JPH07115462B2 - Hand for robot to attach / detach plate to / from plate cylinder - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a robot hand for attaching / detaching a printing plate to / from a plate cylinder, which is applied to a newspaper rotary printing machine or the like.

(Prior Art) Conventionally, an automatic feeding / discharging device for a plate of a printing plate will be described with reference to FIGS. 24 to 28. (P) is a printing plate, (Pa) is a printing plate (P)
Bent side (tip side) bent part, (Pb) is plate side (rear end side) bent part of (P), (12) plate cylinder, (13) plate clamp ( Plate clamping device), (15) suction pad, (49) stopper, (50) pressing roller, (56) plate for hook on bent side (Pa), (57) ) Is a hook for the bent side (Pb) on the bite side of the printing plate (P), (58) is the operating shaft of the plate clamp (plate front side tightening device) (13), and (60) is a rotary printing machine. , When attaching the printing plate (P) to the plate cylinder (12),
As shown in the figure, the printing plate (P) is carried to the plate cylinder (12) position by a conveying device or manually, and the printing plate (P) is aligned left and right, and the bite side bent portion of the printing plate (P) is aligned. (Pa) is pressed against the stopper (49), and then the printing plate (P) is adsorbed and held by the adsorption pad (15) as shown in FIG. 25, and the bent side ( Pa) is hooked on the hook (56), and then the operating shaft (58) of the plate clamp (plate front side tightening device) (13) is operated to bend the plate (P) on the bite side (Pa).
Is drawn into the plate cylinder (12) together with the hook (56), and then the plate cylinder (12) is rotated in the direction of the arrow to wind the printing plate (P) around the plate cylinder (12). At this time, the pressing roller (50) presses the printing plate (P) against the plate cylinder (12). Further, when the plate cylinder (12) is rotated by 1/2 turn in the direction of the arrow and stopped, the operating shaft (not shown) of the plate-side tightening device is operated,
The hook (57) is projected onto the peripheral surface of the plate cylinder (12) so that the bent edge side (Pb) of the plate (P) is engaged with the hook (57). By operating the operation shaft of the rear side tightening device, the bite edge side bent part (Pb) of the plate (P) is retracted into the plate cylinder (12) together with the hook (57), and the plate of the plate (P) is pulled. Torso (12)
Installation to.

When removing the printing plate (P) from the plate cylinder (12),
As shown in the figure, the operating shaft (58) of the plate clamp (the plate front side tightening device) (13) is operated to project the hook (56) onto the peripheral surface of the plate cylinder (12), and then the plate. (P) adsorption pad (1
5) Adsorbed and held by the plate, and bent part (P) on the bite side of the plate (P)
a) is separated from the hook (56), and then the operating shaft (58) of the plate clamp (pressing device on the front side of the plate) (13) is operated to pull the hook (56) into the plate cylinder (12), and then Plate cylinder (1
2) is rotated at a low speed in the direction of the arrow, and the printing plate (P) is peeled off from the plate cylinder (12) while being suction-held by the suction pad (15). Also, when the plate cylinder (12) is stopped by rotating it halfway in the direction of the arrow and stopped, operate the operating shaft of the plate side tightening device to move the hook (57) around the plate cylinder (12). Project it on the surface,
The bite side bent part (Pb) of the printing plate (P) is detached from the hook (57), and the removal of the printing plate (P) from the plate cylinder (12) is completed (Fig. 27 and Fig. 27). (See Figure 28). The bent side (Pa) of the plate (P) is hooked on the hook (56) and pulled into the plate cylinder (12). In addition, the plate (P) is pressed against the plate (P) by the pressing roller (50) so that the bent part (Pb) of the plate (P) on the bite end side is engaged with the hook (57). The plate (P) is made of an iron plate because the plate (P) needs high elasticity at the bite side bent part (Pa) and the bite end side bent part (Pb). The length of the printing plate (P) is the plate cylinder (12).
The page length is 1/2 the circumference of.

(Problems to be Solved by the Invention) In the conventional automatic feeding / discharging device for the plate cylinder of the plate shown in FIGS. 24 to 28, the plate (P) is attached to and removed from the plate cylinder (12). However, there was a problem that the work efficiency was poor because it required manual work.

(Means for Solving the Problems) The present invention addresses the above problems, and the movable beam-shaped hand body, the hook claw, and the hook claw are rotated to form a bent portion of the plate. Rotating cylinder for hook claws for engaging and disengaging, suction pad for sucking and holding the printing plate, cylinder for suction pad for moving the suction pad forward and backward, pressing roller for pressing the printing plate against the plate cylinder, and moving the pressing roller forward and backward. It is characterized in that it has a pressing roller cylinder, and the hook claw rotating cylinder, the suction pad cylinder, and the pressing roller cylinder are attached to the beam-shaped hand body.

The object of the present invention is to automatically take out a printing plate from a stocker, carry it into a plate cylinder position, attach it to and remove it from a plate cylinder, and carry out a removed plate from the plate cylinder position. It is possible to improve work efficiency. Another point is to provide a robot hand for attaching / detaching the printing plate to the plate cylinder, which can simplify the structure and reduce the weight.

(Operation) Attachment / detachment of the plate to / from the plate cylinder of the present invention is configured as described above, and the plate is released from the state in which the bite side bent portion of the plate is suspended and supported by the stocker. When mounting on the cylinder, the detachable robot hand is advanced to move the hook claw to the scooping position of the printing plate, and then the hook claw rotating cylinder is operated to swing the hook claw to the engaging position. Engage the hook claw with the bent side of the plate on the bite side, then raise the detachable robot hand to scoop up the plate.
Remove the plate from the stocker and support it with the removable robot hand, then move the removable robot hand to transport the plate from the stocker position to the plate cylinder position, and then operate the suction pad cylinder. The suction pad is advanced to the one-step forward position, the suction pad is brought into contact with the printing plate, the printing plate is sucked and held by the suction pad, and then the hook claw rotating cylinder is operated to move the hook claw to the disengaged position. Swing to remove the hook claw from the bent side of the bite side of the printing plate, then operate the suction pad cylinder to move the suction pad and the printing plate forward to the two-step forward position, Insert the folding side into the plate biting part of the plate cylinder, then release the vacuum suction of the suction pad, operate the suction pad cylinder, retract the suction pad from the plate, and then attach / detach the robot hand. Moved Then, the cylinder for the pressing roller is operated, the pressing roller is moved forward, the bent side of the plate is inserted completely into the plate biting section of the plate cylinder, and then the removable robot hand (pressing roller) is inserted. While moving, pressing the plate against the plate cylinder, rotate the plate cylinder in the direction of the arrow,
The plate is wrapped around the plate cylinder, and while the plate cylinder is rotating, the pressing roller is moved while being in contact with the plate. Further, when the plate cylinder is further rotated to wind the plate around the plate cylinder, the plate cylinder is stopped, and then the detachable robot hand (pressing roller) is moved to bend the plate on the bite side. Part is inserted into the plate biting part of the plate cylinder, and then the plate clamp is operated by the plate clamping mechanism provided in the plate cylinder to clamp the plate and complete the attachment of the printing plate to the plate cylinder. When removing the printing plate from the plate cylinder, advance the detaching robot hand to insert the hook claw into the plate biting part of the plate cylinder, and then activate the hook claw rotating cylinder to move the hook claw to the engaging position. Oscillate,
Engage the hook claw with the bent side of the plate on the bite side, then operate the pressure roller cylinder, move the pressure roller forward, press the pressure plate with each pressure roller, and then press the plate clamp. Loosen it, then move the detachable robot hand (hook claw) upward to pull out the bent side of the plate on the bite side of the plate, then operate the rotary cylinder for the hook claw to disengage the hook claw. Swing to the combined position, remove the hook claw from the bent side of the plate on the bite side, and then rotate the plate cylinder while pressing the plate with the pressing roller. Move while keeping in contact with the plate.
When the plate cylinder rotates once and stops at a fixed position, the pressure roller cylinder is activated to retract the pressure roller,
The pressing roller is separated from the plate, and then the suction pad cylinder is operated to move the suction pad forward to the two-step forward position to suck and hold the vicinity of the bent side of the plate on the bite side with the suction pad. Hand for removable robot (suction pad)
Move, take out the bite side bent part of the printing plate out of the plate cylinder,
The printing plate is carried out of the rotary printing machine. When the printing plate is carried out, the suction pad cylinder is operated, the suction pad is retracted, the hook claw rotating cylinder is then activated, the hook claw is swung to the engaging position, and then the suction pad cylinder is activated. Then, the suction pad is advanced one step to bring the hook claw into contact with the printing plate, then the vacuum suction of the suction pad is released, the plate is dropped, and the bent side of the plate on the bite side is put on the hook claw. Engage, then move the detachable robot hand,
The printing plate is transported to the scrap box.

(Embodiment) Next, a robot hand for attaching / detaching a printing plate of the present invention to a plate cylinder will be described with reference to an embodiment shown in FIGS. 1 to 23.
In the figure, (1) is a movable beam main body, and (1a) is a removable robot wrist capable of rotating around a rotation center (0) (see FIGS. 1 and 3). The center of 1) is attached to the robot wrist (1a). Further, (2) in FIGS. 1, 2, 5, 9, and 23 are rotation cylinders for hook claws attached to both ends of the beam-shaped hand body (1), and (3) and (3) are rotation cylinders for each hook claw. Cylinder (2)
With the hook claws attached to the rotary shaft, the rotation angle of each hook claw rotation cylinder (2) is 90 °, and each hook claw (3) has the position A and the position B in FIG. 4 (V). When it swings between positions A and B and moves from position A to position B,
As shown in I), the shaft part (3a) of each hook claw (3) formed in a cam shape sandwiches the plate (P) from both sides.
The printing plate (P) is positioned in the plate width direction, and the claws of each hook claw (3) are bent on the bite side (P) of the printing plate (P).
The plate (P) is held by engaging with a). Further, (4) in FIGS. 1, 5, 8 to 11, 20 to 23 are three suction pads in total, (5) is a suction pad mounting plate, and (6).
(6) is a suction pad cylinder (a two-stage stroke cylinder, that is, a two-stage stroke cylinder that moves from a retracted position to a one-step forward position and a two-step forward position), and each of the suction pad cylinders (6) has the above-mentioned beam. Attached to both wings of the hand body (1), both wings of the suction pad mounting plate (5) are attached to the piston rods of the suction pad cylinders (6), and the suction pads (4) are suctioned. When the suction pads (4) are attached to the central part of the pad mounting plate (5) and both wings, and when each suction pad (4) moves from the retracted position in Fig. 5 (I) to the one-step advanced position in Fig. 5 (II). ，
When each suction pad (4) sucks the printing plate (P) engaged with each hook claw (3) and each suction pad (4) moves from the first forward position to the second forward position and stops. , It is designed so as to project further than each hook claw (3). Further, (7) and (7) in FIGS. 1, 3, and 19 are pressure roller cylinders, (8) and (8) are pressure rollers, and (9) and (9) are rotation center axes of the pressure rollers (8). (10) (10) is a bracket, (11) is a piston rod of each pressure roller cylinder (7), and each pressure roller cylinder (7) is attached to both wing portions of the beam-shaped hand body (1). , The brackets (10) are attached to the piston rods (11) of the pressing roller cylinders (7), and the rotation center shafts (9) of the pressing rollers (8) are attached to the brackets (10). The pressing roller cylinders (7) operate in the expansion / contraction direction, and the pressing rollers (8) move forward and backward. Further, the air pressure supplied to each pressure roller cylinder (7) is adjusted (thrust is adjusted) so that each pressure roller cylinder (7) also functions as an air spring.
Further, (12) in FIGS. 10, 11, 14, 19, and 20 is a plate cylinder, (13) is a plate clamp (plate clamp device), and (14) and (14) in FIG. 1 are plate (P). The sensors (14) are attached to the rear end face of the hook claw rotating cylinder (2) for detecting the presence or absence of the plate and the end face of the printing plate (P). In addition, (1
6) is a stocker (hanger) for the printing plate (P).

Next, the operation of the robot hand for attaching / detaching the plate to / from the plate cylinder shown in FIGS. 1 to 23 will be specifically described. Figure 6 shows
The bent side (Pa) of the plate (P) on the bite side is suspended and supported by a stocker (hanger) (16). When the plate (P) is attached to the plate cylinder (12) from this state, the detachable robot hand is advanced to move the hook claws (3) to the positions (A) (printing positions) of FIGS. It moves forward to the scooping position of the plate (P), and then each hook claw rotating cylinder (2) is actuated to swing each hook claw (3) to the position (B) of FIG. 7 (I) (II). By moving the hook claws (3) to engage the bite side bending part (Pa) of the printing plate (P),
Next, the detachable robot hand is raised, the printing plate (P) is scooped up, the printing plate (P) is removed from the stocker (hanger) (16), supported by the detachable robot hand, and then the detachable robot hand is moved. Then, the printing plate (P) is conveyed from the stocker position to the plate cylinder position, and then each suction pad cylinder (6) is operated as shown in FIG. 8 to operate the suction pad mounting plate (5) and each suction pad. The pad (4) is advanced to the one-step forward position, the suction pads (4) are brought into contact with the printing plate (P), and the printing plate (P) is sucked and held by the suction pads (4). The hook claw rotating cylinders (2) are actuated to swing the hook claws (3) to the A position, and the hook claws (3) are moved to the biting side bending part (Pa) of the printing plate (P). ), And then attach each suction pad cylinder (6) as shown in FIG. Actuating, the suction pad mounting plate (5) and each suction pad (4) and the printing plate (P) are advanced to the two-step forward position, and as shown in FIGS. Insert the bending side (Pa) into the plate biting part of the plate cylinder (12), then release the vacuum suction of each suction pad (4), operate each suction pad cylinder (6), The suction pad mounting plate (5) and each suction pad (4) are retracted from the printing plate (P), and then the removable robot hand is moved to the first position.
Move to the position shown in Fig. 12, then operate each pressure roller cylinder (7) and move each pressure roller (8) forward to move the bite side bending part (Pa) of the plate (P) to the plate cylinder. Insert it completely into the plate biting part of (12), then move the detachable robot hand (each pressing roller (8)) to the position shown in FIG. 13, and place the printing plate (P) on the plate cylinder (12). While pressing, rotate the plate cylinder (12) in the direction of the arrow to move the printing plate (P) to the plate cylinder (1
It is wound around 2) and, while the plate cylinder (12) is rotating, each pressing roller (8) is moved to the position shown in FIG. 14 while being in contact with the printing plate (P). Further, when the plate cylinder (12) is further rotated and the winding of the printing plate (P) around the plate cylinder (12) is completed, the plate cylinder (12) is stopped, and then the removable robot hand (each holding roller (8) )) Is moved from the position shown in FIG. 14 to the position shown in FIG. 15 and the bite end side bent part (Pb) of the printing plate (P) is inserted into the plate bite part of the plate cylinder (12), and then the plate The clamp (13) is operated by a plate clamping mechanism (not shown) provided in the plate cylinder (12) to clamp the plate, and the plate (P) is completely attached to the plate cylinder (12). To do. Figure 16 shows the completed installation.

When removing the printing plate (P) from the plate cylinder (12),
As shown in the figure, the detachable robot hand is advanced to insert each hook claw (3) into the plate biting part of the plate cylinder (12), and then each hook claw rotation cylinder (2) is operated to The hook claws (3) are swung to the positions (B) of FIGS. 7 (I) and (II), and the hook claws (3) are bent at the bite end side bent portion (Pb) of the printing plate (P). , Then actuate each pressure roller cylinder (7) to move each pressure roller (8) forward,
The printing plate (P) is pressed by each pressing roller (8).
The pressing plate (P) is pressed by the pressing rollers (8) in this way when the plate clamp (13) is loosened, and the plate (P) itself is elastically pressed to press the plate (P). (12) This is to prevent it from jumping out. Next, loosen the plate clamp (13), and then move the detachable robot hand (each hook claw (3)) upward as shown in FIG. 18 to move the plate (P).
Bent end side bent portion (Pb) of the above is pulled out to the outside of the plate cylinder (12), and then each hook claw rotating cylinder (2) is actuated to move each hook claw (3) to the state shown in FIG. ) Of the press plate (P) by swinging to the position (A) of the press plate (P) to remove the hook claws (3) from the bent side (Pb) on the bite side of the plate (P). The plate cylinder (12) is rotated in the direction of the arrow in Fig. 19 while being pressed by 8), and while the plate cylinder (12) is being rotated, each pressing roller (8) is kept in contact with the printing plate (P). 20 Move to the position shown in the figure. When the plate cylinder (12) rotates once and stops at a fixed position, each press roller cylinder (7) is activated,
Retract each pressing roller (8) to separate each pressing roller (8) from the printing plate (P), and then operate each suction pad cylinder (6) as shown in FIG. 21 to mount the suction pad. The plate (5) and each suction pad (4) are advanced to the two-stage forward position, and the vicinity of the bite side bent portion (Pa) of the printing plate (P) is suction-held by each suction pad (4). 21st
As shown in Fig. (I) → Fig. 21 (II), the detachable robot hand (each suction pad (4)) is moved, and the printing plate (P) is bitten on the plate side (Pa). 12) Take it out and take the printing plate (P) out of the rotary printing machine. When the printing plate (P) is carried out, the suction pad cylinders (6) shown in FIGS. 22 (I) and (II) are operated to retract the suction pad mounting plate (5) and the suction pads (4). Then, each hook claw rotating cylinder (2) is operated to move each hook claw (3) to the 7th position.
Swing to position (B) in Figures (I) and (II), then actuate each suction pad cylinder (6) to move the suction pad mounting plate (5) and each suction pad (4) forward by one step. , Each hook claw (3) is brought into contact with the printing plate (P), and then the vacuum suction of each suction pad (4) is released as shown in FIG. 23, and the printing plate (P) is dropped and the printing plate (P) is dropped. Bent side bent part of (P) (P
A) is engaged with each hook claw (3), and then the detachable robot hand is moved to convey the printing plate (P) to a waste plate box (not shown).

(Effects of the Invention) Attachment / Detachment of the Plate to the Plate Cylinder According to the robot hand, the plate is attached to the plate cylinder from the state in which the bite side bent portion of the plate is suspended and supported by the stocker as described above. Occasionally, the detachable robot hand is advanced to move the hook claw forward to the scooping position of the printing plate, then the hook claw rotating cylinder is operated, and the hook claw is swung to the engaging position to move the hook claw. Engage with the bite side bent part of the plate, then raise the detachable robot hand, scoop up the plate, remove the plate from the stocker and support it with the detachable robot hand, then attach and detach robot The hand is moved to convey the printing plate from the stocker position to the plate cylinder position, and then the cylinder for the suction pad is operated to advance the suction pad to the one-step forward position to bring the suction pad into contact with the printing plate. The plate is the same suction pad Then, the hook claw rotating cylinder is activated, the hook claw is swung to the disengaged position, the hook claw is removed from the bent side of the bite side of the plate, and then the suction pad cylinder is moved. It operates and advances the suction pad and the printing plate to the two-step forward position, inserts the bite side bent part of the printing plate into the plate biting part of the plate cylinder, and then releases the vacuum suction of the suction pad. Operate the suction pad cylinder to retract the suction pad from the plate, then move the detachable robot hand, then operate the pressure roller cylinder, move the pressure roller forward, and bend the plate bite side. Insert the bending part completely into the plate biting part of the plate cylinder, and then move the detachable robot hand (pressing roller) to rotate the plate cylinder in the direction of the arrow while pressing the plate against the plate cylinder. Wrap the plate around the plate cylinder, Moving the presser roller while in contact with the plate. When the plate cylinder is rotated further and the printing plate is wrapped around the plate cylinder, the plate cylinder is stopped,
Next, the detachable robot hand (pressing roller) is moved to insert the bent side of the plate on the bite side of the plate into the plate bite of the plate cylinder, and then the plate clamping operation is performed with the plate clamps provided inside the plate cylinder. It is operated by the mechanism, tightens the plate, and completes the mounting of the printing plate on the plate cylinder. When the printing plate is removed from the plate cylinder, the detachable robot hand is moved forward to insert the hook claw into the plate biting part of the plate cylinder, and then the rotary cylinder for the hook claw is activated.
Swing the hook to the engagement position, engage the hook claw with the bent side of the plate on the bite side, and then operate the pressure roller cylinder to move the pressure roller forward to move the pressure plate. Press with each pressing roller, loosen the plate clamp, then move the detachable robot hand (hook claw) upwards,
Bite the plate and pull out the bent side of the plate to the outside of the plate cylinder, and then activate the hook claw rotating cylinder to swing the hook claw to the disengaged position, and use the hook claw to bite the plate. The plate cylinder is removed from the side folding part, and then the plate cylinder is rotated while pressing the plate with a pressing roller. During the rotation of the plate cylinder, the pressing roller is moved while being in contact with the plate. When the plate cylinder rotates once and stops at a fixed position, the cylinder for the pressure roller is activated,
The presser roller is retracted, the presser roller is separated from the plate, and then the suction pad cylinder is operated to move the suction pad forward to the two-step forward position to suck the plate near the bent side on the bite side. The pad is suction-held, and then the detachable robot hand (suction pad) is moved to take out the bite-side bent portion of the printing plate outside the plate cylinder and carry the printing plate out of the rotary printing machine. After the printing plate has been carried out, the suction pad cylinder is activated, the suction pad is retracted, the hook claw rotating cylinder is then activated, the hook claw is swung to the engagement position, and then the suction pad cylinder is activated. Then, the suction pad is moved forward by one step to bring the hook claw into contact with the plate, then the vacuum suction of the suction pad is released, the plate is dropped, and the bent part of the plate on the bite side is put on the hook claw. Engage, then move the detachable robot hand to convey the plate to the waste box,
The work efficiency can be improved because the plate can be automatically taken out from the stocker, carried into the plate cylinder position, attached to and removed from the plate cylinder, and the removed plate can be carried out from the plate cylinder position. .

In addition, each cylinder that does not require special operation, that is, the rotary cylinder for the hook claw, the cylinder for the suction pad, and the cylinder for the pressure roller is attached to the beam-shaped hand body, while each cylinder is operated to operate the hook claw and the suction pad. The pressing roller and the pressing roller are operated in cooperation with each other as described above, and the structure of the detachable robot hand can be simplified and the weight can be reduced.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of a robot hand for attaching / detaching a printing plate to / from a plate cylinder according to the present invention, and FIG. 2 is an arrow view of FIG.
A plan view taken along the line II-II, FIG. 3 is a side view seen from the direction of arrow III in FIG. 1, and FIGS. 4 (I) to (V) are detailed explanatory views of the hook claws and FIGS. 5 (I) to 5 (I). (III) is an explanatory view of the action of the rotary cylinder for the hook claw and the cylinder for the suction pad, FIGS. 6 (I) and (II) are detailed explanatory views of the stocker, and FIGS. 7 (I) and (II) are the rotation for the hook claw. Illustration of action of cylinder,
8 to 16 are explanatory views showing the procedure for mounting the printing plate,
17 to 23 are explanatory views showing the procedure for removing the printing plate, and FIG.
Figure shows a side view of a conventional newspaper rotary printing press, Figs.
FIG. 28 is an explanatory view showing the procedure for attaching and detaching a conventional printing plate to the plate cylinder. (1) …… Beam-shaped hand body, (2) …… Foot claw rotating cylinder, (3) …… Fook claw, (4) …… Suction pad, (6) …… Suction pad cylinder, (7) …… Presser roller cylinder, (8) …… Pressure roller,
(P) …… press plate, (Pa) …… bent side bent part of plate (P), (Pb) …… bottom side bent part of plate (P).

Claims (1)

[Claims] 1. A movable beam-shaped hand body, a hook claw, a hook claw rotating cylinder for rotating the hook claw to engage with and disengage from a bent portion of the plate, and a suction pad for holding the plate by suction. A suction pad cylinder for moving the suction pad forward and backward, a pressing roller for pressing the printing plate against the plate cylinder, and a pressing roller cylinder for moving the pressing roller forward and backward. A robot hand for mounting / removing a printing plate on / from a plate cylinder, wherein a suction pad cylinder and the pressing roller cylinder are attached to the beam-shaped hand body.