JPH089072Y2 - Load handling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a load processing device for picking up a desired number of loads stacked on a pallet or the like and reloading them at another location.

[Conventional technology]

Conventionally, there are cases where it is necessary to transfer loads stacked on a pallet or the like to another pallet for each level.

For example, in a canned beverage production plant, cardboard boxes containing canned beverages are stacked in pallets according to the type of beverage, and a desired number of stages is taken out from these pallets, and various pallets are prepared for each shipping destination.

As a device that can efficiently perform such load handling,
The one shown in the figure was proposed.

In this device, an unloading side lifting platform 81 for loading loads W in a stacked state and a loading side lifting platform 82 are arranged in parallel, and a reciprocating platform 83 is run between them. The carriage 83 has a large number of rotatable carriage rollers 84 and a top carriage roller 85 that is rotationally driven.

According to this load handling device, the top carriage roller 85
By moving the carriage 83 forward while rotating upwards as indicated by arrow a, the top carriage roller 85 contacts the side surface of the load W and scoops the load W onto the carriage roller 84 by friction.

[Problems to be solved by the device]

However, if the feed speed of the carriage 83 is increased, the stacked luggage W cannot be smoothly picked up on the carriage 83, and the luggage W is impacted when the top carriage roller 85 abuts on the luggage W. May be damaged. Therefore, the feeding speed of the carriage 83 cannot be increased so much that the luggage W
There is a problem that it takes time to transfer.

As a result of earnest research, it was found that the relationship between the rotation speed of the top carriage roller 85 and the feed speed of the carriage 83 can be adjusted in order to smoothly pick up the luggage W by the carriage 83.

Therefore, an attempt was made to properly adjust the rotation speed of the top carriage roller 85, but there was a problem that smooth scooping could not be performed during long-term use.

That is, the top carriage roller 85 is generally coated with rubber in order to obtain a large amount of friction on the outer peripheral portion, but this causes the outer peripheral portion to be worn and the outer diameter to change. As a result, an error occurs in the peripheral speed of the top carriage roller 85 with respect to the initially adjusted value, and as a result, smooth scooping cannot be performed and the load W is impacted.

An object of the present invention is to provide a load processing device capable of quickly picking up a load without giving a shock to the load.

[Means for solving the problem]

The configuration of this invention will be described with reference to FIG. 1 corresponding to the embodiment.

According to the invention, a loading / unloading part (1) for placing stacked loads (W), and a load (W) placed on the upper surface of the loading and unloading part (1) are horizontally driven to and above the loading / unloading part (1). A load handling device comprising a possible carriage (5) and a top carriage roller (10a) provided horizontally along the tip of the carriage (5), wherein the top carriage roller (10a)
And a peripheral speed detector (31) for detecting the peripheral speed, and a synchronous control means (34) for synchronizing the feed speed of the carriage (5) with the peripheral speed detected by the peripheral speed detector (31). Is provided.

The top carriage roller (10a) is driven to rotate upward, contacts the side surface of the luggage (W), and scoops the luggage (W) onto the carriage (5).

[Operation] According to this configuration, the top carriage roller (10a)
By rotating the carriage upwards and moving the carriage (5) forward to the stepping portion (1) side, the top carriage roller (10a) comes into contact with the side surface of the luggage (W) to frictionally load the luggage (W). Scoop on the carriage (5).

At this time, the peripheral speed of the top carriage roller (10a) is monitored by the peripheral speed detector (31), and the synchronization control means (3
By the control of 4), the feed speed of the carriage (5) is synchronized with the peripheral speed of the top carriage roller (10a).

In this way, since the peripheral speed of the top carriage roller (10a) and the feed speed of the carriage (5) are synchronized, smooth scooping without impact can be performed. As a result of various experiments, it was found that smooth picking can be achieved by synchronization.

Since the peripheral speed detector (31) detects the peripheral speed, accurate speed control can be performed even if the top carriage roller (10a) is worn, and proper synchronization control can be maintained.

〔Example〕

An embodiment of the present invention will be described with reference to FIGS.

The overall outline will be described with reference to FIG. In this load handling apparatus, a step-down unit 1 and a step-stacking unit 2 are arranged side by side, and a carriage 5 that travels back and forth on a rail 4 of a main body frame 3 is provided between them. The unloading unit 1 includes a carry-in conveyor 6 for carrying in pallets P1 on which loads W are stacked, and a lifting device for lifting the carried pallets P1 and sequentially lifting the loads W at each level to the level of the carriage 5. 7 and 7. The stacking unit 2 is a lifting platform device 9 that is loaded with empty pallets P2 and is lowered one by one when loads W are loaded from the carriage 5.
And a carry-out conveyor 8 for carrying out the pallet P2.

The carriage 5 has a large number of carriage rollers 10 that constitute a roller conveyor, and the stacking unit 1 scoops up the packages W one by one and drops them onto the stacking unit 2.

A scooping aligning device 11 for assisting the scooping by the carriage 5 and a load height detecting device 12 are provided on the upper part of the stacking part 1, and the stacking part 2 is provided with An unloading and aligning device 13 is provided for assisting in unloading and aligning the loads W.

 Next, details of each unit will be described.

As shown in FIG. 3, the carriage 5 includes a pair of carriage side frames 5
A large number of carriage rollers 10 are mounted between a and 5b, and each bogie side frame 5a, 5b is mounted on a rack-shaped rail 4 provided on two upper frame members 3c, 3d of the main body frame 3 and is provided with a gear. It is installed so that it can travel freely with running wheels (not shown). Of the carriage rollers 10, the top carriage roller 10a located at the top on the step-down section 1 side can be rotationally driven by the motor 35 and the chain transmission mechanism 36, and the remaining carriage rollers 10 are rotatable.

The top carriage roller 10a is coated with rubber such as urethane rubber and vinyl rubber in order to increase the frictional force on the outer peripheral portion. At the end of the carriage 5 on the stacking section 2 side,
Sliding plate 37 on the inclined surface that slides down the luggage W is mounted on the side frames 5a and 5b of both carriages.
It is set up in between.

The advancing / retreating drive device 38 of the carriage 5 is an endless chain 4 mounted between the sprockets 39, 40 at both ends of the upper surface of the main body frame 3.
1 and a motor 42 for driving the sprocket 40 forward and backward, and the chain 41 is connected to the carriage 5 by a connecting member 43.

The scooping alignment device 11 includes an upper stopper 49 and a lower stopper 50 located at the end of the main body frame 3, and an alignment stopper 51 facing the upper stopper 49.
The upper stopper 49 and the lower stopper 50 contact the uppermost and second-stage loads W, respectively, and are supported by the body frame 3 via two guide rods 52 and 53 so as to be movable back and forth. It is driven back and forth by forward and backward cylinders 54, 55. The upper stopper 49 has an upper front surface formed into an inclined surface so that the carriage 5 can easily carry out scooping. The alignment stopper 51 is a pair of rotation arms attached to the support frame 45.
Both ends are attached to 58, and are vertically opened and closed by an opening / closing cylinder 59 via a connecting shaft connecting the base ends of both rotating arms 58.

The drop-off aligning device 13 includes a drop-off stopper 61 located above the traveling path of the carriage 5, a front stopper 60 facing the drop-off stopper 61, and a pair of side stoppers 62 facing left and right. The drop-off stopper 61 is attached to a gate-shaped support base 65 via a rotating arm 61a so as to be vertically openable and closable, and is opened and closed by an open-close cylinder 66. The front stopper 60 is supported by the body frame 3 so that it can move back and forth.
Driven back and forth at 75. The pair of side stoppers 62 are driven forward and backward symmetrically with each other by the forward and backward moving cylinder 72 via the rack and pinion mechanism 71.

FIG. 1 shows a control system. The motor 35 that drives the top carriage roller 10a of the carriage 5 is speed-controlled to a set speed by the roller control means 32. The carriage 5 is provided with a peripheral speed detector 31 for detecting the peripheral speed via a detection roller 30 rollingly contacted with the outer periphery of the end portion of the top carriage roller 10a. Speed control means
Entered in 33. The feed speed control unit 33 is a unit that controls the speed of the motor 42 for driving the carriage 5, and includes the synchronization control unit 34 that controls the speed when the carriage 5 is scooped, as well as when the scooping is completed. , A speed control program is stored according to each stage such as backward movement. Synchronous control means 34
Is means for synchronizing the feed speed of the carriage 5 with the peripheral speed of the top carriage roller 10a in response to the detection signal of the peripheral speed detector 31. This synchronization control is performed so that the peripheral speed of the top carriage roller 10a and the feed speed of the carriage 5 are substantially equal to each other. In this embodiment, for example, when the peripheral speed of the top carriage roller 10a is 19.4 m / min, the feed speed of the carriage 5 is set to 16 m / min.

As the motor 42 for traveling the carriage 5, a motor capable of speed control such as an inverter motor, an AC variable speed motor, a DC motor, an AC servo motor is used.

 The operation of the above configuration will be described.

First, the general operation will be described. In FIG. 4 (A),
The cargo W of the pallet P1 on the side of the step-down unit 1 is, for example, a cardboard box containing canned beverages and bottled beverages. The pallet P2 on the stacking unit 2 side is a pallet or the like prepared for each shipping destination.

The pallet P1 of the step-down unit 1 is lifted by the lifting device 7, and when the uppermost load W reaches the height of the carriage 5 as shown by the chain line, it is detected by the load height detection device 12. hand,
The climb is stopped. After this, the upper stopper 49 and the lower stopper 50 advance and the alignment stopper 51 closes.

Then, the carriage 5 waiting on the stacking unit 2 side travels to the stacking unit 1 side while rotationally driving the top carriage roller 10a upward. When the top carriage roller 10a hits the side surface of the uppermost load W ((B) in the figure), the load W is pinched by the upper stopper 49 and the top carriage roller 10a, and the top carriage roller 10a rotates upward (arrow a). Is picked up by the frictional force of and the load W is placed on the carriage roller 10 as the carriage 5 travels (FIG. 2C). At this time, the luggage W has an upper stopper 49.
Since it is scooped up by the carriage 5 while being surrounded by the alignment stopper 51 and the alignment stopper 51, it can be placed on the carriage 5 without being loosened.

In the meantime, in the stacking section 2, the empty pallet P2 is lifted up to the height near the lower surface of the carriage 5 by the lifting table device 9 and stands by.

In this way, when the luggage W for one step is placed on the carriage 5, the upper stopper 49 and the lower stopper 50 return, the alignment stopper 51 opens, and then the carriage 5 travels to the stacking section 2 side. Carry the luggage W (Fig. (D)).

In the stacking unit 2, when the carriage 5 has traveled to a predetermined position is detected by an appropriate detector (not shown), the front stopper 60 is advanced, the disengagement stopper 61 is closed, and the side stoppers on both sides are closed. Advance the stopper 62 (Fig. 2). In this state, the carriage 5 passes under the drop-off stopper 61 and travels to the step-down unit 1 side (FIG. 4 (E)), whereby the load W on the carriage 5 is dropped off. It is stopped by and is thrown off on pallet P2.

While the carriage 5 is located in the stacking section 2, the lifting platform device 7 is raised by one stage of the load W in the stacking section 1, and the upper and lower stoppers 49, 50 and the aligning device are arranged in the same manner as described above. Stopper 51
It waits in the closed state (Fig. 4 (E)). for that reason,
When the carriage 5 travels to the step-down unit 1 side for the purpose of clearing the luggage W, by continuing the traveling as it is, the next-stage baggage W of the step-down unit 1 is transferred to the carriage 5. They are scooped up (Fig. 4 (F)).

In this way, the carriage 5 can be reciprocated to take out a desired number of packages W of the pallet P1 of the stacking unit 1 and stack them on the pallet P2 of the stacking unit 2.

In the process of scooping by the carriage 5, the feed speed of the carriage 5 is controlled by the synchronization control means 34 so as to substantially match the peripheral speed of the top carriage roller 10a.
In this embodiment, the peripheral speed of the top carriage roller 10a is set to 19.4 m / min, and the feed speed of the carriage 5 is set to 16 m / min.

By synchronizing in this way, as can be seen from the following experimental example, the carriage 5 can be moved without impacting the luggage W.
The transfer speed can be increased and transfer can be performed quickly.

Further, since the peripheral speed is detected for the speed detection of the top carriage roller 10a, even if the rubber coating of the top carriage roller 10a is worn due to long-term use, synchronous control can be performed without causing an error, and the initial smoothness can be achieved. It is possible to maintain the scooping performance.

Next, an experimental example of the scooping operation using the load processing apparatus of the above embodiment will be described.

FIG. 5 shows the result of the experiment of picking and picking each of the loads W of the items A to G. The peripheral speed of the top carriage roller 10a is fixed at 19.4 m / min, and the feed speed of the carriage 5 is 4 to 51 m.
Experiments were carried out with various changes between / min. The vertical and horizontal displays indicate the posture in which the luggage W is placed.

From the figure, if the feed rate is 16 m / min, all items A
In case of ~ G, picking up can be done smoothly.
In addition, it can be seen that at 20 m / min, all items A to G can be scooped, and about half the items can be scooped smoothly.

Items A to G, as shown in the data in FIG.
It is an individual product consisting of a can, a resin container, or a beverage in a bottle, stored in a cardboard carton.

FIG. 6 shows the relationship between the current value of the traveling motor 42 and the feed speed of the carriage 5 when the top carriage roller 10a collides with the load W.

From the figure, it can be seen that when the feed speed is 16 m / min, the current value of the motor 42 is low and the increase in load due to a collision is small. Also, it can be seen that even when the feed rate is 20 m / min, the load does not increase significantly.

FIG. 7 shows the results of stacking loads W in multiple stages and picking them. This figure shows the results of an experiment in which the peripheral speed of the top carriage roller 10a is fixed at 19.4 m / min and the feed speed of the carriage 5 is fixed at 16 m / min. In the same figure, the small dents that can be seen in the market are shown as good experimental results.

From the experimental results shown in FIGS. 5 to 7, it is possible to scoop the product without damaging the top carriage roller 10a.
The peripheral speed is 19.4m / min and the feed speed is 16m / min.

Also, when the feed rate is set to 16 m / min, all the target items can be separated into layers without damage to the packaging or the packaging. Therefore, reliability is considered to be very high.

Further, it can be seen that there is no practical problem even if the feed speed is exactly the same as the peripheral speed of the top carriage roller 10a.

The peripheral velocity of the top carriage roller 10a may be detected by detecting the rotation of the shaft center, but in that case, the correction for wear cannot be performed.

In the above embodiment, the carriage roller 10 of the carriage 5 is used.
Although the carriage roller 10 is rotatable, the carriage rollers 10 may be rotationally driven in synchronization. Further, instead of providing the carriage roller 10 on the carriage 5, instead of a ball table,
It is also possible to use an iron plate or the like having good slipperiness.

[Effect of device]

The load handling device of this invention is provided with a peripheral speed detector for detecting the peripheral speed of the top carriage roller of the carriage, and the synchronization control means synchronizes the feed speed of the carriage with the peripheral speed of the top carriage roller. , It is possible to pick up luggage smoothly and quickly without giving any impact to the luggage.

Further, since the peripheral speed of the top carriage roller is detected, even if the top carriage roller wears due to long-term use, synchronous control can be performed without causing an error, and the initial smooth scooping performance can be maintained. There is.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing the construction of an embodiment of the present invention, and FIG.
The figure is a cutaway front view of the whole, FIG. 3 is a perspective view in which the lower part thereof is also omitted, FIGS. 4 (A) to 4 (F) are operation explanatory views of the same, and FIG. 5 is an experimental example of the embodiment. 6 is a chart showing the comparison of the feed rate and the scooping property, FIG. 6 is a chart showing the relationship between the feed rate and the current value of the same experimental example, and FIG. 7 is a chart showing the multi-stage stacking separability of the same experimental example. FIG. 8 is a table showing data of packages used in the experimental example, and FIG. 9 is a schematic front view of a proposed example of the package processing apparatus. 1 ... Stacking part, 2 ... Stacking part, 3 ... Main body frame, 4 ...
Rails, 5 ... Reciprocating table, 7, 9 ... Elevating table, 10 ... Carriage roller, 10a ... Top carriage roller, 30 ... Detection roller, 31 ... Peripheral speed detector, 33 ... Feed speed control means, 34 ... Synchronous control means , 42 ... Motor, P1, P2 ... Pallet, W ... Luggage

Claims (1)

[Scope of utility model registration request] 1. A unloading unit for arranging stacked luggage,
A carriage that can be horizontally moved up and down to above the stepping portion to mount the luggage on the upper surface, and a carriage that is horizontally provided along the tip of the carriage and is driven to rotate upward and to the side surface of the luggage. A top carriage roller that touches and scoops this luggage onto the carriage, a peripheral speed detector that detects the peripheral speed of the top carriage roller, and a feed speed of the carriage that corresponds to the peripheral speed detected by the peripheral speed detector. A load processing apparatus having a synchronization control means for synchronizing.