JPH0136797B2 - - Google Patents

Description

Detailed Description of the Invention (Industrial Application Field) This invention relates to an automatic turning device for calendars and other printed matter to be printed when printing calendars, other already bound papers, or synthetic resin sheets. It is something.

(Problems with the prior art) Conventionally, when printing a name such as a company name on a calendar, the calendar is usually already bound, so the operator has to manually align it while the printing machine is running. A method is used in which printing is performed on the bottom edge of the calendar by turning each sheet one by one.
However, this turning operation requires a great deal of skill, and requires a considerable amount of effort when done over a long period of time, which can lead to accidents such as poorly printed products and injuries.

In order to deal with the above-mentioned difficulties, the applicant first developed a method and device for automatically transferring and turning over printed matter in order to automate the entire printing process including the turning operation (Japanese Patent Application No. 1983-100318, published in 1982). (filed on May 18th)
Furthermore, he developed a different type of automatic turning device for printed matter (Japanese Patent Application Laid-Open No. 167460, July 1985).
31st application).

By the way, in the invention disclosed in Japanese Patent Application No. 59-100318, the portion of the turning head portion that directly turns the paper is a suction pad connected to an air cylinder, and the paper is turned over by suction. However, although this method is effective for relatively thick paper such as art paper, there is a risk that several sheets of paper such as Japanese paper, which have rough texture and many voids, may be suctioned at once.

In addition, in the invention of Japanese Patent Application No. 167,460/1983, the portion of the turning head portion that directly turns over the paper is a turning pad, and this turning pad presses the paper and uses its frictional force to turn the paper. However, although this method is effective for paper with a rough texture such as Japanese paper, there is a risk that the turning pad may slip when using paper with a smooth surface such as art paper, making it difficult to turn the paper smoothly.

The present invention was developed in view of the above-mentioned conventional circumstances, and it is an object of the present invention to provide a device that can accurately turn over each sheet of paper of any quality, such as Japanese paper or art paper.

(Means for Solving the Problems) The gist of the present invention is to install an arm robot adjacent to the paper to be printed, and this arm robot has a turning head section at the tip of an arm drive shaft. The arm driving shaft and the turning head section are configured to be automatically moved by a drive device, and the turning head section includes an edger that directly performs the turning operation, a suction pad, and a paper handle formed to grip the paper. and a paper holding part for fixing the paper during the turning operation.

(Function) After placing the paper to be printed at a predetermined position, the drive unit moves the arm shaft portion up, down, left and right, and at the predetermined position, the paper is fixed by the paper presser, and the edge shear is used to press the paper. The paper is turned by pressing the corner, sucking the paper with the suction pad, and rotating the turning head while holding the paper with the paper gripping part.

(Example) Hereinafter, a description will be given based on the illustrated example. 1 shows an arm robot used in the device of the present invention. This arm robot 1 is installed adjacent to the lower side edge of a calendar A to be printed, and is roughly composed of a horizontal drive section 2, a vertical drive section 3, an arm drive section 4, and a turning head section 5. ing.

The horizontal drive unit 2 forms the base of the entire arm robot 1, and is composed of a horizontal drive motor 6 and a horizontal drive shaft 8 connected to the horizontal drive shaft 8 by a horizontal drive belt 7. A horizontal drive shaft 8 rotates, and a vertical drive section 3 disposed above the horizontal drive shaft 8 rotates.
The arm drive section 4 and the turning head section 5 are connected to each other using the horizontal drive shaft 8 as a fulcrum.
In the figure, it is rotated in the direction of the arrow X in the figure.

The vertical drive section 3 is mounted on the upper end of the horizontal drive shaft 8, and a vertical drive lever 11 is turned over and extended in the direction of the head section 5 via a vertical drive motor 9 and a vertical drive cam 10 fixed to the vertical drive motor 9. It is supported by a vertical drive shaft 12 pivotally mounted in the middle. The vertical driving cam 10 is rotated by the driving of the vertical driving motor 9, and accordingly, the tip of the vertical driving lever 11 moves upward and downward using the vertical driving shaft 12 as a fulcrum, and is connected to the vertical driving lever 11. The arm driving section 4 and the turning head section 5 are also indicated by the arrow Y in Fig. 1.
It rotates and moves in the direction.

An arm drive section 4 is attached to the tip of the vertical drive lever 11. This arm drive unit 4 has an arm drive motor 13 disposed at its base end, and this arm drive motor 13 has an arm drive cam 14.
Arm drive lever 1 extending toward the tip via
5 is attached, and the tip of the arm drive lever 15 is connected to an inner pinion gear 16 of the arm drive gear. The arm drive gear part is the frame material 17
The pinion gear 16 is framed in the shape of an elongated rectangular parallelepiped frame, and the pinion gear 16 is sandwiched and engaged between upper and lower frame-shaped rack gears 18 and 19, as shown in FIG. The pinion gear 16 is guided by the slit 17a of a frame member 17 provided with a slit 17a, and is movable in the axial direction. Further, the upper rack gear 18 is fixed to the frame member 17, and the lower rack gear 19 is movable in the axial direction, and a linear arm drive shaft 20 is fixed thereto. As the arm drive motor 13 is driven, the pinion gear 16 connected thereto moves in the axial direction along the upper rack gear 18 that is in mesh with it, and the lower rack gear 19 that is also in mesh with it moves in the axial direction. Furthermore, the arm drive shaft 20 fixed to the lower rack gear 19 is also configured to move in the same direction and to be extendable and retractable.

A flipping head portion 5 is provided at the tip of the arm drive shaft 20. More specifically, as shown in FIGS. 4 to 7, a head drive motor mount 21 is attached to the tip of the arm drive shaft 20.
A head drive motor 22 for rotating the turning head 5 is mounted. In addition, the bottom surface of the head drive motor mounting base 21 has an air blowing part 2 made of metal fittings.
3 is attached so that the angle can be adjusted freely. This air blowing part 23 is an air compressor (not shown).
It connects to the paper and blows out air to separate the stacked sheets.

The head drive motor 22 has a main rotating part mounting part 2.
4 are connected to each other, and a paper handle lower part 25 is attached to the tip of this main rotation attachment part 24, and this paper handle lower part 25 has a flexible sheet 25b such as rubber on the top surface of the tip of a rod 25a facing diagonally downward. A square protrusion 25c is provided on which is pasted. Further, a suction pad protection plate 25d is attached to the tip of the lower paper handle 25 to protect the suction pad, which will be described later.

An air cylinder 26 is attached to the upper part of the main rotation part attachment part 24, an air cylinder drive gear 27 is connected to this air cylinder 26, and a paper handle has a pinion gear 29a fixed to the base, which meshes with this air cylinder drive gear 27. The upper part 29 is attached to be rotatable in the vertical direction about the pin 28, and forms a pair with the paper handle lower part 25 to form a paper handle. and air cylinder 26
The air cylinder drive gear 27 moves in the axial direction (arrow M in FIG. 4), and the meshing pinion gear 29a rotates, causing the paper handle upper part 29 to rotate (arrow N), and the paper handle lower part 29 to rotate. It is configured to come into contact with and move away from the paper handle 26, and the paper is held between the paper handle upper part 29 and the paper handle lower part 26.

A U-shaped bracket 30 for attaching a suction pad is attached to the side surface of the main rotating part attaching part 24 (FIG. 6). An air cylinder 31 connected to an air compressor is inserted into the bracket 30 in the vertical direction, and a guide rod 32 is inserted in parallel thereto. A suction pad attachment rod 33 facing in the axial direction is attached to the lower ends of the air cylinder 31 and the guide rod 32, and a suction pad 34 facing downward is attached to the tip of this suction pad attachment rod 33. This suction pad 34 is directly connected to an air compressor (not shown) via an air hose 35, and the compressor drives the paper to attract the paper, and the air cylinder 31 drives the suction pad mounting rod. 3
3 moves in the vertical direction to maintain an appropriate pressing force of the suction pad 34 against the paper.

A bracket 36 for attaching an edger is attached to the side of the main rotating part attaching part 24.
A rod-shaped air cylinder 37 is attached that extends diagonally downward through this bracket 36, and a U-shaped edge mounting piece 38 is fixed to the tip of this air cylinder 37. A guide rod 39 is attached which passes through the guide rod 39 and whose tip end is fixed to the edger attachment piece 38. An edger 40 is attached to the tip of the edger attachment piece 38 for slightly pushing the corner of the paper during the turning operation.
This edger 40 has a tip 40b made of an elastic material such as raw rubber attached to the tip of a spring 40a.
and the edge shear mounting piece 38, and is held by a guide pin 40c spanning between the two. And the air cylinder 37 connected to the air compressor
When driven, the edger 40 moves obliquely downward (arrow O in FIG. 5) and slightly pushes the corner portion of the sheet.

Further, 41 indicates an air hose joint part, which is formed into a plate shape and is raised from the main rotation attachment part 24.
an air hose connected to the air cylinders 26, 31 through a hole 41a drilled in its surface;
It also fixes an air hose such as an air hose 35 connected to the suction pad 34.

The head drive motor mount 21 is provided with a paper presser 42 on its side (on the side opposite to the edger 40), which is separate from the head drive motor 22. This paper holding part 42 is provided to protrude diagonally downward through a bracket 43 for mounting the paper holding part. First, an air cylinder 44 connected to an air compressor is attached, and the paper holding part 42 is protruded from the air cylinder 44. A pinion gear 46 is attached to the provided air cylinder drive lever 45. A fixed rack gear 47 fixed to the bracket 43 is disposed above the pinion gear 46 and meshes with the pinion gear 46. Further, a drive rack gear 48 is disposed at the bottom of the pinion gear 46 and meshes with the pinion gear 46. Furthermore, a paper holding piece 49 is attached to the tip of the rack gear 47, and the tip of this paper holding piece 49 is fixed during use. It is bent so that the back side is approximately horizontal and the paper surface can be held securely. and air cylinder 4
4, the air cylinder drive lever 45 moves in the axial direction and the pinion gear 46 also moves, and the drive rack gear 48 that meshes with the pinion gear 46 also moves in the axial direction at the same time, and the paper presser piece 49 attached to the tip of the pinion gear moves in the axial direction. It is configured to move in the direction of protrusion or retreat (arrow P in FIG. 6). Incidentally, stepping motors are used as the horizontal drive motor 6, vertical drive motor 9, arm drive motor 13, and head drive motor 22.

9 to 14 show aspects of the turning operation when printing a name on calendar A using the apparatus of the present invention. When the calendar A is placed in a predetermined position, the horizontal drive motor 6, the vertical drive motor 9, and the arm drive motor 13 are driven to move it horizontally, vertically, and axially, and the turning head 5 at the tip is rotated. It is set at the proper position at the lower end of one side edge of calendar A (FIG. 8).

After setting, the air cylinder 44 is driven as the printing press B is separately driven, and the paper presser 42 protrudes forward and presses the middle part of one side of the calendar A with the paper presser piece 49. The air blowing section 23 blows air toward the corner of the calendar A, and the air cylinder 37 is driven, causing the edger 40 to protrude forward and press the corner of the top sheet of paper, pushing it up slightly. As a result, the sheets are completely separated (FIG. 9).

Next, the air cylinder 31 is driven and the suction pad 34 suctions the uppermost sheet of paper, and then the edger 40 is moved back and away from the sheet, and when a predetermined pulse signal is given to the head drive motor 22, the suction pad 34 rotates ( The rotational force (direction of arrow Q in the figure) begins to turn the paper (the first
Figure 0).

When the required angle paper is turned over, the suction pad 34
At the same time as stopping suction, the paper is released and bent into an inverted U shape on the side of the suction pad 34 (No. 11).
), the edge of the paper is further lifted diagonally upward,
It is placed between the upper paper handle 29 and the lower paper handle 25 (FIG. 12).

Next, the cylinder 26 is driven and the upper part 2 of the paper handle is moved.
9 rotates downward to the paper handle lower part 25 and clamps the paper between the paper handle upper part 29 and the paper handle lower part 25. During this time, the calendar presser 42 moves upward and returns to its original position, and the paper is released from the pressure of the calendar presser 42 (FIG. 13).

Furthermore, when a predetermined reverse rotation pulse signal is applied to the head drive motor 22 while holding the paper, the handle rotates in the reverse direction, the paper is bent into an inverted U shape, and the upper part of the paper handle 29 is returned to its original position, allowing the paper to be Release the button to complete the flipping operation (Fig. 14). During this period, a horizontal drive motor 6,
and the vertical drive motor 9 are driven alternately.

After the topmost paper has been turned over, the horizontal drive motor 6, arm drive motor 13, and head drive motor 22 are driven to return the entire arm to its original state. Then, the same turning operation is performed one after another to print the required number of calendars A with names.

(Effects of the Invention) As described above, this invention uses an arm robot to automatically perform printing on already bound papers, such as printing names on calendars, which was previously done by hand and required time and skill. The system is configured to do this, which greatly reduces the labor involved, and allows for uniform quality printing in a short time without requiring any manual skill, streamlining printing work by preventing injuries and other accidents. , can greatly contribute to labor saving. Moreover, since the paper is configured to use both a pushing action and a sucking action in the turning operation, the papers are surely turned over one by one, and there is therefore no risk of printing errors. Since it is configured so that the entire flipping operation can be performed by a single arm, it has a simple configuration that does not require any other attached equipment, and therefore its operation is smooth and less likely to malfunction. , and the production cost is low.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is a front view, FIG. 2 is a plan view, FIG. 3 is a partially fragmented front view, and FIG. 4 is a partially fragmented front view of the turning head.
Figure 5 is its top view, Figure 6 is its rear view, and Figure 7 is its top view.
The figure is a right side view, FIG. 8 is a schematic plan view showing the installation location of the arm robot, and FIGS. 9 to 14 are partial right side views showing the turning operation of the turning head. 1...Arm robot, 2...Horizontal drive section, 3
...Vertical drive section, 4...Arm drive section, 5...Turning head section, 6...Horizontal drive motor, 7...
Horizontal drive belt, 8...Horizontal drive shaft, 9...
... Vertical drive motor, 10 ... Vertical drive cam, 1
DESCRIPTION OF SYMBOLS 1...Vertical drive lever, 12...Vertical drive shaft, 13...Arm drive motor, 14...Arm drive cam, 15...Arm drive lever, 16...
...Pinion gear, 17... Frame material, 18, 19...
Rack gear, 20... Arm drive shaft, 21
... Head drive motor mounting base, 22 ... Head drive motor, 23 ... Air blowing part, 24 ... Main rotating part mounting part, 25 ... Lower part of paper handle, 26 ...
Air cylinder, 27... Air cylinder drive gear, 28... Pin, 29... Upper part of paper handle, 30
... Bracket, 31 ... Air cylinder, 32
... Guide rod, 33 ... Suction pad mounting rod, 3
4...Adsorption butt, 35...Air hose, 36...
...edge mounting rod, 37... air cylinder, 38... edge seat mounting piece, 39...
Guide rod, 40...Egyptian, 41...
Air hose joint part, 42...Paper presser part, 43...
. . . Bracket for attaching the paper holding portion, 44 . . . Air cylinder, 45 . . . Air cylinder drive lever, 46 .

Claims (1)

[Claims] 1. In a turning device consisting of an arm robot adjacent to the paper to be printed, the arm robot automatically moves an arm driving shaft, a turning head attached to the tip of the arm, and the arm driving shaft and the turning head. The drive device includes a vertical drive motor and a horizontal drive motor to move the entire unit vertically and horizontally, and an arm drive motor to extend and contract the arm drive shaft in the axial direction. It further consists of a head drive motor that rotates the turning head at right angles to the axial direction, and the turning head has an edger that presses the corner of the paper, a suction pad that attracts the paper, and a paper handle formed to grip the paper. What is claimed is: 1. An automatic printing device for turning over printed matter, characterized in that it is comprised of a paper holding section and a paper holding section that is movable in the front and rear directions.