JP2002265009A - Housing/taking-out method for processed roll in roll vertically storing warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a housing/taking-out method of a processed roll in a roll vertically storing warehouse capable of remarkably improving housing efficiency of the processed roll, capable of identifying the roll placed on a pallet when taking out the roll for process, printing, or shipping, and capable of picking up a corresponding roll. SOLUTION: Roll housing boxes 4a, 4b and 4c partitioned in a square grid shape when viewed from above are fixed on the fork pallet 5. The processed roll 6 is erected, and is cured by winding a curing material composed of a corrugated board on the roll. The processed roll 6 is hung up, and is hung down and housed in one housing box of the roll housing boxes 4a, 4b and 4c, and is housed in the roll vertically storing warehouse 1, and when taking out the roll for process, printing or shipping, the corresponding fork pallet 5 is taken out, and then, the corresponding processed roll 5 is hung up and taken out together with the curing material.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention makes it possible to dramatically improve the storage efficiency of a roll to be made, and to place the roll on a pallet when removing the roll for plate making, printing, or shipping. Rolls that have been identified can be identified and picked up when the roll is applicable, high work efficiency can be obtained, and plate-making rolls of various sizes and processing steps can be handled without being confused. And a method for storing and removing a plate-making roll in a three-dimensional roll warehouse.

[0002]

2. Description of the Related Art Conventionally, plate-making rolls are stored and taken out in a conventional three-dimensional roll warehouse by placing a plurality of plate-making rolls horizontally on a pallet that can be taken in and out with a fork, and the numbers of storage positions of the pallets in the warehouse and pallets. In the computer, the position where the roll is placed is registered in the computer, and when removing the roll for plate making, printing, or shipping, remove the corresponding pallet and then remove the corresponding pallet. Both ends of the roll were chucked and taken out by a robot hand of an industrial robot for handling so as not to block the holes to be chucked at both ends of the plate making roll. The number of storage rolls in a rolled warehouse of a converter (film processing company) is 200 million in a large company and several thousand in a small company, and there is a problem that the storage efficiency of rolls to be made is extremely low.

On the other hand, there are rolls for gravure printing that differ by 10 mm from each other in the range of 400 mm to 900 mm in circumferential length. But there are 60 to 70 types, and with the wide variety of gravure rotary printing presses,
The length for gravure printing is also finely different in the range of 1000 mm to 1800 mm, and the sizes of the chuck holes and key grooves are also different. As described above, with respect to roll production, plating, polishing, recycling plate making, and new roll plate making for gravure printing of various sizes, dozens or more than twenty types of roll processes are required to be different. You.
In a conventional roll warehouse, if the data in the roll storage arrangement in the computer is destroyed, there is a risk of catastrophic disruption, and if there is a data input error to the computer, the picked-up roll is different from the desired roll. Pickup becomes difficult, and when data input to the computer is neglected, it becomes impossible to pick up. Therefore,
Instead of picking up the rolls from the pallet and then identifying the rolls, there is a demand for a method that can identify the rolls placed on the pallet and pick them up when the rolls are relevant.

[0004]

SUMMARY OF THE INVENTION According to the present invention, it is possible to dramatically improve the storage efficiency of a plate-making roll, and to remove the roll for plate-making, printing, or shipping, on a pallet. The rolls that are placed can be identified and can be picked up when they are applicable, high work efficiency is obtained, and plate-making rolls with various sizes and processing steps are handled so as not to be confused. It is an object of the present invention to provide a method of storing and removing a plate-making roll in a three-dimensional roll warehouse.

[0005]

According to the first invention of the present application ([Claim 1]), a roll storage box 4a, 4b, 4c partitioned into a square grid when viewed from above is used for a fork pallet 5.
The plate-making roll 6 is erected, and a curing material 7 made of cardboard or the like is wound around the roll 6 for curing, the plate-making roll 6 is lifted, and the plate-making roll 6 is hung in one container of the roll storage box 4. When the rolls are stored and stored in the three-dimensional warehouse 1, and the rolls are taken out for plate making, printing, or shipping, the corresponding fork pallet 5 is taken out, and then the corresponding plate making roll 6 is cured. And a method for storing and removing plate-making rolls in a three-dimensional roll warehouse, characterized in that the rolls are lifted and removed.

According to the second invention of the present application ([Claim 2]), the total number of plate making rolls 6 stored in a three-dimensional warehouse is divided into several classes according to the size of the diameter, and divided into a square grid when viewed from above. The roll storage boxes 4a, 4b, 4c provided are fixedly mounted on a fork pallet 5 of a common size, and the roll storage boxes 4a, 4b, 4c are classified according to their diameters. The plate-making rolls 6 are set up as a plurality of types of roll storage boxes 4 in which the size of one storage box is determined so that rolls can be stored, and a curing material 7 made of cardboard paper or the like is wound around the rolls and cured. The plate-making roll 6 is lifted up and suspended in one storage container of a roll storage box 4 of a corresponding class with a diameter of the corresponding class, and stored in the rolled three-dimensional warehouse 1 for plate-making and printing.
Alternatively, when taking out the rolls for shipment, the corresponding fork pallet 5 is taken out, and then the corresponding plate making roll 6 is lifted up together with the curing material 7 and taken out. It provides a removal method.

According to a third invention of the present application ([Claim 3]), roll storage boxes 4a, 4b and 4c partitioned into a square grid when viewed from above are fixed on a fork pallet 5 and rolls for plate-making are provided. 6, insert at least 20% of the chuck claws of the robot hand of the handling industrial robot 8 into the chucked holes at the upper end, spread the hooks, hook the flanges, and hold the plate-making roll 6 with the curing material holding plate of the robot hand. The curing material 7 made of corrugated cardboard paper or the like is integrally held, the plate-making roll 6 and the curing material 7 are lifted together, suspended in one storage box of the roll storage box 4, and stored. When the rolls are stored in the warehouse 1 and the storage positions of the fork pallets 5 in the warehouse are registered in the computer, and the rolls are taken out for plate making, printing, or shipping. Then, the corresponding fork pallet 5 is taken out, and then the roll identification number is read out from the information stored in the wireless IC tag attached to the inside of the plate making roll by the transmitting / receiving antenna, and if the roll is the corresponding roll, it is used for handling. The curing material 7 made of corrugated cardboard or the like wound around the plate making roll 6 is integrally held with the flange by the chuck claws of the robot hand of the industrial robot 8 and the curing material holding plate of the robot hand, and the plate making roll 6 is held together. It is intended to provide a method for storing and removing plate-making rolls in a rolled warehouse, wherein the curing material 7 is lifted and removed integrally.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for storing and removing plate-making rolls in a three-dimensional roll warehouse according to the present invention will be described with reference to the drawings. FIG. 1A is a schematic front view of the rolled warehouse 1. The three-dimensional roll warehouse 1 is configured to store and take out a fork pallet 5 in which roll storage boxes 4a, 4b, 4c are fixed by a fork provided on a vertically moving slider 3 of a pickup device 2.

As shown in FIG. 2, the fork pallet 5 taken out of the three-dimensional roll warehouse is conveyed on a conveyor (not shown) and stopped at the work area of the industrial robot 8. The industrial robot 8 lifts the plate making roll 6 and hangs it in one of the roll storage boxes 4a, 4b, 4c in a storage box, or the roll storage boxes 4a, 4b, 4
The plate-making roll 6 accommodated in the desired one of the c
And lift it out. The fork pallet 5 and the roll storage boxes 4a, 4b, 4c are made of wood or plastic and are partitioned into a square grid when viewed from above.

FIG. 1 (b) is a plan view of three types of roll storage boxes used in this roll warehouse. The three types of roll storage boxes 4a, 4b, and 4c have different sizes of storage boxes. The fork pallets 5 have a common size and can be handled by a fork provided on the vertical slider 3 of the pickup device 2.

The reason that the roll storage boxes 4a, 4b, and 4c are fixed on the fork pallet 5 and that the roll storage boxes are not one kind but a plurality of kinds having different sizes of the storage boxes is because of the roll storage efficiency. In order to increase. That is, when the plate making roll 6 is placed upright on the fork pallet 5, the roll storage efficiency is greatly improved as compared with the conventional case where three to five rolls are placed horizontally. In order to prevent the plate roll 6 from falling down, the roll storage boxes 4a, 4b, 4c are placed on the fork pallet 5.
Was fixed to surround the rolls one by one. further,
The total number of plate-making rolls 6 to be stored in the three-dimensional warehouse is divided into several classes according to the size of the diameter so that the size of one storage box can accommodate the plate-making roll having the maximum diameter of each class according to the classification. Is provided with a plurality of types (three types in this embodiment) of roll storage boxes 4a, 4b, and 4c, so that the plate making roll 6 can be stored in one of the roll storage boxes of any of the roll storage boxes corresponding to the classification. By storing the roll, the storage efficiency of the roll is further improved.

As shown in FIG. 3, even if the plate making roll 6 is surrounded by the roll storage boxes 4a, 4b, 4c, the plate making roll 6 is prevented from falling down and being damaged.
In order to avoid rubbing and scratching when putting in and out, the plate-making roll 6 wound with the curing material 7 as one roll with the curing material 7 such as corrugated cardboard is placed in the container. It was decided to house it or take it out of the housing.

In particular, the plate making roll handled in this embodiment is, as shown in FIG.
The wireless IC tag 12 is attached to the center connecting portion of the first bracket 1, and an adhesive is applied to the outer surfaces of two parallel portions of the grooved bracket 11, and the grooved bracket 11 is attached to the chuck hole 6a of the plate making roll 6. The plate-making roll 6 is folded and inserted into the inside, returned to the groove shape, and adhered and fixed to the inner surface of the roll. The wireless IC tag 12 is located inside the front of the chucked hole 6a and at a fixed distance from the roll end surface.

As shown in FIGS. 2 and 3, the plate making roll 6 wound with a curing material 7 such as corrugated cardboard housed in roll storage boxes 4a, 4b, 4c fixed on a fork pallet 5. Is handled by the industrial robot 8. The robot hand 10 is provided with a component having a function described below on a turntable 10a that can turn a plane with respect to the robot arm 9 by a certain angle by a servomotor.

As shown in FIGS. 3, 4, and 5, the robot hand 10 is configured such that a part of the robot hand is inserted into the chucked hole 6a of the plate making roll 6 and the chuck opening / closing means 1 is opened.
The chuck pawls 10b are opened by an operation of 0k to chuck the edges of the chucked holes 6a of the plate making roll 6 so as to be able to lift them. A CCD camera 10c, a transmitting / receiving antenna 10e, and a distance sensor 10d are distributed and provided at the tip.

As shown in FIGS. 3, 5, and 6, the robot hand 10 is provided with a lateral vibration suppressing means for suppressing the lateral vibration of the plate making roll 6 in cooperation with the chuck pawl 10b. The lateral runout suppressing means inserts the chuck claw 10b into the chucked hole 6a of the plate making roll 6 and opens it to chuck the edge of the chucked hole 6a of the plate making roll 6 so as to be lifted, as shown in FIG. And the air cylinder device 10
By actuating f, the end face pressing plate 10g is pressed strongly against the end face of the plate making roll 6, compressing the spring 10h, hooking the claw portion of the chuck claw 10b into the chucked hole 6a of the plate making roll 6, and thereby pressing the end face pressing plate. The flange is sandwiched between 10 g and the chuck claw 10b so as to suppress the lateral run-out of the plate making roll 6.

As shown in FIGS. 5 and 6, a robot hand 10 is provided with a curing material 7 which is wound around a plate making roll 6 and cured.
And a curing cylinder restraining means for suspending the curing material 7 integrally with the plate making roll 6 while suppressing the pressure. As described above, the curing cylinder holding means holds the flange between the end face pressing plate 10g and the chuck claw 10b to suppress the lateral run-out of the plate making roll 6, and then activates the pair of actuators 10i to operate the pair of actuators 10i. The curing material 7 is pressed down by the curing material holding plate 10j, and the curing material 7 is lifted integrally with the plate-making roll 6.

An industrial robot 8 holds a robot hand 10 in a roll storage box 4a fixed to a fork pallet 5,
When it is moved to the storage tub 2a at the required position of 4b, 4c,
Thereafter, the center of the chuck of the robot hand 10 is positioned so as to be aligned with the center of the plate making roll 6 based on the detection signal of the CCD camera 10c provided at the tip of the chuck claw 10b. The CCD camera 10c captures an end face of the plate making roll 6 and transmits a video signal to a robot control computer (not shown). The robot control computer performs image processing and performs image processing on the robot hand 10. The horizontal distance between the center of the chuck and the center of the plate making roll 6 is calculated so that the center of the chuck of the robot hand 10 coincides with the center of the plate making roll 6.
To move horizontally.

As described above, when the center of the chuck of the robot hand 10 coincides with the center of the plate-making roll 6, the distance sensor 10d provided at the tip of the chuck claw 10b is positioned in front of the plate-making roll 6 in the chuck hole 6a. It detects the distance to the wireless IC tag 12 attached so as to be located, and transmits a distance detection signal to a robot control computer (not shown). Then, the robot arm 9 is swung and the chuck claw 10b of the robot hand 10 is inserted into the chuck hole 6a of the plate making roll 6 at high speed (with a reduced time) as shown in FIG. The position is stopped with a constant deviation from the expression IC tag 12.

As described above, when the chuck claw 10b of the robot hand 10 is inserted into the chuck hole 6a of the plate-making roll 6, the transmission / reception antenna 10e provided at the tip of the chuck claw 10b is stored in the wireless IC tag 12. It is designed to read information that has been written. Information stored in the wireless IC tag 12 includes role identification information, role customer information,
The information includes plate making information and printing information. Receiving and transmitting antenna 10e
To read the information stored in the wireless IC tag 12 by collating the roll identification number, performing what kind of plate making process, making what kind of plate making, or making a plate making, a gravure rotary press By storing in the wireless IC tag 12 the color of the roll to be attached, the type and amount of the ink, the conditions after the attachment, the printing speed, etc., the wrong plate-making process is not performed. To prevent the wrong colors from being printed,
Alternatively, at the time of shipment, the roll identification number stored in the wireless IC tag 12 can be compared with the delivery destination and the design number, which is useful in management.

As described above, when the receiving / transmitting antenna 10e provided at the tip of the chuck claw 10b reads the information stored in the wireless IC tag 12, if the roll is the plate making roll having the corresponding roll identification number, , Receiving and transmitting antenna 1
0e accesses the wireless IC tag 12 to write necessary information or lifts the plate making roll 6.
As described above, as shown in FIG. 5, the operation of lifting the plate making roll 6 is performed by opening the chuck claw 10b inserted into the chucked hole 6a of the plate making roll 6 and lifting the edge of the chucked hole 6a. After the chucking, as shown in FIG. 6, the flange is sandwiched between the end face pressing plate 10g and the chuck claw 10b to suppress the lateral run-out of the plate making roll 6,
The curing material 7 is held down by a pair of curing material holding plates 10j, and the curing material 7 is lifted integrally with the plate-making roll 6.

In short, according to the present invention, the plate making roll 6 is set up, and at least 20% or more of the chuck claws 10b of the robot hand 10 of the industrial robot 8 are inserted into the chucked holes 6a at the upper end and spread, and the flange is hooked. The curing material 7 made of corrugated cardboard or the like wound around the plate making roll 6 is integrally held by the curing material holding plate 10j of the robot hand, and the plate making roll 6 and the curing material 7 are lifted together to form the roll storage box 4a, 4b and 4c are suspended and accommodated in one storage box and stored in the rolled three-dimensional warehouse 1. At that time, the storage position of the fork pallet 5 in the warehouse is registered in a computer, and printing for plate making is performed. When taking out the rolls for shipping or shipping, take out the corresponding fork pallet 5 and then attach it to the inside of the plate making roll with the receiving / transmitting antenna 10e. Wireless robot hand industrial robot 8 when the roll identification number from the are stored information in the IC tag 12 is read corresponding roll 1
The holding material 7 wound around the plate-making roll 6 is integrally held by the holding material holding plate 10j while the flange is hooked by the chuck jaws 10b of No. 0 and the plate-making roll 6 and the curing material 7 are held together.
Are lifted together and taken out.

The method for storing and removing the plate-making rolls of the embodiment described above is based on a method in which roll storage boxes 4a, 4b, 4c partitioned into a square grid when viewed from above are fixed on a fork pallet 5, The plate making roll 6 is set up, and at least 20% or more of the chuck claws of the robot hand 8 for handling the industrial robot 8 are put into the chuck holes at the upper end and spread, and the flange is hooked. The plate holding plate of the robot hand is used for plate making. A plate-making roll 6 is provided by integrally holding a curing material 7 made of corrugated paper or the like around which the roll 6 is wound.
And the curing material 7 are integrally lifted, suspended and accommodated in one storage vessel of the roll storage box 4, and stored in the rolled warehouse 1.
The roll is stored in the warehouse at that time, and the storage position of the fork pallet 5 in the warehouse is registered in a computer. When the roll is taken out for plate making, printing, or shipping, the corresponding fork pallet 5 is taken out. And then a wireless IC mounted inside the plate-making roll with the receiving and transmitting antennas
The roll identification number is read from the information stored in the tag, and if the roll is the corresponding roll, the flange is hooked by the chuck claws of the robot hand of the handling industrial robot 8 and the plate-making roll is held by the curing material holding plate of the robot hand. The plate-making roll 6 and the curing material 7 are integrally held while holding a curing material 7 made of corrugated cardboard or the like around which the sheet 6 is wound.
Are lifted together and taken out.

[0024]

According to the first invention of the present application ([Claim 1]), the method of storing and removing plate-making rolls in a three-dimensional roll warehouse has a dramatically improved storage efficiency of plate-making rolls in a three-dimensional roll warehouse. In addition, the plate making roll can be stored and taken out with the curing material attached, and the plate making roll can be prevented from being damaged.

According to the second invention of the present application ([Claim 2]), the method of storing and removing plate-making rolls in the three-dimensional roll warehouse comprises dividing the plate-making rolls whose diameters are approximated by classifying the rolls into one fork. Since it is placed on the pallet, the storage efficiency of the plate making rolls in the roll three-dimensional warehouse is further improved compared to the first invention of the present application, and the plate making rolls can be stored and taken out with the curing material attached. The plate roll can be prevented from being damaged, and the balance of the fork pallet does not become extremely unbalanced.

According to the third invention of the present application ([Claim 3]), the method of storing and removing plate-making rolls in the three-dimensional roll warehouse comprises dividing the plate-making rolls whose diameters are approximated by classifying the rolls into one fork. Since it is placed on the pallet, the storage efficiency of the plate making rolls in the roll three-dimensional warehouse is further improved compared to the first invention of the present application, and the plate making rolls can be stored and taken out with the curing material attached. The plate-making roll can be prevented from being damaged, and when the roll is taken out for plate-making, printing, or shipping, the roll placed on the pallet can be quickly identified and the corresponding roll can be identified. When it is, it can be picked up immediately, high work efficiency can be obtained, and plate-making rolls with various sizes and processing steps should be handled so as not to be confused. It can be.

[Brief description of the drawings]

FIG. 1 relates to a method of storing and removing plate-making rolls in a three-dimensional roll warehouse of the present invention, wherein FIG. 1 (a) is a front view of a roll three-dimensional warehouse showing a storage state of plate-making rolls, and FIG. Plan view of three types of roll storage boxes used in the present invention.

FIG. 2 is a perspective view showing a state in which an industrial robot searches for a plate-making roll stored in a roll storage box and picks up the roll when it is applicable, according to a method of storing and removing a plate-making roll in a roll three-dimensional warehouse of the present invention. .

FIG. 3 shows a method of storing and removing a plate making roll in a three-dimensional roll warehouse of the present invention, and shows an end face of a plate making roll stored in a roll storing box by a CCD camera attached to an end face of a chuck claw of a robot hand. Is a vertical sectional front view showing that the center of the chuck of the robot hand is aligned with the center of the plate making roll, and then the distance is measured by a distance sensor attached to the end face of the chuck pawl.

FIG. 4 is a longitudinal sectional front view showing a step subsequent to the step of FIG. 3 and showing a state where a chuck claw of a robot hand is inserted into a chucked hole of a plate making roll.

5 is a longitudinal sectional front view showing a step that follows the step of FIG. 4, showing a state in which the chuck jaws of the robot hand are opened and the inner edge of the chucked hole of the plate making roll is chucked.

FIG. 6 is a longitudinal sectional front view showing a step following the step of FIG. 5, showing a state in which the plate-making roll is chucked in a state where the lateral run-out is suppressed, and a curing material can be lifted integrally with the plate-making roll.

[Explanation of symbols]

1 ... roll solid warehouse, 2 ... pickup device,
3 Vertical slider, 4a, 4b, 4c Roll storage box, 5 Fork pallet, 6 Plate roll, 6a Chuck hole, 7 Curing material 8 ... industrial robot, 9 ... robot arm,
10 ・ ・ ・ Robot hand, 10a ・ ・ ・ Turn board, 10b
... Chuck jaws, 10c ... CCD camera, 10d ...
・ Distance sensor, 10e ・ ・ ・ Receive / transmit antenna, 10f ・
..Air cylinder devices, 10 g ... end face pressing plates, 10 h
... Spring, 10i ... Actuator, 10j ...
Curing material holding plate, 10k ... Chuck opening / closing means, 11 ... Groove bracket, 12 ... Wireless IC tag,

Claims (3)

[Claims] 1. A roll storage box partitioned into a square grid as viewed from above is fixedly mounted on a fork pallet, a plate-making roll is erected, and a curing material made of cardboard paper or the like is wound around the roll and cured. When a plate-making roll is lifted and suspended in one of the storage boxes of the roll storage box, stored and stored in a rolled three-dimensional warehouse, and the roll is taken out for plate-making, printing, or shipping, this applies. A method for storing and removing plate-making rolls in a three-dimensional roll warehouse, wherein a fork pallet is taken out, and then the corresponding plate-making roll is lifted and taken out together with a curing material. 2. The total number of plate-making rolls to be stored in a three-dimensional warehouse is divided into several classes according to the size of the diameter, and roll storage boxes partitioned into a square grid when viewed from above are fork pallets of a common size. Multiple types of roll storage boxes that are fixed in a single box and are sized to accommodate a plate roll with the maximum diameter of each class in which the roll storage boxes are classified by diameter. The plate-making roll is set up, and a curing material made of cardboard paper or the like is wrapped around the plate-making roll for curing, the plate-making roll is lifted, and the plate-making roll is suspended in a container of a roll storage box of a class corresponding to the diameter of the roll. When the roll is stored and stored in the three-dimensional warehouse 1, and the roll is taken out for plate making, printing, or shipping, the corresponding fork pallet is taken out, and then the pallet is taken out. Storage and take-out method of the plate-making roll in the roll warehouse, characterized in that retrieving the plate-making roll lifting Totomoni curing material for. 3. A roll storage box partitioned into a square grid as viewed from above is fixedly mounted on a fork pallet, a plate-making roll is set up, and a robot hand of an industrial robot for handling is placed in a chucked hole at the upper end. Attach more than 20% of the chuck claws, spread them, hook the flange, and hold the curing material made of cardboard paper etc., which is wound around the plate making roll by the curing material holding plate of the robot hand, and cure it with the plate making roll. The materials are lifted together, suspended in one of the roll storage boxes, stored and stored in the rolled warehouse, and the storage positions of the fork pallets in the warehouse are registered in the computer, When taking out the roll for printing, or for shipping, take out the corresponding fork pallet, and then Read the roll identification number from the information stored in the wireless IC tag attached to the inside of the plate making roll, and if the roll is applicable, hook the flange with the chuck claw of the robot hand of the handling industrial robot and use the same robot. A plate making machine in a three-dimensional warehouse for rolls, wherein a curing material made of cardboard paper or the like wound around a plate making roll is integrally held by a curing material holding plate of a hand, and the plate making roll and the curing material are lifted together and taken out. How to store and remove rolls.