JPH01261122A - depalletizer - Google Patents
depalletizerInfo
- Publication number
- JPH01261122A JPH01261122A JP9011988A JP9011988A JPH01261122A JP H01261122 A JPH01261122 A JP H01261122A JP 9011988 A JP9011988 A JP 9011988A JP 9011988 A JP9011988 A JP 9011988A JP H01261122 A JPH01261122 A JP H01261122A
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- depalletizer
- pallet
- scraping
- scraping hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000007790 scraping Methods 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 13
- 210000000078 claw Anatomy 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 230000000630 rising effect Effects 0.000 claims description 2
- 230000032258 transport Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
Landscapes
- De-Stacking Of Articles (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、パレット上に積載されたワーク、特に扁平な
直方体状ワークを、ワーク毎に送り出すデパレタイザ−
に関するものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a depalletizer that sends out workpieces loaded on a pallet, particularly flat rectangular parallelepiped workpieces one by one.
It is related to.
パレット上に積載されたワークを１個づつ送り出すこと
は従来から広く行なわれている。その方法としてはワー
ク上面を吸着パッドで吸引して搬送する方法、人手でワ
ークを少し引き出し、その部分をクランプして搬送する
方法などが実施されている。Conventionally, it has been widely practiced to send out workpieces loaded on a pallet one by one. Methods for this include a method in which the upper surface of the workpiece is suctioned with a suction pad and conveyed, and a method in which the workpiece is pulled out a little by hand and the part is clamped and conveyed.
しかしワークの形状やその剛性、重量等によっては、こ
のような搬送方法を適用することが困難な場合がある。However, depending on the shape of the workpiece, its rigidity, weight, etc., it may be difficult to apply such a transport method.
例えば、扁平で腰が弱く、しかも重量の大きいワークの
場合には、前述のパッドによる搬送方式は適用困難であ
り、無理に適用するとワークに変形その他の損傷を与え
る可能性が太きい。また、このようなワークは、パレッ
ト上に積載されたときに、波打ったり、そったりしてい
ることがあり、この点においても前述の搬送方式の適用
は困難である。また、人手で引出してクランプする方式
は自動化という時流にそわない。For example, in the case of a workpiece that is flat, weak, and heavy, it is difficult to apply the above-described conveyance method using a pad, and if it is applied forcefully, there is a high possibility that the workpiece will be deformed or otherwise damaged. Further, when such works are loaded on a pallet, they may be wavy or warped, and in this respect as well, it is difficult to apply the above-mentioned conveyance method. In addition, the method of manually pulling out and clamping is not in keeping with the trend toward automation.
本発明はこのようなワークにも対応できるデパレタイザ
−を提供することを目的とするものである。An object of the present invention is to provide a depalletizer that can handle such works.
本発明者らは、上記の目的に鑑み種々検討した結果、パ
レット上に積重ねられているワークを上から順次その後
側面を押出して取出す！実用上優れた方式に到達した。As a result of various studies in view of the above-mentioned purpose, the inventors of the present invention have found that works stacked on a pallet are taken out by sequentially pushing out the rear side from the top! We have arrived at a method that is excellent in practice.
また、ワークに波打ちやそり等の変形がある場合でも極
めて簡単な構成により、容易にワークの適正な押出し高
さを設定出来る方式を達成した。Furthermore, even when the workpiece is deformed such as waving or warping, we have achieved a method that allows the appropriate extrusion height of the workpiece to be easily set using an extremely simple configuration.
すなわち、本発明の要旨はノ（レット上に積載された直
方体状ワークをワーク毎に送り出すデパレタイザーにお
いて、該デノ（レタイザーか、上下動可能なパレット用
テーブルと、該テーツ。That is, the gist of the present invention is to provide a depalletizer for sending out rectangular parallelepiped workpieces loaded on a pallet, one by one.
ル上のワークが所定高さに達したことを検知して該テー
ブルの上昇を止める為の検知装置と、ワークの進行方向
に移動可能な掻出し・・ンドを有する装置であって、該
掻出し〕・ンドの爪部をワークの進行方向後方に当接し
た状態で移動させることによってワークを搬送する搬送
装置と、搬送されたワークを次工程へ送るコンベアとを
有すると共に、前記掻出しハンドの爪部先端と前記検知
装置により高さが検知されたワーク上面との高さの差が
調整可能にされていることを特徴とするデパレタイザ−
に存する。This device has a detection device for detecting that the workpiece on the table has reached a predetermined height and stops the rise of the table, and a scraping end movable in the direction of movement of the workpiece. A transfer device that transfers the workpiece by moving the claw part of the hand in contact with the rear of the workpiece in the traveling direction, and a conveyor that sends the transferred workpiece to the next process, and the scraping hand A depalletizer characterized in that the difference in height between the tip of the claw part and the top surface of the work whose height is detected by the detection device is adjustable.
exists in
以下、本発明をその実施態様を示す図面に基いて説明す
る。Hereinafter, the present invention will be explained based on drawings showing embodiments thereof.
第１図は、本発明のデパレタイザ−の−例の概略を示す
正面説明図、第２図は上記例における掻出しハンドの正
面説明図、第３図は当該掻出しハンドの側面説明図であ
る。FIG. 1 is an explanatory front view schematically showing an example of the depalletizer of the present invention, FIG. 2 is an explanatory front view of the scraping hand in the above example, and FIG. 3 is an explanatory side view of the scraping hand. .
第１図において、直方体状ワーク（１）はパレット上に
積載されており、パレットハチ−フル（２）上に載置さ
れている。In FIG. 1, a rectangular parallelepiped workpiece (1) is loaded on a pallet and placed on a pallet hatch-full (2).
テーブル（２）は上下動可能であり、パレットを載置し
たのちワークを送り出すのに適した高さまで上昇する。The table (2) can move up and down, and after placing a pallet on it, it rises to a height suitable for sending out the workpiece.
（３）は掻出しハンドであり、ワークを押出す作用と、
ワークが送り出されるのに適した高さにあることを検知
する作用とを行なう。すなわち、掻出しハンド（３）は
、好ましくは第２図に示すようにワークに常に係合し得
るようにワーク上面に当接する水平部（６）と、ワーク
を押出す為のワーク側面に当接する爪部（７）から成る
Ｌ字形部材と、このＬ字形部材を支持する支持機構−と
、この両者を結ぶ桿（８）と、支持機構Ｑｌに係合し、
ワークの搬送方向前後に移動する搬送装置（５）とから
成っている。桿は例えばリニアボールベアリング等を介
して上下動可能に支持機構Ｑｌに結合されているので、
掻出しノ１ンド（３）をワーク上に載置してテーブル（
２）を上昇させると、桿も上方に移動する。従ってこの
場合ワーク高さの検知装置は例えば桿の一部に標識（４
）を坂付け、かつ掻出し・・ンド（３）がワークを送り
出すのに適した高さ位置に達したときにこの標識（４）
を検出する手段を設けておくことによりを送り出すのに
適した位置でテーブル（２）の上昇を止めることができ
る。標識（４）の検出は、デノ（レタイザー本体の）ｙ
−ムに設けた光電管や接触式の近接スイッチ等を用いた
各種の方式を採用することができる。なお、掻出しハン
ド（３）は、ワーク上に載置されたときにワークの波打
ちやそり等を修正するに足るだけの自重を有しているの
で、ワークが波打ちやそり等で変形していても、その送
り出し位置（高さ）を正確に定めることができる。なお
、ワークが、波打ちやそり等の問題を生じない場合は、
上記り字形部材の水平部（６）は必ずしも必要でないＯ
掻出ハンド（３）はテーブル（２）の高さ設定の前又は
後に、ワークを送り出すだめの初期位置、すなわち、ワ
ークの進行方向後端部に掻出しハンド（３）のＬ字形部
材が当接する如く配置されてワーク搬送の準備が整う。(3) is a scraping hand, which has the function of pushing out the workpiece,
It also performs the function of detecting that the workpiece is at a suitable height for being sent out. That is, as shown in FIG. 2, the scraping hand (3) preferably has a horizontal part (6) that contacts the top surface of the workpiece so as to be able to constantly engage with the workpiece, and a horizontal part (6) that contacts the side surface of the workpiece for pushing out the workpiece. An L-shaped member consisting of a contacting claw part (7), a support mechanism that supports this L-shaped member, a rod (8) that connects both, and a support mechanism Ql that engages with the L-shaped member,
It consists of a transport device (5) that moves back and forth in the transport direction of the workpiece. Since the rod is connected to the support mechanism Ql so as to be movable up and down, for example via a linear ball bearing,
Place the scraping node (3) on the workpiece and place it on the table (
When 2) is raised, the rod also moves upward. Therefore, in this case, the workpiece height detection device is, for example, a mark (4) on a part of the rod.
) is sloped and scraped... This mark (4) is displayed when the end (3) reaches a height position suitable for sending out the workpiece.
By providing a means for detecting this, it is possible to stop the table (2) from rising at a position suitable for sending out the table (2). Detection of label (4) is performed using the deno (on the retizer body) y
- Various methods using phototubes, contact-type proximity switches, etc. provided in the frame can be adopted. The scraping hand (3) has enough weight to correct waving or warping of the workpiece when it is placed on the workpiece, so it can prevent the workpiece from being deformed by waving or warping. However, the delivery position (height) can be determined accurately. In addition, if the work does not cause problems such as waving or warping,
The horizontal part (6) of the above-mentioned cross-shaped member is not necessarily required.
Before or after setting the height of the table (2), the scraping hand (3) moves the L-shaped member of the scraping hand (3) to the initial position of the workpiece feeder, that is, the rear end of the workpiece in the traveling direction. They are arranged so that they are in contact with each other, and preparations for transporting the workpiece are completed.
このＬ字形部材は桿（８）と例えばボールジヨイント（
９）とび方向のバネ０υにより係合することによシ、ま
た、桿（８）はリニアボールベアリング等を介して支持
機構αＯに沿って上下動可能とすれば水平部（６）がい
ずれの方向に変位する力を受けても柔軟に吸収対応して
ワーク当接の状態を保つことができる。This L-shaped member consists of a rod (8) and a ball joint (
9) By engaging with a spring 0υ in the jumping direction, the rod (8) can be moved up and down along the support mechanism αO via a linear ball bearing, etc., so that the horizontal part (6) Even if it receives a force that displaces it in the direction, it can flexibly absorb it and maintain the state of contact with the workpiece.
このような掻出しハンド（３）をワークの進行方向後端
部に当接させた状態で搬送装置（５）により送シ出し方
向に移動させる。掻出しハンドの移動に伴ない、ワーク
は掻出しノ１ンドの爪部（７）に押されコンベア（２）
上まで搬送される。掻出しハンドの爪部とワークの側面
との当接する長さは爪を上下方向に移動することで、調
整することができるため、ワーク個体の高さが変化して
も対応させることができる。The scraping hand (3) is moved in the feeding direction by the conveying device (5) while being brought into contact with the rear end of the workpiece in the advancing direction. As the scraping hand moves, the workpiece is pushed by the claw part (7) of the scraping hand and transferred to the conveyor (2).
transported to the top. Since the length of contact between the claw portion of the scraping hand and the side surface of the workpiece can be adjusted by moving the claw in the vertical direction, it can be adjusted even if the height of the individual workpiece changes.
コンベア（２）は例えばローラーコンベア等の掻出しハ
ンド（３）により送り出されたワークを次工程に搬送す
る機構なら任意の方式を採用して良い０
掻出しハンド（３）はワークがコンベア上に完全に乗り
移るまで移動し、その後上昇し、ワークから離れる。The conveyor (2) may be of any type as long as it is a mechanism that transports the workpiece sent out by the scraping hand (3) such as a roller conveyor to the next process. It moves until it is completely attached to the workpiece, then rises and leaves the workpiece.
レ ワークから離れた掻ヒ＜ンド（３）は、次のワー返す。Re The scratching hand (3) that has left the work returns to the next work.
なお、ワーク高さの設定位置は最上部のワーク個体の底
部がコンベア（２）より若干高い位置とすることが好ま
しく、従って本発明におけるワーク高さ検知装置は、ワ
ークの積載個数と個体の厚さを検知又はインプットし、
ワークが搬送される度に一定高さだけテーブル（２）を
上昇させるプログラミング上昇機構に置換しても艮い０
〔発明の効果〕
本発明のデパレタイザ−は、以上の構造を有しているた
め、腰の弱い、重量の大きい、種々に変形している直方
体状ワークであっても、ワークに損傷を与えずに、かつ
、人手を使わずにパレット積載状態からｌケース毎送り
出すことができ、工業的に極めて有用である。It is preferable that the workpiece height is set at a position where the bottom of the uppermost workpiece is slightly higher than the conveyor (2). Therefore, the workpiece height detection device of the present invention is capable of determining the number of workpieces loaded and the thickness of the workpiece. detect or input the
Even if the table (2) is replaced with a programming raising mechanism that raises the table (2) by a certain height each time the workpiece is transported, it will not be a problem. [Effects of the Invention] Since the depalletizer of the present invention has the above structure, Even if it is a rectangular parallelepiped workpiece that is weak, heavy, or deformed in various ways, it can be sent out in one case from a palletized state without damaging the workpiece and without using human hands. It is extremely useful industrially.
第１図は本発明のデパレタイザ−の−例の概略を示す正
面説明図、第２図は上記例における掻出しハンドの正面
説明図、第３図は掻出しハンドの側面説明図である。
図中、（１）は直方体状ワーク、（２）は、パレット用
テーブル、（３）は掻出しハンド、（４）は検知板、（
５）は搬送装置、（６）は水平部、（７）は爪部、（８
）は桿、（９）はボールジヨイント、α〔は支持機構、
α力は）（ネ、（２）はコンベアを夫々示す。FIG. 1 is an explanatory front view schematically showing an example of a depalletizer of the present invention, FIG. 2 is an explanatory front view of a scraping hand in the above example, and FIG. 3 is an explanatory side view of the scraping hand. In the figure, (1) is a rectangular parallelepiped workpiece, (2) is a pallet table, (3) is a scraping hand, (4) is a detection plate, (
5) is the transport device, (6) is the horizontal part, (7) is the claw part, (8
) is a rod, (9) is a ball joint, α[ is a support mechanism,
The α force is) (ne), and (2) indicates the conveyor, respectively.
Claims (2)
毎に送り出すデパレタイザーにおいて、該デパレタイザ
ーが、上下動可能なパレット用テーブルと、該テーブル
上のワークが所定高さに達したことを検知して該テーブ
ルの上昇を止める為の検知装置と、ワークの進行方行に
移動可能な掻出しハンドを有する装置であって、該掻出
しハンドの爪部をワークの進行方向後方に当接した状態
で移動させることによってワークを搬送する搬送装置と
、搬送されたワークを次工程へ送るコンベアとを有する
と共に、前記掻出しハンドの爪部先端と前記検知装置に
より高さが検知されたワーク上面との高さの差が調整可
能にされていることを特徴とするデパレタイザー。(1) In a depalletizer that sends out rectangular parallelepiped workpieces loaded on a pallet one by one, the depalletizer detects that the pallet table that can move up and down and the workpieces on the table have reached a predetermined height. The device has a detection device for stopping the table from rising, and a scraping hand that is movable in the direction of movement of the workpiece, the claw portion of the scraping hand being brought into contact with the rear of the workpiece in the direction of movement. a conveyance device that conveys the workpiece by moving the workpiece in a fixed state; a conveyor that conveys the conveyed workpiece to the next process; A depalletizer characterized by being adjustable in the height difference between the two.
いて、掻出しハンドがワーク上面に当接させる水平部と
爪部とから成る断面Ｌ字形を形成してなることを特徴と
するデパレタイザー。(2) The depalletizer according to claim 1, wherein the scraping hand has an L-shaped cross section consisting of a horizontal portion that contacts the upper surface of the workpiece and a claw portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63090119A JPH0633121B2 (en) | 1988-04-12 | 1988-04-12 | Depalletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63090119A JPH0633121B2 (en) | 1988-04-12 | 1988-04-12 | Depalletizer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01261122A true JPH01261122A (en) | 1989-10-18 |
| JPH0633121B2 JPH0633121B2 (en) | 1994-05-02 |
Family
ID=13989626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63090119A Expired - Fee Related JPH0633121B2 (en) | 1988-04-12 | 1988-04-12 | Depalletizer |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0633121B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277307A (en) * | 2021-03-31 | 2021-08-20 | 镇江合力汽车紧固件有限公司 | Automatic feeding processingequipment of guide bar for vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57184822U (en) * | 1981-05-15 | 1982-11-24 |
-
1988
- 1988-04-12 JP JP63090119A patent/JPH0633121B2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57184822U (en) * | 1981-05-15 | 1982-11-24 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277307A (en) * | 2021-03-31 | 2021-08-20 | 镇江合力汽车紧固件有限公司 | Automatic feeding processingequipment of guide bar for vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0633121B2 (en) | 1994-05-02 |
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| Date | Code | Title | Description |
|---|---|---|---|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
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