DE1811165B2 - Equipment for automatically stacking or destacking layers of bars - has crane lifting grab fitted with feeler unit and end switches - Google Patents

Abstract

Stacking equipment for automatically stacking or destacking layers of bars or rods or other work pieces includes a crane bridge with a sidewards movable carriage in which is mounted a vertically movable carrying unit fitted with a grab unit. The grab unit forms a feeler device for determining the stacking or destacking height. The vertically movable carrying unit (11,12) is fitted with end switches (e.g., E10) in order to initiate positioning or lifting each other following work pieces. The instantaneous position of the built up or destacked stack is felt by a vertically and sidewards movable grab and feeler unit for a grab tongue (15). The grab and feeler unit are feeling the stack for a co-ordinate determination of the stacking and destacking position and thereby activating the end switches on the carrying unit.

Description

The invention relates to a with means for the automatic assembly and dismantling of a stack with in This stacking device provided in layers, bars, rods and similar workpieces.

An automatic stacking device of this type has become known which has a program control is working. The storage locations of the workpieces are controlled there by means of electronic distance meters, and the the respective path of each workpiece is predetermined by a punch card. Such an electronic Control is expensive and complicated and, in the event of a malfunction, requires special measures to be taken to rectify it Expertise.

It is now known that electrical limit switches are used for simple stacking and unstacking operations Devices have been used. The DT-GM 17 83 684 already writes a transport and Stacking device for plate-shaped workpieces that have a crane bridge and a trolley that can be moved on it in the trolley, designed as a telescopic ram, vertically retractable and extendable support element and a gripping element carried by the latter and designed as a suction cup. The Sequence of movements of the trolley and the telescopic ram including the suction cup and switching on and off the vacuum for the suction cup when these elements arrive in the corresponding working position Limit switch controlled.

Furthermore, in DL-PS 47 346 a device for stacking briquettes, especially in railroad cars described. This also consists of a crane bridge and a trolley that can be moved around one in the trolley that can be raised and lowered Carrying element for the tong designed there, otherwise rigidly connected to the carrying element « Gripping element There, too, is the sequence of movement the movable, raised and lowered parts are controlled by limit switches, in particular the Gripping pliers at the same time serving as a tactile organ is provided with a finger, which when reaching into the there; Gripping of the previously divided briquette stamp enabling altitude against a stationary switch starts, which triggers the following gripping and lifting movements

These two devices controlled by limit switches could not stimulate a full-fledged one due to their limited effectiveness Give replacement of the electronically controlled stacking device mentioned at the beginning. It remains the task of one with means for the automatic assembly and dismantling of a stack with bars arranged in layers, To create rods and the like workpieces provided stacking device compared to the known electronically controlled stacking device is much simpler and cheaper and at least with the same reliability works.

A stacking device is also assumed for this purpose, which comprises a crane bridge, a trolley that can be moved laterally on it, a lifting and lowering support element guided in the trolley and a gripping element carried by this, which is also designed as a sensing element for determining the storage or receiving height is.
The solution according to the invention is to be seen in the fact that the lifting and lowering support element is provided with limit switches to initiate the depositing or picking up of the next workpiece, and that gripping pliers are held on it as a gripping and sensing element so that it can move up and down in order to scan the current state of the stack to be assembled or dismantled for the coordinate-based determination of the depositing or pick-up location and thereby actuating the limit switches on the support element.

According to the further invention, further limit switches are arranged at the feed and discharge station of the trolley and along its lateral movement path on the crane bridge, the vertical movement path of the support element in the trolley and, if necessary, on a stop bar in the stacking magazine, which in a manner known per se in connection with one or more partial relays control the movable elements of the stacking device including the gripping tongs as intended.
In the drawing, two possible applications of the stacking device according to the invention are shown, for example, namely shows, each in a side view or in section,

1 shows the application for loading and unstacking an ingot magazine,

F i g. 2 the application for loading or unloading a pallet.

The bottom 1 of the bar magazine M \ n of FIG. 1 is inclined slightly to the right in order to achieve 711 that the round bars 2 are supported against a fixed inclined beam 3 attached there and inclined at 30 ° to the vertical. A wedge 3 'is provided on the left to avoid the last bar of the first layer under the weight of the one stacked above it

To prevent ingots. The billet magazine M and the end section of the roller table 4 used to convey the billets in or out is spanned by the crane bridge 5, which is guided on both sides by means of rollers 6 on a pair of rails T laid on pillars 7 along the billet magazine and can be moved by an electric motor 8 With shortening: bars, several stacks can be erected one behind the other.

On the crane bridge 5 is a trolley 9 for its part can be moved by an electric motor 10. In the trolley 9 a rack II is guided vertically, which is provided at its lower end with a joint head 12 and with this together the height-adjustable Forceps carrier forms In the joint head 12, an intermediate piece, the pincer shark 13, can be pivoted to a limited extent stored. A flat bolt 14 is fastened transversely in the pliers neck 13, on which the actual gripping pliers 15 pass Elongated holes is suspended with vertical play

The gripping tongs 15 has a rigid gripping arm 16 and a movable, considerably longer gripping arm 17. A compressed air cylinder 18 is provided for closing and opening the pliers. On the shorter, stare Arm 16 is a tactile thumb 19. For the drive of the tong carrier (toothed racks, joint head) 11, 12 an electric motor 20 is determined, the shaft a gear 21 carries which meshes with the rack 11.

The limit switches are located on the tong neck 13 or on the joint head 12 to control the sequence of movements E9 and ElO, on crane bridge 5 the limit switches £ 2, £ 3, £ 11, £ 12, £ 13, in a housing 22 along the Path of the rack 11 the limit switches £ 4, E 5a, £ 6a, E 7a E 8a, on the inclined beam 3 the limit switches £ 56, £ 66, £ 76, £ 86 and at the end of roller table 4 the limit switch £ 1.

The limit switch £ 9 is actuated when the gripping tongs 15 are raised relative to the tong carrier 11, 12 when lowering by pushing their thumb 19 against a lying bar or by pushing a bar carried along with an already lying bar or on the floor 1. The actuation of the limit switch ElO takes place, however, when the gripping tong 15 is pivoted with its neck 13 during transverse travel (to the right in the drawing) by the stop of its long gripping arm 17 or a bar carried along in the joint head 12. The limit switches on the crane bridge 5 are actuated by a cam 9 'on the trolley 9, the limit switches along the path of movement of the rack U by a cam W located on the latter. The limit switch £ 1 on the roller table 4 is pressed by a bar 2 'lying on its end section.

In addition to the limit switches, there are three time relays Zl, Z2, Z 3 present, but like Uie the whole circuit itself is not shown graphically. It deals This is a so-called sequential circuit, as is common to any specialist in electrical control technology is familiar, and which he can easily take from the following functional description, which is worded in brief can.

Function description

(see Fig. 1) stacking

Pre-condition:

Magazine M is not full. (Automatic filling indicator see sect. 1.13)

Chosen starting point:

Magazine is empty; that means: limit switch £ 56 is not pressed

On the control panel (not shown) the button »Stacking« is pressed. The following operations S run automatically:

1.1 Ingot T runs over roller table 4 and is actuated

Limit switch £ 1.
Impulse from

U £ 1 causes: a) Roller table stop b) Open tong 15, standing over roller table, moves down and actuated after pushing your thumb 19 on the bar 2 'limit switch £ 9.

Impulse from

£ 9 causes: a) clamp downward travel stop b) clamp 15 closes c) time relay Z1 starts up. After Z 1 pulse of

1.4 Zl causes: a) pliers close, stop, b) pliers

opens and cam 11 'on rack 11 actuates limit switch £ 4.
Impulse from

1.5 £ 4 has the following effects: a) Stop the tong opening, b) Quickly

drive to the right in the direction of stacks to E 3

pressed.

Impulse from

1.6 £ 3 causes: a) high-speed travel to the right, b)

Slow travel to the left in the direction of the roller table, c) Lower the tongs. - Travel speed and lowering speed are coordinated in such a way that the tongs are lowered at an inclination to the stack (30 ° to the vertical). Downward travel to E5a pressed.
Impulse from

1.7 E5a causes: a) lowering travel and slow travel to the left, b) high-speed travel to the right: By stopping the bar 2 carried in the tongs 15, E 56 is pressed (irrelevant for the process), followed by E10.
Impulse from

1.8 ElO causes: a) stop at high speed, b) tongs

reduce. Pliers press E9.
Impulse from

1.9 E9 causes: a) lower pliers stop, b) pliers

open, c) time relay Z 2 starts up.
After expiry of Z2 pulse from

1.10 Z2 has the following effects: a) Hold open pliers, b) Pliers

moves up, c) high-speed movement to the left (if necessary, this is interrupted with EW until the clamp up, ie E 4, is pressed). The approaching rack U actuates E4.
Impulse from

1.11 E4 has the following effects: a) Stop clamp opening. - At

closing actuates trolley 9 limit switch E 2.
Impulse from

1.12 E2 causes: a) high-speed travel to the left stop, b)

When there is a new bar on El. it starts all over again (see sect. 1.2.)

Because E 10 is printed every time the incoming bar replaces the one already lying If the bar is touched during its longitudinal movement (see item 1.8), the first bar layer is automatically placed. When the last bar is in the first layer, the next one becomes the next in the downward slope the pliers (see item 1.6) hit it,

which depresses £ 9 instead of £ 5a. The following substitute items then result for item 1.7:
Impulse from

(1.7a) £ 9 causes: a) lowering and slow travel to the left, b) time relay Z3 starts up. c) The clamp moves up.
After the lapse of 3 Z pulse from
(1.76) Z3 has the following effects: a) Stop tong opening (bars

now hangs freely over the already lying bar layer) b) Fast travel in the direction of the pile. You press £ 66 (initially irrelevant), shortly afterwards £ 10. Impulse of £ 10 has the same effect as in item 1.8 (etc.).

As mentioned under item 1.76, the first bar of the second tier is pushing Ebb. The pressed Ebb has the effect that the following bar does not hit the bar in the lower layer when it is inclined (see item 1.6) like its predecessor, but is already stopped by £ 6a. £ 6a then has the same effect as the limit switch £ 5a under item 1.7. With subsequent bars, the second layer of _J5 bars is placed in this way. If this is laid, all further layers are laid in the same way until the magazine is full - in the example shown, until the fourth layer is laid.

1.13 The magazine is reported full and blocked for every further bar if the limit switches £ 8a, £ 12 and £ 10 are pressed at the same time. This inevitably happens when the last bar of the top layer is put down. The loading block is only lifted when £ 1 has been pushed through a bar that has been removed for the first time during the unstacking process.
According to the sequence circuit described above, starting from each partial filling of the magazine, loading can be carried out. The bar is always automatically placed in the right place

2. Unstacking

Pre-condition:

Limit switch E5b is printed, & h., There is at least one bar in the magazine, otherwise the unstacking process is blocked. The "Unstacking" button is pressed on the control panel. The following operations are carried out automatically. 2.1 There is no ingot on the roller table 4, ie

Limit switch £ 1 is not printed Not

depressed

£ 1 does: a) Open pliers 15, about

Roller conveyor 4 standing, moves quickly to the right in the direction of the stack up to £ 3. Impulse from

£ 3 causes: a) high speed stop b) slow

moves to the left in the direction of the roller table, c) lower the tongs. - Travel and lowering speeds are coordinated so that the tongs are lowered with the stack inclined (30 ° to the vertical), lowering travel up to £ 83, £ 7a, £ 6a or £ 5a is printed and an impulse is given Supplementary switch £ 86, £ 76, £ 66 or £ 56 is pressed, ie the tongs always stop in front of the top layer of bars. Example:
Impulse from

2.4 £ 7a causes: a) slow travel to the left stop, b)

Stop lowering the pliers, c) Fast travel to the right. - When the long tong arm 17 hits the first bar in the upper layer, £ 10 is pressed. (The pliers are guided at a height at which the short pliers arm 16 can brush away over the bar).
Impulse from

2.5 £ 10 causes: a) stop at high speed, b) pliers

reduce. - After placing the pliers with thumb 19 on the bar, press £ 9 to lower.
Impulse from

2.6 £ 9 causes: a) close clamp, b) time relay

Z1 starts up.

After expiry of Z11 pulse of

2.7 Zl causes: a) pliers close, stop, b) pliers

drives up, c) high-speed travel to the left (if necessary, interrupted at £ 11 until £ 4 is pressed).
Impulse from

2.8 £ 4 has the following effects: a) Stop the tong opening, b) Quickly

Left travel continues until £ 2

pressed.

Impulse from

2.9 £ 2 causes: a) stop at high speed, b) tong

lower until the ingot is stopped lying on the roller table, thereby pressing £ 9. Impulse from

2.10 £ 9 causes: a) pliers hold down, b) pliers

open, c) time relay Z 2 starts up.
After expiry of Z2 pulse from

2.11 Z2 has the following effects: a) Hold open the pliers, b) Shelf

control of the roller table, c) tong opening, pressed down to £ 4.
Impulse from

2.12 £ 4 has the following effects: a) Stop the tong opening, b) If

the bar 2 is no longer at £ 1, the game starts again and repeats itself continuously until £ 56 is no longer pressed, ie the magazine is empty or the unstacking has previously been switched off at the control panel .

The different effects of one and the same limit switch in the individual positions are shown accordingly Conventional structure of sequential circuits achieved by using the respective State of other limit switches is taken into account.

The limit switch £ 13 does not occur during the above-described workflows, neither when stacking nor when Unstacking in action. Its task is, in the event of an empty run (pliers without bars - only with Manual switching possible) to stop the trolley 9 at the end of its path.

(see Fig. 2)

According to Fi g. 2 are the processes involved in loading and unloading a pallet 23 explained, insofar as it differs from the above-described function when loading and unloading a magazine.

The four limit switches E5b to Sb only have a mandatory function when the magazine is unstacked (see item 2.3). When stacking pallets, they are a hindrance and can be omitted with the inclined beam 3 to which they are attached. The sloping beam is replaced by a wedge 24, which prevents the first bar in the lowest layer from rolling away. The same thing happens through the wedge 24 'for the last bar in this position. The trolley is stopped by the limit switch E 13.

The runner 25, through which the limit switch 13 is approached, does not sit firmly on the trolley 9, but is appropriately by a rack 26, the driving gear 27 with on the drive shaft of the Pincer vertical drive is seated, moved horizontally. The pitch circle diameter of this gear is chosen so that he is to the diameter of the gear 21 for the pincer rack 11 as tang. 30 °: 1 behaves. Characterized in that when the pliers 15 go down, the rack 26 with the skid 25 moves to the left moves, it is achieved that the end positions of the trolley depending on the tong height of the stacking inclination and thus the first bar in a row is placed correctly in each case.

Instead of the switch runner moved laterally in the trolley, a switch strip could also be attached to the rack 11, which goes up and down with it and is inclined by 60 ° to the horizontal. Such a switching strip would approach the limit switch E 13 earlier when the tongs are in the high position than when the tongs are in the lower position, so that the trolley is always stopped by it in accordance with the stacking inclination.

If the limit switches 5b to Sb are to be unstacked, as is the case with pallet unstacking, the limit switches mentioned must be replaced by latching contactors located in the switch cabinet. If the last bar in a row is removed, the assigned contactor receives an impulse. The impulse is stored by the latch and indicates that the row is empty (analog

ίο the limit switches E5b to E8b, see sect. 2.3). The pulse is given when z. B. the limit switches E 13, £ '8a and FlO are briefly pressed simultaneously, which inevitably happens when the last bar of the top row is removed.

When the last bar of the stack is removed, all stored pulses are automatically deleted so that a new pallet can be unstacked. If bars of different diameters have to be stacked from stack to stack with the same device, it can be useful. also to do without the four limit switches E 5a to ESa . These limit switches would, like the limit switches E5b to ESb already described as being dispensable, have to be adapted in their spacing from one another to the bar diameter. If this limit switch is omitted, each bar would have to be brought in according to position 1.7a and 1.76, ie the stack height is scanned for each incoming bar before the start of the transverse movement over the stack.

For this purpose 2 sheets of drawings

709 525/150

Claims (2)

Patent claims: 1. With means for the automatic assembly and dismantling of a stack with bars, rods and the like workpieces arranged in it in layers, a stacking device that has a crane bridge, a trolley that can be moved laterally on it, a lifting and lowering support element that can be raised and lowered in the trolley and a comprises this carried gripping element, which is also designed as a feeler element for determining the deposit or receiving height, characterized in that the lifting and lowering support element (11, 12) is provided with limit switches (E9, E 10) to allow the deposit or . to initiate the picking up of the next workpiece, and that gripping tongs (15) are held on it as a gripping and sensing element so that the height and side can be moved in order to determine the current state of the stack to be assembled or dismantled for the coordinate-based determination of the deposit or removal. Scan the recording location and operate the limit switch on the support element 2. Stacking device according to claim 1, characterized in that at the feed and discharge station of the trolley (9) and along its trajectory on the crane bridge (5), the vertical trajectory of the support element (11, 12) in the trolley and optionally a stop bar (3) further limit switches (El to £ 13) are arranged, which control the movable elements of the stacking device including the gripping tongs (15) in a manner known per se in connection with one or more time relays as intended.