JP2006273538A - Carriage for palletizing device and palletizing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To establish an unmanned palletizing operation without using a robot etc. on a large scale. <P>SOLUTION: A palletizing device to stack objects on a receptacle tool is equipped with a conveyor device having an object ejecting hole in the downstream and a self-propelled carriage composed of a mobile platform and an object receiving part installed on the platform movably in the plumb direction and furnished at the oversurface with a weight sensing means, wherein the carriage is furnished with an input means to enter the data of the object and a control means to conduct the movement of the platform and/or movement in the plumb direction of the object receiving part on the basis of the data fed from the input means and the weight and position data of the stacked object given by the weight sensing means. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a cart for a palletizing device and a palletizing device for loading a load having a substantially uniform weight and shape on a flat pallet in a production factory or the like.

Conventionally, the palletizing work of loading a load onto a pallet has been performed manually, and when the load becomes heavy, the work has become very harsh, and workers are forced to work hard. . Although a flat pallet turntable may be used to reduce the burden on the worker, the loading operation itself is performed manually and has not been unmanned.
Therefore, it was proposed to use an armed robot in order to unmanned palletizing work.
Japanese Patent Laid-Open No. 1-220641

  However, the method using the robot with an arm has a problem that the robot itself takes a place and the space cannot be effectively used.

  The present invention has been made in view of such problems, and by using a cart that can be moved by the control means while monitoring the position and weight of the load, it is possible to unmanned palletizing work, A palletizing device that does not take up space is provided.

  The present invention relates to a carriage in a palletizing device for loading a plurality of loads on a receiving device, and is provided with a self-propelled movable base part, a vertical movement on the base part, and weight sensing means on the upper surface. And an input means for inputting the data of the luggage, the data input by the input means, and the weight and position data of the loaded luggage obtained by the weight sensing means. It is a cart in a palletizing device, characterized by comprising control means for moving the parts and / or moving the load receiving part in the vertical direction.

  Further, the second invention is a palletizing device for loading a plurality of packages on a receiving device, a conveyor device having a package discharge port in a downstream portion, a movable platform, and a vertical movement to the platform. A self-propelled trolley comprising a load receiving unit provided on the upper surface and having a weight sensing means, the trolley comprising an input means for inputting the data of the load, and data input by the input means And palletizing comprising control means for moving the platform and / or moving the load receiving part in the vertical direction based on the weight and position data of the loaded luggage obtained by the weight sensing means. Device.

The cart in the palletizing device of the present invention senses the weight and position of the load loaded on the pallet and moves the pallet to the position where the next load is loaded, which is useful for unmanned palletizing work. Because it is not a large-scale device, it does not take up space.
According to the palletizing apparatus of the present invention, the palletizing operation can be unmanned and an effective space can be secured by combining the cart with a conveyor that always discharges the cargo to the same position.

  Furthermore, since the palletizing apparatus of the present invention moves the pallet itself, the pallet replacement work can be unmanned by cooperating with the automatic conveyance vehicle.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a schematic perspective view showing an example of a palletizing device cart according to an embodiment of the present invention, FIG. 2 is a plan view of the cart shown in FIG. 1, and FIG. 3 is shown in FIG. It is a side view of a trolley. FIG. 4 is a schematic perspective view showing an example of the palletizing device of the present invention, FIG. 5 is a flowchart for explaining the operation of the control means, and FIG. 6 is an explanatory view of the load placement position. 7 to 10 are schematic side views when the palletizing apparatus is in operation.

  As shown in FIGS. 1 to 3, the cart 1 of the present invention includes a stand 3 that can be moved in a self-propelled manner and a luggage receiving portion 7 that is provided on the stand 3 so as to be movable in the vertical direction. Control means for controlling movement is provided. The load receiving unit 7 is supported by the table 3 via a support column 15 that can be expanded and contracted in the vertical direction. The table 3 includes wheels 5 and is movable in a desired direction.

  The load receiving unit 7 includes a control panel 13 necessary for data input to the control means, and a weight sensor 9 for measuring the weight of the loaded load and / or pallet is provided on the upper surface of the load receiving unit 7. A plurality of weight sensors 9 are provided on the entire upper surface of the baggage receiving portion 7, and each time a baggage is loaded, the weight of the loaded baggage and / or pallet is sensed to grasp the weight and loading position of the baggage.

  Also, a roller 11 that can be projected and lowered in a hemispherical shape is provided on the upper surface of the baggage receiving portion 7 so that the roller 11 does not protrude when loading the baggage, and the roller 11 protrudes after the loading of the baggage, and the roller 11 is rotated. , Loaded cargo can be sent in the plane direction.

  As shown in FIG. 4, the palletizing device 21 of the present invention includes the cart 1 of the present invention and a conveyor 23, and the conveyor 23 has a cargo discharge port 25 for discharging the loaded cargo 27 vertically downward. Prepare.

  In the present invention, the pallet 29 is placed on the luggage receiving portion 7, the carriage 1 is moved by the control means, and the position and height of the pallet 29 is adjusted to an optimum place for receiving the luggage 27, and then the luggage discharge port 25. The package 27 is discharged from the pallet 29 and loaded on the pallet 29. At this time, the weight sensor 9 detects the weight and placement position of the loaded luggage 27, and the control means moves the carriage 1 to an optimum place for receiving the next luggage 27.

A work flow by the control means will be described.
First, the weight of one piece of baggage, the upper and lower limits of the weight variation range of one piece of baggage, the baggage data such as height, the number of one piece of baggage loaded on the pallet, the total number of pieces of baggage loaded, the baggage The value of the loading data such as the moving direction and moving distance each time one piece is stacked, the timing of moving the baggage receiving portion in the vertical direction (how many pieces are loaded in the vertical direction), the moving distance, etc. are set and input in advance. (Step 501).

  Next, the carriage 1 is moved to an optimal place for receiving the load 27, and the height of the load receiving portion 7 is adjusted according to the height of the load 27 and the number of loading stages inputted in advance by the expansion and contraction of the support column 15. (Step 502) The load 27 is placed from the load discharge port 25 (Step 503), the weight sensor 9 senses the weight of the pallet 29 and the loaded load 27, and the weight and placement position of the load 27 are determined. It is detected (step 504).

  Next, it is determined whether or not a load is to be further placed (step 505). If the load is not loaded any more because the weight of the loaded load 27 has reached the planned number of loads, 1 is moved to a predetermined location (step 506), and if it is determined in step 505 that more packages are to be loaded, step 502 and subsequent steps are repeated.

  The flow of operation by the palletizing apparatus 21 of the present invention will be described with reference to FIGS. Here, a description will be given by taking as an example a method in which four pallets 27 are stacked on the pallet 29 in four stages, and a total of eight are loaded. Needless to say, the number of loaded items 27, the order of loading, and the loading position are not limited to this, and may be set as needed.

  First, the control panel 13 sets and inputs values such as package data and loading data. Here, for example, the loading order of the luggage 27 is as follows: (a), (b), (c), (d) shown in FIG. , (C), (b), and (a) are placed in this order to set loading completion.

  Next, the moving position and height of the carriage 1 for placing the first load is adjusted. That is, as shown in FIG. 7, the carriage 1 is moved so that (a) shown in FIG. 6 is directly below the baggage discharge port 25, and the height of the baggage receiving portion 7 is input in advance by the expansion and contraction of the column 15. It is adjusted according to the height of the luggage 27.

  After the cart 1 is arranged at a predetermined position, as shown in FIG. 7, the luggage 27 is discharged from the luggage discharge port 25, and the luggage 27 is placed in (a) of FIG. When the luggage 27 is placed on the pallet, the weight sensor 9 detects the weight and placement position of the luggage 27.

  Subsequently, as shown in FIG. 8, the control unit moves the carriage 1 to the right in FIG. 8, which is the set direction, so that (A) shown in FIG. If necessary, the height of the luggage receiving portion 7 is adjusted. After the carriage 1 is disposed at a predetermined position, as shown in FIG. 9, the luggage 27 is discharged from the luggage discharge port 25, and the luggage 27 is placed in (a) shown in FIG. Similarly, the carriage 1 is moved and the luggage is loaded at the positions (c) and (d) shown in FIG. 6 in order, and the loading of the first-stage luggage is completed.

  When the weight sensor 9 detects that the first stage of loading is completed, as shown in FIG. 10, the column 15 is shortened by the set height so that the second stage can be loaded. Is adjusted, the load 27 is discharged from the load discharge port 25, and the second-stage load is placed at the position (d) in FIG. Thereafter, similarly to the first stage, the packages are placed in order on the second stage (c), (b), (a), and the loading of the second stage is completed.

  When the weight sensor 9 detects that the second stage of loading is completed, the carriage is moved to a predetermined location.

  As shown in FIGS. 11 and 12, the cart that has finished loading the planned number of loads and moved to a predetermined location automatically conveys the pallet 29 loaded with the loads 27 by projecting and rotating the rollers 11. Move to car 31. Here, although the automatic conveyance vehicle 31 was used, it is not limited to this. Since the present invention is a mechanism in which the pallet itself moves, the pallet replacement operation can be automated by linking the palletizing device with the automatic transport vehicle.

  According to this embodiment, since the weight and position of the load loaded on the pallet is detected and the pallet is moved to the position where the next load is loaded, the palletizing operation can be unmanned and large-scale. Because it is not a simple device, it does not take up space. Furthermore, since the pallet itself moves, the pallet replacement work can be unmanned by linking with the automatic transport vehicle.

  The present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, the carriage 1 is provided with the roller 11 that can appear and disappear in a hemispherical shape, but as illustrated in FIGS. It is also preferable that the carriage 41 includes a roller 43 that can appear and disappear in a semi-cylindrical shape.

It is a schematic perspective view which shows an example of the cart for palletizing devices. It is a top view of the trolley | bogie of FIG. It is a side view of the trolley | bogie of FIG. It is a schematic perspective view which shows an example of a palletizing apparatus. It is a flowchart of a control means. It is explanatory drawing which shows the mounting position of a load. It is a side view which shows an example of operation | movement of a palletizing apparatus. It is a side view which shows an example of operation | movement of a palletizing apparatus. It is a side view which shows an example of operation | movement of a palletizing apparatus. It is a side view which shows an example of operation | movement of a palletizing apparatus. It is a schematic perspective view which shows an example of a palletizing apparatus and an automatic conveyance apparatus cooperation. It is a side view of FIG. It is a top view which shows an example of the cart for palletizing devices. It is a side view of the trolley | bogie of FIG.

Explanation of symbols

1 ... …… Car 3 ... …… Car 5 ... …… Wheel 7 ... …… Luggage receiving part 9 ... …… Weight sensor 11 ... …… Colo 13 ... …… Control panel 15 ... …… Post 21 ... …… Palletizing device 23 ......... Conveyor 25 ......... Luggage outlet 27 ......... Luggage 29 ......... Pallet 31 ......... Automatic transport vehicle 41 ......... Dolly 43 ......... Coro

Claims (5)

A cart in a palletizing device for loading a plurality of packages on a receiving device,
A self-propelled movable base part, and a vertical movement on the base part, and a load receiving part having weight sensing means on the upper surface,
Input means for inputting the package data;
Control means for moving the platform and / or moving the luggage receiving portion in the vertical direction based on the data input by the input means and the weight and position data of the loaded luggage obtained by the weight sensing means. A cart for a palletizing device.   2. The carriage in the palletizing device according to claim 1, further comprising a loaded object feeding means provided on the upper surface of the luggage receiving portion so as to be able to appear and retract.   The cart in the palletizing apparatus according to claim 2, wherein the figurine feeding means is spherical or cylindrical. In a palletizing device that loads multiple items on a receiving device,
A conveyor device having a luggage outlet in the downstream part;
A movable pedestal, and a self-propelled trolley that is provided on the pedestal so as to be movable in the vertical direction, and includes a load receiving unit provided with weight sensing means on the upper surface;
The cart has an input means for inputting data of the luggage,
Control means for moving the platform and / or moving the load receiving part in the vertical direction based on the data inputted by the input means and the weight and position data of the loaded luggage obtained by the weight sensing means. A palletizing device comprising the palletizing device.   The cart moves the baggage receiving unit to a predetermined position below the baggage discharge port by the control means, discharges the baggage from the baggage discharge port, and places it on the baggage receiving unit. Item 5. A palletizing apparatus according to Item 4.

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