The invention is related to a medium alignment apparatus and media alignment method using the joint parallel to the robot arm, the articulated parallel robot arm having a medium reader and three degrees of freedom that are provided on the transport path of the machine and more particularly, medium automatic teller used to, when it is conveyed along the medium transportation path inputted by the deposit-and-withdrawal portion, through the medium recognition device, and it recognizes the skew (skew), and the conveying position of the medium to be conveyed, and the medium being conveyed by the joint parallel robot arm pick-up (pick-up) and, to correct the skew and the transporting position of the medium being conveyed based on the direction and the position information of the recognized medium from the medium reader to a predetermined alignment position by passing to a medium discrimination portion side transport, medium discrimination at the same time to correctly align the medium in which the entry part, and the cross size and type can be arranged effectively in the case of other media (checks and bank notes), Species relates to a method and transfer direction transverse deposit method such as transfer method is medium alignment apparatus and method using a medium arranged parallel to the articulated robotic arm that can be widely applied giedo automatic teller media of various different types.
The present invention for achieving the above objects, in a medium alignment apparatus for aligning a medium to be provided is transferred onto a receipt and payout unit rearward conveyance of the medium automatic teller machine, are provided on the transport path of the bank section rear, media recognition apparatus for recognizing a skew (skew), and the conveying position of the medium to be input is transferred by the bank unit; The after adjusting for the medium to be transported along a transport pick-up (pick-up), and a skew and a conveying position of the media pick-up is based on the recognition information of the media recognition from the medium reader to a predetermined alignment position correction, the articulated parallel robot arm for delivering the media to transport in; By the multi-joint robot arm doedoe parallel configuration includes silver, the medium pickup unit that picks up the medium to be conveyed along the conveying path; Comprises a plurality of the link arm (link-arm) and the drive motor for driving the plurality of link arms which are mutually connected, one end is connected with the said medium pickup unit in the X-axis and Y-axis direction on the transport path parts pick-up the medium the articulated link arm for transferring; The multi-connected to the joint between the link arm and the medium pickup unit lifting driver to lift up and down parts of the pick-up medium. And it is connected to the medium pickup unit rotary drive unit for rotating the left and right parts of the pick-up medium; characterized in that comprises a.