping member that contacts the top surface of the paper stack 201 when the paper stack 201 is clamped and gripped by the hand unit 20 in the direction normal to the paper surface. As shown in FIG. 3, the paper pressure member 22 in this embodiment is configured as a member with a rectangular contact surface that contacts the top surface of the paper stack 201, but the contact surface may also be a member with a circular or polygonal shape or other shape.

The width L4 of the paper pressure member 22 is preferably between 1/2 and 1/1 of the width of the paper stack 201. In this embodiment, L4 is set to 140 mm, for example. The length L5 of the paper pressure member 22 is preferably between 1/10 and 1/5 of the length of the paper stack 201, for example. In this embodiment, L5 is set to 30 mm, for example.

The clamp drive mechanism 23 is a drive mechanism that moves the paper pressure member 21 in the direction G normal to the paper surface of the paper stack 201. This clamp drive mechanism 23 allows the paper pressure member 21 to move toward and away from the two stay members 21a, 21b. There are no particular restrictions on the clamp drive mechanism 23 as long as it is a drive mechanism that can move the paper pressure member 21 in the direction G normal to the paper surface of the paper stack 201, and an electric cylinder capable of linear reciprocating movement can be used. In this embodiment, the clamp drive mechanism 23 is supported on the fixed portion 24a of the stay drive mechanism 24, as shown in Figure 4.

When the clamping drive mechanism 23 moves the paper pressure member 21 away from the two stay members 21a, 21b, the gap between the paper pressure member 21 and the two stay members 21a, 21b widens, allowing the stack of paper 201 to be inserted between them. Then, with the stack of paper 201 inserted between the paper pressure member 21 and the two stay members 21a, 21b, the clamping drive mechanism 23 moves the paper pressure member 21 toward the two stay members 21a, 21b, bringing the paper pressure member 21 into contact with the top surface of the stack of paper 201. This allows the stack of paper 201 to be clamped (gripped) between the two stay members 21a, 21b and the paper pressure member 21.

When the clamping drive mechanism 23 clamps the stack of paper 201 between the paper pressure member 21 and the two stay members 21a, 21b, the clamping force (load W1 with which the paper pressure member 21 presses down on the stack of paper 201) is preferably between 50N and 200N. In this embodiment, W1 is set to 150N, for example.

The stay drive mechanism 24 is a drive mechanism that moves the two stay members 21a, 21b in the longitudinal direction H of the stay members 21a, 21b along the sheet surface of the sheet stack. There are no particular restrictions on the stay drive mechanism 24 as long as it is a drive mechanism that can move the paper pressure member 21 in the direction G normal to the paper surface of the paper stack 201, and a slide drive mechanism capable of linear reciprocating movement can be used.

The stay drive mechanism 24 in this embodiment includes a fixed part 24a that is attached to the hand 15 of the robot arm 10, and a movable part 24b that is movable relative to the fixed part 24a along the longitudinal direction H of the stay members 21a and 21b. The base ends of the two stay members 21a and 21b are fixed to the movable part 24b.

In a gripped state in which the stack of paper 201 is sandwiched (gripped) between the paper presser member 21 and the two stay members 21a, 21b, the stay drive mechanism 24 moves the two stay members 21a, 21b toward the base ends of the stay members 21a, 21b. This causes the two stay members 21a, 21b to retreat from the gripping area in which the stack of paper 201 is sandwiched between the paper presser member 22, and the stack of paper 201 is released from the gripped state in which it is sandwiched (gripped) between the two stay members 21a, 21b and the paper presser member 21, resulting in a released grip state.

When the stay drive mechanism 24 moves the two stay members 21a, 21b toward the base ends of the stay members 21a, 21b while the stack of paper 201 is being gripped, the trailing edge restriction unit 25 functions as a restriction member that restricts the stack of paper 201 from moving toward the base ends. By providing this trailing edge restriction unit 25, the shape of the stack of paper 201 can be prevented from being distorted from its shape in the gripped state as the two stay members 21a, 21b move when switching from the gripped state to the released grip state, making it easier to properly replenish the stack of paper 201.

FIG. 5 is a perspective view showing an example of the sheet stack storage shelf 30 in this embodiment.
The paper bundle storage shelf 30 is equipped with a plurality of paper bundle stackers 31 that respectively store replenishment paper bundles 201. The paper bundle storage shelf 30 supports the paper bundle stackers 31 so that they can be removed from the shelf frame 32, to facilitate the work of setting replenishment paper bundles 201 in the paper bundle stackers 31. The paper bundle storage shelf 30 is arranged so that the plurality of paper bundle stackers 31 that it supports are located within the operating range of the robot arm 10 (the range in which the hand unit 20 of the robot arm 10 can grasp the paper bundles 201).

Fig. 6 is a perspective view showing an example of a paper stack stacker 31 supported on the paper stack storage shelf 30. Fig. 6 shows a state in which a side panel on the front side of the drawing provided on the paper stack stacker 31 is removed.
7 is a cross-sectional view of the internal structure of the paper stack stacker 31 as viewed from the side perpendicular to the direction in which the paper stack 201 is removed from the paper stack stacker 31 by the hand unit 20 (paper stack removal direction I).
FIG. 8 is a cross-sectional view of the internal structure of the paper stack stacker 31 as viewed from the paper stack removal direction I.

The paper stack stacker 31 has a paper stack storage section on the base 31d that stores refill paper stacks 201. This paper stack storage section is formed by side plates 31a, 31a that guide the paper stack 201 from the lateral direction (sheet width direction) perpendicular to the paper stack removal direction I, multiple (three in the illustrated example) bottom plate stays 31b on which the paper stack 201 is placed, and a rear plate 31c that guides the paper stack 201 from the rear end side in the paper stack removal direction I.

In this embodiment, the paper stack placement surface (bottom surface of the paper stack storage section) formed by the bottom plate stay 31b is inclined with respect to the horizontal plane so that the rear end in the paper stack removal direction I is lower, as shown in Figures 6 and 7. The rear plate 31c is also configured so that its inner wall surface is parallel to the vertical. As a result, when the paper stack 201 is placed in the paper stack storage section of the paper stack stacker 31 so that the rear end side of the paper stack 201 in the paper stack removal direction I abuts the inner wall surface of the rear plate 31c, the cross-section of the paper stack 201 along the paper stack removal direction I is a parallelogram, as shown in Figure 7. Furthermore, because the paper stack placement surface formed by the bottom plate stay 31b is inclined as described above, the placed paper stack 201 is biased toward the rear plate 31c by its own weight. As a result, the placed paper stack 201 is less likely to fall from the front end in the paper stack removal direction I, and is stably stored in the paper stack stacker 31.

The angle θ1 between the paper stack placement surface (paper surface of the paper stack 201) of the bottom plate stay 31b and the horizontal plane is set to an angle θ1' such that, for example, when the paper stack 201 stored in the paper stack stacker 31 is gripped in its original shape by the hand unit 20 of the robot arm 10, and this gripped paper stack 201 is inserted by the robot arm 10 into the paper feed cassette 101 of the image forming apparatus 100 in an orientation such that the normal to the paper surface of the paper stack 201 is not parallel to the guide surface of the end guide 101a of the paper feed cassette 101 (when the hand unit 20 is positioned in the refill position), one side of the paper stack 201 becomes parallel to the guide surface of the end guide 101a of the paper feed cassette 101. A specific angle θ1 is preferably within a range of, for example, 10° to 45°. In this embodiment, the angle θ1 is set to, for example, 20°.

The amount of refill paper stack 201 set in paper stack stacker 31 matches the amount of paper stack 201 gripped by hand unit 20 of robot arm 10, and is set to be equal to or less than the amount that can be accommodated in paper feed cassette 101 of image forming apparatus 100. A typical refill paper stack 201 is a bundle of 500 sheets of paper, so in this embodiment it is set to 500 sheets, but it is preferable that the amount be within the range of, for example, 100 to 1000 sheets, as long as it is equal to or less than the amount that can be accommodated in paper feed cassette 101 of image forming apparatus 100.

The side plates 31a, 31a of the paper stack stacker 31 function as two opposing members facing the lateral end faces of the paper stack 201 stored therein, restricting the lateral displacement of the paper stack 201. However, it is preferable to configure the paper stack stacker 31 so that gaps α1, α2 are formed between the side plates 31a, 31a and the paper stack 201 stored therein. This configuration improves the ease of setting a refill paper stack 201 into the paper stack stacker 31. To achieve both restriction of lateral displacement of the paper stack 201 and ease of setting, the gaps α1, α2 between the side plates 31a, 31a and each lateral side of the paper stack 201 are preferably in the range of 0.3 mm to 2 mm. It is also preferable that these gaps α1, α2 are approximately the same. In this embodiment, both gaps α1, α2 are set to, for example, 1 mm.

Figures 9(a) to (d) are explanatory diagrams illustrating an example of the operation of grasping a refill paper stack 201 stored in the paper stack stacker 31 of the paper stack storage shelf 30 using the hand portion 20 of the robot arm 10 and removing it from the paper stack storage shelf 30.
The control unit 60 of this embodiment is communicatively connected to the image forming apparatus 100 that is the test target of the continuous paper feed test. The image forming apparatus 100 of this embodiment is provided with a paper empty sensor that detects that the paper feed cassette 101 is empty. When the paper empty sensor detects that the paper feed cassette 101 is empty, the image forming apparatus 100 transmits a request to the control unit 60 to replenish the stack of paper 201.

When the control unit 60 receives a request from the image forming apparatus 100 to replenish the paper stack 201, it controls the robot arm 10 to move the hand unit 20 of the robot arm 10 to a gripping position for gripping the replenishment paper stack 201 stored in the paper stack storage shelf 30. In this embodiment, as shown in FIG. 9(a), the control unit 60 controls the robot arm 10 so that the tips of the stay members 21a, 21b of the hand unit 20 face each gap between the three bottom plate stays 31b of the paper stack stacker 31. Also, as shown in FIG. 9(a), the control unit 60 controls the robot arm 10 so that the longitudinal direction of the stay members 21a, 21b of the hand unit 20 is parallel to the paper stack placement surface formed by the bottom plate stay 31b.

Then, as shown by arrow I1 in FIG. 9(a), the control unit 60 controls the robot arm 10 so that the stay members 21a and 21b of the hand unit 20 enter into each gap between the three bottom plate stays 31b of the paper stack stacker 31. Specifically, the stay members 21a and 21b enter toward the paper stack stacker 31 until the paper stack 201 stored in the paper stack stacker 31 abuts against the trailing end restriction unit 25 of the hand unit 20. The hand unit 20 may be provided with a sensor that detects when the paper stack 201 abuts against the trailing end restriction unit 25, and configured to notify the control unit 60 when the paper stack 201 abuts against the trailing end restriction unit 25.

The control unit 60 controls the clamping drive mechanism 23 of the hand unit 20 to set the distance between the paper sheet pressing member 21 of the hand unit 20 and the two stay members 21a, 21b wider than the thickness of the paper stack 201. Therefore, as shown in Figure 9(b), the paper stack 201 can be inserted between the paper sheet pressing member 21 and the two stay members 21a, 21b.

Next, the control unit 60 controls the clamping drive mechanism 23 of the hand unit 20 to move the paper sheet pressing member 21 in a direction approaching the two stay members 21a, 21b, as shown by arrow G1 in Figure 9(b). As a result, as shown in Figure 9(c), the paper sheet pressing member 21 comes into contact with the upper surface of the paper sheet stack 201 with a predetermined load, and the paper sheet stack 201 is placed in a clamped state where it is clamped (gripped) between the two stay members 21a, 21b and the paper sheet pressing member 21. The paper sheet stack 201 held by the hand unit 20 is held while maintaining its parallelogram shape, the same as the shape of the paper sheet stack 201 when stored in the paper sheet stack stacker 31.

The control unit 60 then controls the robot arm 10 to remove the paper stack 201 grasped by the hand unit 20 from the paper stack stacker 31. Specifically, the control unit 60 first controls the robot arm 10 to lift the paper stack 201 grasped by the hand unit 20 approximately 5 to 20 mm from the bottom plate stay 31b of the paper stack stacker 31 in the direction normal to the paper surface, as shown by arrow G2 in FIG. 9(d). Next, the control unit 60 controls the robot arm 10 to move the stay members 21a and 21b of the hand unit 20 in a direction parallel to the paper stack placement surface formed by the bottom plate stay 31b, as shown by arrow I2 in FIG. 9(d), so that the stay members 21a and 21b are pulled out from the gaps in the bottom plate stay 31b of the paper stack stacker 31. This allows the paper stack 201 grasped by the hand unit 20 to be removed from the paper stack storage shelf 30.

Figures 10(a) to (c) are explanatory diagrams illustrating an example of an operation in which a stack of paper 201 held by the hand unit 20 is used to replenish a paper feed cassette 101 of an image forming device 100 using the hand unit 20 of the robot arm 10.
When the control unit 60 receives a request to replenish the stack of sheets 201 from the image forming apparatus 100, it controls the automatic cassette loading/unloading unit 50 to pull out the sheet feed cassette 101, which is currently in the installed position, to the replenished position. Specifically, the control unit 60 sends a pull-out command to the automatic cassette loading/unloading unit 50. In response to this, the automatic cassette loading/unloading unit 50 causes the drive unit to move the handle gripping portion to a position facing the handle of the sheet feed cassette 101 that is the target of the pull-out command, and then moves the handle gripping portion in the direction of inserting the sheet feed cassette to a position where the handle gripping portion grips the handle. Then, the handle gripping portion grips the handle of the sheet feed cassette 101, and then moves the handle gripping portion in the direction of pulling out the sheet feed cassette. As a result, the sheet feed cassette 101 is pulled out from the main body of the image forming apparatus 100, and the sheet feed cassette 101 takes the replenished position. The automatic cassette loading/unloading unit 50 then sends a pull-out completion notification to the control unit 60.

When the control unit 60 receives a withdrawal completion notification from the automatic cassette loading/unloading unit 50, it controls the robot arm 10 to move the hand unit 20 to a replenishment position to replenish the paper stack 201 held by the hand unit 20 to the paper feed cassette 101, which has been pulled out to the replenishment position. Specifically, as shown in FIG. 10(a), the control unit 60 controls the posture of the hand unit 20 so that the normal direction to the paper surface of the paper stack 201 held by the hand unit 20 is non-parallel (angle θ2') to the guide surface of the end guide 101a, and so that one side of the held paper stack 201 (the side guided by the guide surface of the end guide 101a) is parallel to that guide surface. The control unit 60 then moves the hand unit 20 to the replenishment position where one side of the held paper stack 201 contacts the guide surface of the end guide 101a of the paper feed cassette 101.

Once the hand unit 20 has been moved to the replenishment position in this manner, the control unit 60 controls the stay drive mechanism 24 of the hand unit 20 to move the stay members 21a and 21b in a direction retracting them from the clamping area where the stack of sheets 201 is clamped between them and the paper pressure member 22, as shown by arrow H1 in Figure 10(b). This releases the grip on the stack of sheets 201, causing it to enter a released grip state, and as shown in Figure 10(c), the stack of sheets 201 that had been supported by the stay members 21a and 21b falls under its own weight and is replenished into the paper feed cassette 101.

In this embodiment, by executing the control (sheet stack replenishment control) by the control unit 60 as described above, the sheet stack replenishment system 1 can complete the replenishment of the sheet feed cassette 101 with the sheet stack 201 without manual work by an operator (human).

In this embodiment, as described above, the stack of image-formed sheets 202 discharged onto the discharge tray 102 of the image forming apparatus 100 is removed from the discharge tray 102 to the discharge stack storage shelf 40 using the robot arm 10. At this time, if the configuration of the hand unit 20 used to replenish the sheet stack 201 into the sheet cassette 101 of the image forming apparatus 100 is incompatible with the configuration for removing the stack of image-formed sheets 202 from the discharge tray 102 of the image forming apparatus 100 to the discharge stack storage shelf 40, the hand unit 20 of the robot arm 10 may be replaced with another hand unit that is compatible with this removal.

In this embodiment, an example of replenishing the paper stack 201 in the paper feed cassette 101 of one image forming device 100 has been described, but one robot arm 10 may be used to replenish the paper stack 201 in the paper feed cassettes 101 of two or more image forming devices 100. In this case, these image forming devices 100 are positioned so that they are within the operating range of the robot arm 10.

The above description is merely an example, and each of the following aspects provides unique effects.
[First aspect]
The first aspect is a sheet bundle refilling device that refills a sheet bundle to an image forming apparatus 100 that forms images on sheets (e.g., paper) fed from a sheet bundle (e.g., a refill paper bundle 201) stored in a sheet bundle storage unit (e.g., a paper feed cassette 101), and is characterized by having a holding unit (e.g., a hand unit 20) that can be switched between a holding state that holds the sheet bundle and a holding release state that releases the holding state, a drive unit (e.g., a robot arm 10) that drives the holding unit to move between a holding position for the sheet bundle and a refill position for the sheet bundle storage unit, and a control unit 60 that executes sheet bundle refilling control to put the holding unit in the holding state at the holding position, move the holding unit to the refill position, and then put the holding unit in the holding release state at the refill position to refill the sheet bundle to the sheet bundle storage unit.
Replenishing sheet bundles in the sheet bundle storage unit of an image forming apparatus has traditionally been performed manually by an operator (human). This is also true in conventional apparatuses that replenish the image forming apparatus with the entire sheet bundle storage unit (conventional apparatuses that replenish the image forming apparatus with the sheet bundle stored in the sheet bundle storage unit). When replenishing sheet bundles in the sheet bundle storage unit manually by an operator, if the operator is inexperienced, the sheet bundles may not be stored in the sheet bundle storage unit in the proper state, resulting in damage such as folded or torn sheets during storage, or problems such as poor sheet feeding and conveyance due to improper sheet bundle storage.
In this sheet-bundle replenishing device, the holding unit is configured to be switchable between a holding state in which the sheet bundle is held and a holding-release state in which the holding state is released. The control unit then executes sheet-bundle replenishing control, which realizes a series of sheet-bundle replenishing operations: the holding unit holds the sheet bundle at the holding position, enters the holding-release state, moves to a replenishment position for the sheet-bundle storage unit of the image forming apparatus, and replenishing the sheet bundle into the sheet-bundle storage unit. Therefore, this sheet-bundle replenishing device can complete the replenishing of sheet bundles into the sheet-bundle storage unit without manual operation by an operator (human). This sheet-bundle replenishing device can thus prevent problems that may arise when an inexperienced operator replenishes sheet bundles.

[Second aspect]
A second aspect is the first aspect, characterized in that the holding portion is in the holding state by pinching and gripping the sheet stack from a direction normal to the sheet surfaces.
This allows the sheet stack to be stably held by the holding portion.

[Third Aspect]
The third aspect is characterized in that, in the first or second aspect, the holding position is a position where the holding section holds a sheet bundle stored in a sheet bundle storage section (e.g., a paper bundle storage shelf 30) that stores multiple sheet bundles.
This allows a larger number of sheet bundles to be replenished to the image forming apparatus without the need for a worker (human).

[Fourth aspect]
A fourth aspect is characterized in that, in any of the first and second aspects, the replenishment position is a position where sheet bundles are replenished to the sheet bundle storage section pulled out horizontally from the main body of the image forming device.
This allows sheet bundles to be replenished in a general type image forming apparatus in which the sheet bundle storage section is pulled out horizontally.

[Fifth Aspect]
A fifth aspect is characterized in that, in any of the first to fourth aspects, the drive unit drives the holding unit to move between a receiving position for a sheet stack of image-formed sheets (e.g., a sheet stack 202 on which images have been formed) discharged to a sheet discharge unit (e.g., a sheet discharge tray 102) of the image forming apparatus and a transfer position for transferring the sheet stack of image-formed sheets to a sheet bundle receiving unit (e.g., a sheet bundle storage shelf 40), and the control unit executes sheet bundle removal control for causing the holding unit to put the holding unit in the holding state at the receiving position for the sheet stack of image-formed sheets, then moving the holding unit to the transfer position, and causing the holding unit to put in the holding release state at the transfer position, and transferring the sheet stack to the sheet bundle receiving unit.
This allows the sheet bundle replenishing device to use a holding section and a drive section for replenishing the sheet bundle, so that the removal of the sheet bundle of image-formed sheets from the image forming device can be completed by this sheet bundle replenishing device without manual work by an operator (human).

[Sixth Aspect]
A sixth aspect is the device according to any one of the first to fifth aspects, characterized in that the holding portion is configured to be replaceable with respect to the moving portion.
With this, even if the holding part includes an incompatible configuration, it is possible to make it compatible with the incompatible configuration by replacing it with another holding part.

[Seventh aspect]
A seventh aspect is characterized in that, in any of the first to sixth aspects, the sheet bundle storage section has a guide member (e.g., end guide 101a) with a guide surface that guides one side of the replenished sheet bundle so that it is parallel to the sheet surface normal direction, and the holding section holds the sheet bundle so that, at the replenishment position, the sheet surface normal direction of the held sheet bundle is non-parallel to the guide surface and the one side of the held sheet bundle is parallel to the guide surface.
According to this, when the holding state of the held sheet bundle is switched to the holding release state at the replenishment position, the sheet bundle can be replenished in the sheet bundle storage section of the image forming device in an appropriate state in which one side of the replenished sheet bundle is parallel to the guide surface of the guide member.

[Eighth Aspect]
The eighth aspect is the seventh aspect, characterized in that the angle (e.g., angle θ1′) between the one side of the held sheet stack and the normal direction of the sheet surface of the sheet stack is greater than or equal to 10° and less than or equal to 45°.
This allows sheet bundles to be replenished in an appropriate state in a sheet bundle storage unit of a general image forming apparatus.

[Ninth Aspect]
The ninth aspect is characterized in that, in the seventh or eighth aspect, the holding portion clamps the sheet stack between a first clamping member (e.g., paper pressing member 22) that abuts the upper surface of the sheet stack and a second clamping member (e.g., stay members 21a, 21b) that abuts the lower surface of the sheet stack to enter the held state, and moves the second clamping member along the sheet surface of the sheet stack to enter the released state.
This makes it easy to replenish the sheet bundle into the sheet bundle storage unit of the image forming apparatus without disturbing the sheet bundle when switching from the holding state to the holding release state.

[Tenth Aspect]
The tenth aspect is the ninth aspect, characterized in that the holding portion has a regulating member (e.g., a trailing end regulating portion 25) that regulates the movement of the sheet stack in conjunction with the movement of the second clamping member.
This can prevent the held sheet stack from becoming disarrayed when switching from the held state to the released state.

[Eleventh Aspect]
The eleventh aspect is a sheet bundle replenishing system (e.g., paper bundle replenishing system 1) that replenishes sheet bundles to an image forming apparatus 100 that forms images on sheets fed from a sheet bundle stored in a sheet bundle storage section, and is characterized by having a sheet bundle replenishing device of any of the first to tenth aspects, and a sheet bundle storage section (e.g., paper bundle storage shelf 30) that stores multiple sheet bundles (e.g., replenishing paper bundles 201) that are held in the holding section at the holding position.
According to this sheet bundle replenishing system, it is possible to prevent problems that may occur when sheet bundles are replenished by an inexperienced worker.

[Twelfth Aspect]
A twelfth aspect is the eleventh aspect, which has a sheet bundle replenishing device of any of the seventh to tenth aspects, and is characterized in that the sheet bundle storage section stores sheet bundles in the same shape as the sheet bundle held by the holding section.
According to this, when the holding state of the held sheet bundle is switched to the holding release state at the replenishment position, the sheet bundle can be replenished in the sheet bundle storage section of the image forming device in an appropriate state in which one side of the replenished sheet bundle is parallel to the guide surface of the guide member.

[Thirteenth Aspect]
A thirteenth aspect is the eleventh or twelfth aspect, wherein the sheet bundle storage section has two opposing members (e.g., side plates 31a, 31a) facing both end faces of the sheet bundle in the sheet width direction so as to restrict displacement of the stored sheet bundle in the sheet width direction, which is a direction perpendicular to the direction in which the sheet bundle is removed by the holding section and parallel to the sheet surface, and the respective distances (e.g., gaps α1, α2) between the two opposing members and both end faces of the sheet bundle in the sheet width direction are in the range of 0.3 mm or more and 2 mm or less.
This makes it possible to regulate the lateral displacement of the sheet bundle stored in the sheet bundle storage section and to facilitate setting of the sheet bundle in the sheet bundle storage section.

[14th Aspect]
A fourteenth aspect is characterized in that, in any of the eleventh to thirteenth aspects, the image forming apparatus has a moving section (e.g., an automatic cassette loading/unloading section 50) that moves the sheet bundle storage section between an installation position where the section is installed in the main body of the image forming apparatus and a replenished position where the sheet bundle is replenished, and the control section executes movement control to move the sheet bundle storage section to the replenished position before moving the holding section to the replenishment position, and to move the sheet bundle storage section to the installation position after the sheet bundle has been replenished in the sheet bundle storage section.
With this, even when replenishing sheet bundles in the sheet bundle storage unit of a typical image forming device, which requires manual human labor to move the sheet bundle storage unit of the image forming device between the mounting position and the replenishment position, the movement of the sheet bundle storage unit can be completed by the moving unit without manual labor by an operator (human).

DESCRIPTION OF SYMBOLS 1: Paper stack replenishment system 10: Robot arm 20: Hand section 21: Paper sheet pressing members 21a, 21b: Stay member 22: Paper sheet pressing member 23: Clamp drive mechanism 24: Stay drive mechanism 24a: Fixed section 24b: Movable section 25: Rear end regulating section 30: Paper stack storage shelf 31: Paper stack stacker 31a: Side plate 31b: Bottom plate stay 31c: Rear plate 31d: Base section 32: Shelf frame 40: Discharged paper stack storage shelf 50: Automatic cassette loading/unloading section 60: Control section 100: Image forming apparatus 101: Paper feed cassette 101a: Paper feed cassette 102: Discharge tray 201: Refill paper stack 202: Paper stack on which images have been formed

Japanese Patent Application Laid-Open No. 62-222139

Claims (13)

1. A sheet bundle replenishing device that replenishing a sheet bundle stored in a sheet bundle storage section with the sheet bundle for an image forming device that forms an image on a sheet fed from the sheet bundle,
a holding section that is switchable between a holding state that holds the sheet bundle and a holding release state that releases the holding state;
a drive unit that drives the holding unit to move between a holding position for the sheet bundle and a replenishing position for the sheet bundle storage unit;
a control unit that executes sheet bundle replenishment control to move the holding unit to the replenishment position after placing the holding unit in the holding state at the holding position, and then place the holding unit in the holding release state at the replenishment position, thereby replenishing the sheet bundle in the sheet bundle storage unit,
the sheet bundle storage section includes a guide member having a guide surface that guides one side of the loaded sheet bundle so that the side is parallel to a normal direction of the sheet surfaces;
The sheet stack replenishing device is characterized in that the holding section holds the sheet stack so that, at the replenishing position, the normal direction of the sheet surface of the held sheet stack is non-parallel to the guide surface and the one side of the held sheet stack is parallel to the guide surface . 2. The sheet bundle replenishing device according to claim 1,
The sheet bundle replenishing device is characterized in that the holding portion is in the held state by pinching and gripping the sheet bundle from a direction normal to the sheet surfaces. 3. The sheet bundle replenishing device according to claim 1,
The sheet bundle replenishing device according to claim 1, wherein the holding position is a position where the holding section holds the sheet bundle stored in a sheet bundle storage section that stores a plurality of the sheet bundles. 4. The sheet stack replenishing device according to claim 1,
The sheet bundle replenishing device according to claim 1, wherein the replenishing position is a position where the sheet bundle is replenished to the sheet bundle storage section that is pulled out horizontally from the main body of the image forming apparatus. 5. The sheet bundle replenishing device according to claim 1,
the drive unit drives the holding unit to move between a receiving position for receiving a sheet bundle of image-formed sheets discharged to a sheet discharge unit of the image forming apparatus and a delivery position for delivering the sheet bundle of image-formed sheets to a sheet bundle receiving unit,
The control unit executes sheet bundle removal control for the sheet bundle of image-formed sheets by placing the holding unit in the holding state at the receiving position, then moving the holding unit to the delivery position, placing the holding unit in the release state at the delivery position, and delivering the sheet bundle to the sheet bundle receiving unit. 6. The sheet bundle replenishing device according to claim 1,
The sheet stack replenishing device is characterized in that the holding unit is configured to be replaceable with respect to the drive unit . 7. The sheet bundle replenishing device according to claim 1,
10. A sheet stack replenishing device, wherein an angle formed between the one side surface of the sheet stack held and a normal direction of the sheet surface of the sheet stack is 10 degrees or more and 45 degrees or less. 8. The sheet bundle replenishing device according to claim 1 ,
The sheet bundle refilling device is characterized in that the holding section clamps the sheet bundle between a first clamping member that abuts the upper surface of the sheet bundle and a second clamping member that abuts the lower surface of the sheet bundle to enter the held state, and moves the second clamping member along the sheet surface of the sheet bundle to enter the held release state. 9. The sheet bundle replenishing device according to claim 8 ,
The sheet bundle replenishing device according to claim 1, wherein the holding portion has a regulating member that regulates the sheet bundle from moving in association with the movement of the second clamping member. 1. A sheet bundle replenishing system that replenishing sheet bundles to an image forming apparatus that forms images on sheets fed from a sheet bundle stored in a sheet bundle storage section, the system comprising:
The sheet bundle replenishing device according to any one of claims 1 to 9 ,
a sheet bundle storage section for storing a plurality of sheet bundles held by the holding section at the holding position. 11. The sheet bundle refilling system according to claim 10 ,
The sheet bundle replenishing system is characterized in that the sheet bundle storage section stores sheet bundles in a state of being shaped the same as the shape of the sheet bundle held by the holding section. 12. The sheet bundle refilling system according to claim 10 ,
the sheet bundle storage section has two opposing members facing both end surfaces of the sheet bundle in the sheet width direction so as to restrict displacement of the stored sheet bundle in the sheet width direction, which is a direction perpendicular to the direction in which the sheet bundle is taken out by the holding section and parallel to the sheet surface;
A sheet bundle refilling system, characterized in that the distances between the two opposing members and both end faces of the sheet bundle in the sheet width direction are in the range of 0.3 mm to 2 mm. 13. The sheet stack refilling system according to claim 10 ,
a moving unit that moves the sheet bundle storage unit between a mounting position where the sheet bundle storage unit is mounted to the main body of the image forming apparatus and a replenishment position where the sheet bundle is replenished;
The control unit executes movement control to move the sheet bundle storage unit to the replenished position before moving the holding unit to the replenishment position, and to move the sheet bundle storage unit to the installation position after replenishing the sheet bundle in the sheet bundle storage unit.