JP2021187597A - De-stacker - Google Patents

Abstract

To provide a de-stacker allowing for stable transfer without collapsing a plane configuration of a mass.SOLUTION: A de-stacker comprises clamp means that stacks masses, whose plurality of article-accommodated boxes are horizontally placed in a manner their side surfaces are mutually contacted so as to wholly assume a rectangular shape in plan, in plurality of stages and clamps four side surfaces of an uppermost-staged mass and suction means that commonly sucks upper surfaces of a plurality of boxes constituting the mass. The clamp means has a plurality of clamp members and an advancement/retraction mechanism for advancing/retracting the clamp members toward/from the four side surfaces of the mass. The suction means has a plurality of suction pats for commonly sucking the upper surfaces of the boxes of the mass and an elevation mechanism for ascending/descending the suction pats from/to the upper surfaces of the mass. In a state that the uppermost-staged mass is clamped at its four side surfaces by the clamp members and the upper surfaces of the boxes of the uppermost-staged mass are commonly sucked by the suction pats, the mass is transferred onto an unloading conveyor.SELECTED DRAWING: Figure 1

Description

The present invention relates to a stage disassembling device in which an aggregate of corrugated cardboard boxes stacked in a plurality of stages on a pallet is sandwiched from four sides and transferred to a unloading conveyor.

Conventionally, in a manufacturing factory or the like, a plurality of corrugated cardboard boxes containing articles are arranged horizontally on a pallet so as to be in contact with each other to form an aggregate formed into a rectangular shape as a whole in a plan view. It is shipped by stacking it in multiple stages and mounting each pallet on a transportation truck. Then, in the stage disassembling device at the shipping destination, the aggregate of corrugated cardboard boxes stacked in a plurality of stages on the pallet is disassembled.

The step disassembling device sandwiches a lifting device that raises an aggregate of corrugated cardboard boxes stacked in a rectangular shape on a pallet and the uppermost four sides of the aggregate raised upward by the elevating device in the lateral direction. A transfer pinching device is provided, and the uppermost aggregate is sandwiched by this pinching device and transferred to a transport conveyor for step disassembling. However, in such a step disassembling device, when the assembly is sandwiched by the sandwiching device, when the pushing force at the upper part of the assembly decreases with respect to the lower part, the cardboard box at the center of the assembly is deformed and pushed. In some cases, it climbed up trying to escape to the upper side where the force was weak, and destroyed the surface composition of the aggregate of cardboard boxes.

Therefore, the applicant of the present application applies the deformation of the article to the upper position of the central portion of the aggregate in order to suppress the rising due to the deformation of the article when the aggregate is gripped (pinched) and prevent the surface configuration from collapsing. By arranging the restraining members that suppress the rising up close to each other, it is possible to prevent the cardboard box in the center from being deformed and rising upward, and the surface composition of the corrugated cardboard box assembly at the time of transfer is destroyed. We have proposed a corrugated cardboard device that prevents this from happening (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2009-215026

However, in recent years, due to cost reductions and environmental considerations of corrugated cardboard manufacturers, the strength of corrugated cardboard boxes has become the mainstream having the minimum strength according to the weight of the articles to be accommodated. That is, the strength of the cardboard box tends to decrease. Therefore, in the step disassembling device described in Patent Document 1, when the four sides of the aggregate of corrugated cardboard boxes having reduced strength are sandwiched, the corrugated cardboard box in the central portion falls due to the deformation of the corrugated cardboard box having reduced strength. There is a risk that it will end up.

In the present invention, in order to solve the above problems, even if the corrugated cardboard box has a reduced strength when the four sides of the aggregate of the uppermost corrugated cardboard boxes stacked in a plurality of stages are sandwiched on the pallet, the corrugated cardboard is used. It is possible to prevent the cardboard box in the center of the assembly from falling due to deformation of the box and to rise upward from the cardboard box in the center of the assembly, and the surface composition of the assembly is stably transferred without being disrupted. It is an object of the present invention to provide a corrugated cardboard device that can be mounted.

In order to achieve the above object, the present invention is an aggregate of a plurality of boxes arranged horizontally so that the sides of the plurality of boxes containing articles are in contact with each other so as to form a rectangular shape as a whole in a plan view. A step-disassembling device that sequentially transfers the aggregates to a unloading conveyor from the top-level aggregates in which the aggregates are stacked in a plurality of stages, and a holding means for sandwiching the four sides of the top-level aggregates. The pinching means includes a suction means that commonly adsorbs the upper surfaces of a plurality of the boxes constituting the aggregate sandwiched by the pinching means, and the pinching means sandwiches the four sides of the aggregate. It has a member and an advancing / retreating mechanism for advancing / retreating the sandwiching member horizontally to the four side surfaces of the aggregate, and the suction means commonly sucks the upper surface of the box body of the aggregate at the uppermost stage. It has a plurality of suction pads and an elevating mechanism for raising and lowering the suction pads on the upper surface of the aggregate, and the four sides of the aggregate at the uppermost stage are sandwiched by the sandwiching member of the sandwiching means, and the suction is performed. The step disassembling device is characterized in that the aggregate is transferred to the unloading conveyor in a state where the upper surface of the box body of the uppermost aggregate is commonly adsorbed by the adsorption pad of the means.

Further, the suction means is a laser sensor that measures the distance between the upper surface of the aggregate and the lower surface of the suction pad before the elevating means causes the suction pad to descend toward the upper surface of the aggregate. And, when the suction pad is lowered toward the upper surface of the aggregate by the elevating means, the suction pad is provided with a proximity sensor that detects the proximity of the upper surface of the aggregate and the suction pad. It is characterized in that the speed at which it is lowered until it comes into contact with the upper surface of the aggregate can be adjusted stepwise.

Further, the sandwiching means is characterized in that the pressure for sandwiching the four sides of the aggregate by the sandwiching member can be adjusted stepwise according to the strength of the box body constituting the aggregate.

Further, the suction means can stepwise adjust the pressure for sucking the upper surface of the box body of the aggregate by the suction pad in a stepwise manner according to the strength of the box body constituting the aggregate. It is characterized by that.

According to the step disassembling device of the present invention, the four sides of the aggregate of the plurality of boxes (hereinafter referred to as corrugated cardboard boxes) in the uppermost stage are sandwiched by the holding member of the holding means, and the uppermost stage is held by the suction pad of the suction means. Since the aggregate is transferred to the unloading conveyor in a state where the upper surfaces of the plurality of corrugated cardboards constituting the aggregate are commonly adsorbed, the corrugated cardboard is deformed even if the aggregate is a weakened corrugated cardboard box. It is possible to prevent the corrugated cardboard box of the aggregate from falling due to the above. Further, since the suction pad of this suction means commonly abuts on the upper surface of a plurality of corrugated cardboard boxes near the central portion of the aggregate, the pushing force of the upper part of the aggregate decreases with respect to the lower part of the aggregate. It is possible to prevent the corrugated cardboard box in the center of the box from being deformed and rising up to escape upward where the pushing force is weak. That is, it is possible to reduce the collapse of the surface structure of the aggregate as much as possible, and it is possible to provide a step-off device capable of stably transferring the aggregate to the unloading conveyor.

Further, the suction means can change the speed at which the suction pad is lowered until it comes into contact with the upper surface of the aggregate in a stepwise manner. Therefore, before lowering the suction pad of the suction means, the distance between the bottom surface of the suction pad and the top surface of the aggregate is measured by the laser sensor. Then, among the distances measured by the laser sensor, if the predetermined distance is not reached, the descending speed of the adsorption pad is lowered at the first speed (high speed), and if the predetermined distance is reached, the descending speed of the adsorption pad is lowered. To the second speed (low speed), which is relatively slower than the first speed (high speed). That is, the descending speed of the suction pad of the suction means can be adjusted stepwise (two steps). As a result, it is possible to prevent the suction pad from vigorously contacting the upper surface of the aggregate, and it is possible to prevent the corrugated cardboard box constituting the aggregate from being deformed or damaged.

Further, the suction means includes a proximity sensor that detects that the distance between the bottom surface of the suction pad and the top surface of the aggregate is close after the suction pad of the suction means is lowered. As a result, even if there is an error in the measured value by the laser sensor, when the proximity between the bottom surface of the suction pad and the top surface of the aggregate is detected, the descending speed of the suction pad is relative to the first speed (high speed). By switching to the second speed (low speed), which is a low speed, it is possible to prevent the bottom surface of the suction pad from coming into contact with the top surface of the cardboard box constituting the aggregate at high speed, and the corrugated cardboard box constituting the aggregate can be prevented from coming into contact with each other at high speed. Can be reliably prevented from being deformed or damaged.

Further, the pinching means can adjust the pressure for pinching the four sides of the aggregate by the sandwiching member in a stepwise manner according to the strength of the corrugated cardboard box constituting the aggregate. Generally, cardboard boxes have different strengths and specifications depending on the size and the weight of the items to be stored. For this reason, when the four sides of an aggregate composed of a high-strength cardboard box are sandwiched between the sandwiching members with the pressure of sandwiching the four sides of the aggregate composed of a low-strength cardboard box with the sandwiching member, the cardboard box There is a risk of crushing the aggregate. On the contrary, when the four sides of the aggregate composed of the low-strength cardboard box are sandwiched by the sandwiching members with the pressure of sandwiching the four sides of the aggregate composed of the high-strength cardboard box with the sandwiching member, the cardboard box It may not be possible to pinch an aggregate of cardboard boxes due to insufficient pressure to pinch the cardboard box. Therefore, in the present invention, the pressure for sandwiching the four sides of the corrugated cardboard box assembly by the sandwiching member can be adjusted so as to be the optimum pressure according to the strength and standard of the corrugated cardboard box, thereby causing damage to the corrugated cardboard box. It is possible to prevent it from falling.

Further, the suction means makes it possible to stepwise adjust the pressure for sucking the upper surface of the corrugated cardboard box of the aggregate by the suction pad in a common manner according to the strength of the corrugated cardboard box constituting the aggregate. This is because when cardboard boxes with different strengths and specifications are sucked with a uniform pressure, the pressure to suck the upper surface of the low-strength cardboard box is strong and deforms, or the pressure to suck the upper surface of the high-strength cardboard box is insufficient. This is because it is dropped. Therefore, in the present invention, the pressure for commonly adsorbing the upper surfaces of a plurality of corrugated cardboard boxes constituting the aggregate by the adsorption pad can be adjusted so as to be the optimum pressure according to the strength and standard of the corrugated cardboard box. , It is possible to prevent the cardboard box from being damaged or dropped.

It is a side view explaining the outline of the step disassembling device which concerns on this embodiment. It is a top view explaining the sandwiching device of the step disassembling device which concerns on this embodiment. It is a perspective view explaining the sandwiching device of the step disassembling device which concerns on this embodiment. It is a perspective view explaining the suction device of the step disassembling device which concerns on this embodiment. It is a side view explaining the suction device of the step disassembling device which concerns on this embodiment. It is a side view explaining the operation mechanism of the step disassembling device which concerns on this embodiment. It is a side view explaining the operation mechanism of the step disassembling device which concerns on this embodiment. It is a side view explaining the operation mechanism of the step disassembling device which concerns on this embodiment. It is a side view explaining the operation mechanism of the step disassembling device which concerns on this embodiment. It is a top view explaining the contact position of the suction pad with the aggregate upper surface of the assembly of the step disassembling device which concerns on this embodiment. It is a top view explaining the contact position of the suction pad with the aggregate upper surface of the assembly of the step disassembling device which concerns on this embodiment.

The present invention constitutes an aggregate of a plurality of boxes by arranging them horizontally so that the side surfaces of a plurality of boxes containing articles are in contact with each other so as to form a rectangular shape as a whole in a plan view. It is a step-disassembling device that sequentially transfers from the uppermost aggregate stacked in a plurality of stages to the unloading conveyor, and is a sandwiching means for sandwiching the four sides of the uppermost aggregate and the sandwiching means sandwiched by the sandwiching means. The sandwiching means includes a suction means for commonly adsorbing the upper surfaces of the plurality of boxes constituting the aggregate, and the sandwiching means includes a plurality of sandwiching members for sandwiching the four sides of the aggregate and the sandwiching member. The adsorption means has a plurality of adsorption pads that commonly adsorb the upper surface of the box body of the uppermost assembly, and the adsorption means, which has an advance / retreat mechanism for advancing and retreating in the horizontal direction on the four side surfaces of the aggregate. It has an elevating mechanism for raising and lowering the pad on the upper surface of the aggregate, and the four sides of the aggregate at the uppermost stage are sandwiched by the holding member of the holding means, and the uppermost stage is held by the suction pad of the suction means. The present invention relates to a step-off device characterized in that the aggregate is transferred to the unloading conveyor in a state where the upper surface of the box of the aggregate is commonly attracted.

Hereinafter, an embodiment of the present invention will be specifically described with reference to the drawings. FIG. 1 is a side view for explaining the outline of the step disassembling device according to the present embodiment. FIG. 2 is a plan view illustrating a sandwiching device for the step disassembling device according to the present embodiment. FIG. 3 is a perspective view illustrating a sandwiching device for the step disassembling device according to the present embodiment. FIG. 4 is a perspective view illustrating the suction device of the step disassembling device according to the present embodiment. FIG. 5 is a side view illustrating the suction device of the step disassembling device according to the present embodiment. 6A to 6D are side views illustrating the operation mechanism of the step disassembling device according to the present embodiment. 7A and 7B are plan views illustrating the contact position of the suction pad with the upper surface of the aggregate of the step disassembling device according to the present embodiment.

In the following embodiment, corrugated cardboard boxes as a plurality of boxes containing articles are arranged on a pallet so as to be in the same horizontal plane so that their side surfaces are in contact with each other so that the whole is rectangular in a plan view. Combine to form a one-stage aggregate. Then, a step-disassembling device in which the one-stage aggregates are stacked on a pallet in a plurality of stages and then transferred to the unloading conveyor in order from the top-level aggregate by the transfer device will be described as an example.

As shown in FIG. 1, the step disassembling device 1 constitutes a step disassembling device 1 in a housing K formed in a box shape by vertically and horizontally combining frames F made of metal (for example, iron or the like). Various devices are installed and configured. The various devices are a transport conveyor 2, an elevating device 3, a pinching device 4 (pinching means), a suction device 5 (suction means), a unloading conveyor elevating device 6, a transfer device 7, and a unloading conveyor 10.

A plurality of conveyors 2 are horizontally installed at the lower part of the housing K, and the aggregate group B is placed on the upper part of the base 33 of the elevating device 3 in the housing K from the outside of the housing K. Transport the pallet P.

The elevating device 3 raises and lowers the pallet P placed on the upper part of the transfer conveyor 2 together with the transfer conveyor 2 on the upper part of the base 33. The elevating device 3 is composed of an elevating motor 31 installed at the upper left end of the housing K and a transmission cable 32 for transmitting the rotation thereof to the elevating device 3. The elevating device 3 is the uppermost set of the aggregate group B on the pallet P by the holding device 4 which is the holding means of the present embodiment provided in the lower part of the transfer device 7 installed above the base 33. It rises vertically to a position where it can hold the four sides of the body Ba. Further, after the four sides of the assembly Ba are sandwiched by the sandwiching device 4, the transfer device 7 is vertically lowered to a position where the horizontal movement of the transfer device 7 is not hindered. Therefore, as the elevating motor 31 that elevates and elevates the elevating device 3 vertically, an AC servomotor with high positioning accuracy is preferably used.

The elevating device 3 is a holding device until the transfer of the aggregate group B on the pallet P is completed (that is, the transfer of the required number of aggregates Ba of the aggregate group B on the pallet P is completed). The vertical ascent to a position where the four sides of the aggregate Ba can be sandwiched by 4 and the vertical descent to a position where the horizontal movement of the transfer device 7 is not hindered are repeated. When the transfer of the aggregate group B on the pallet P is completed, the elevating device 3 lowers the pallet P to the upper part of the base 33, and discharges the pallet P to the outside of the housing K by the conveyor 2.

The transfer device 7 is formed in a box shape by vertically and horizontally combining a frame F separate from the frame F of the housing K, and is movably mounted on the upper portion of the housing K in the horizontal direction. .. The transfer device 7 is configured by integrally incorporating the sandwiching device 4 which is the sandwiching means of the present embodiment and the suction device 5 which is the suction means. The details of the configuration of the holding device 4 and the suction device 5 integrated with the transfer device 7 will be described later.

Four wheels 71 are provided at the lower four corners of the transfer device 7, the horizontal frame Fa at the upper end constituting the housing K is driven by a drive motor (not shown), and the four sides are sandwiched by the sandwiching device 4. At the same time, the aggregate Ba in a state where the upper surface is sucked by the suction device 5 is moved horizontally (to the right in the figure) to the transfer position of the unloading conveyor 10 on the upper part of the unloading conveyor elevating device 6. Then, after the aggregate Ba is transferred to the unloading conveyor 10, the horizontal direction (left direction in the figure) to a position where the four sides of the uppermost aggregate Ba of the aggregate group B on the pallet P can be sandwiched. Move to.

The unloading conveyor 10 is installed on the upper part of the unloading conveyor elevating device 6 on the right side of the housing K, and the aggregate Ba transferred to the unloading conveyor 10 is placed outside the substantially central part on the right side of the housing K. It is conveyed to the installed unloading conveyor 10. The unloading conveyor elevating device 6 moves up and down together with the unloading conveyor 10. The unloading conveyor elevating device 6 moves up and down by the elevating motor 61 installed at the upper right end of the housing K and the transmission cable 62 for transmitting the rotation thereof. Specifically, when the aggregate Ba, which is sandwiched by the sandwiching device 4 and whose upper surface is adsorbed by the suction device 5, is transferred onto the unloading conveyor 10, the aggregate Ba falls as much as possible. It rises vertically to the position where the impact is suppressed.

After the unloading conveyor elevating device 6 is transferred after the pinching by the pinching devices 4 on the four sides of the aggregate Ba is eliminated and the adsorption by the suction device 5 on the upper surface of the aggregate Ba is eliminated. It descends vertically so as to be at the same height in the horizontal direction as the unloading conveyor 10 provided at the substantially central portion outside K. Therefore, as the elevating motor 61 for vertically elevating and lowering the unloading conveyor elevating device 6, an AC servomotor with high positioning accuracy is preferably used as in the elevating motor 31 for vertically elevating and lowering the elevating device 3. When the transfer of the aggregate Ba to the unloading conveyor 10 is completed and the transfer of the aggregate Ba to the unloading conveyor 10 outside the housing K is completed, the unloading conveyor elevating device 6 is driven by the holding device 4. The aggregate Ba whose side surface is sandwiched is raised again to a position where it is transferred onto the unloading conveyor 10 and stands by.

As described above, the stage disassembling device 1 of the present embodiment is optimal for transferring the uppermost aggregate Ba from the aggregate group B on the pallet P to the unloading conveyor 10 by the transfer device 7 step by step. It is composed of various devices having various functions (conveyor conveyor 2, lifting device 3, holding device 4, suction device 5, unloading conveyor lifting device 6, transfer device 7, unloading conveyor 10). With this configuration, the uppermost aggregate Ba from the aggregate group B on the pallet P is transferred one by one to the unloading conveyor 10 by the transfer device 7, so that the aggregate Ba is composed of a plurality of stages. It is possible to perform step-by-step steps from body group B.

Hereinafter, the holding device 4 as the holding means of the present embodiment integrally configured with the transfer device 7 will be described with reference to FIGS. 2 and 3. In the perspective view illustrating the sandwiching device 4 of the step disassembling device 1 in FIG. 3, the description of the frame F constituting the transfer device 7 is omitted for the sake of easy understanding.

As described above, the holding device 4 is integrally configured with the transfer device 7. The sandwiching device 4 is arranged so as to face each of the four sides of the aggregate Ba located at the uppermost stage from the aggregate group B composed of the aggregate Ba of a plurality of stages placed on the pallet P. It is composed of an individual holding member 41 and four air cylinders 42 as an advancing / retreating mechanism for advancing / retreating the four pinching members 41 horizontally toward the four side surfaces of the aggregate Ba. In this way, by using the air cylinder 42 as the advancing / retreating mechanism, the pressure of the sandwiching member 41 that sandwiches the four side surfaces of the aggregate Ba can be adjusted according to the strength of the corrugated cardboard box constituting the aggregate Ba. ..

The air cylinder 42 has a piston rod 42a that horizontally appears and disappears from the inside of the air cylinder 42 due to the pressure of air at one end, and the tips of the piston rods 42a are connected to each other provided above the four holding members 41. It is connected to the portion 41b. As a result, the four sandwiching members 41 move horizontally toward the four side surfaces of the aggregate Ba, thereby abutting and sandwiching the four sides of the aggregate Ba. Further, by retracting the four sandwiching members 41 horizontally from the four side surfaces of the assembly Ba, the sandwiching of the assembly Ba is eliminated.

On the left and right side surfaces of the four holding members 41, holding auxiliary members 41a made of a plurality of fence-shaped (two or three) steel materials (for example, H steel) are provided so as to extend horizontally. The plurality of pinching assisting members 41a provided on the left and right side surfaces of the pinching member 41 are provided at different heights in the vertical direction of the pinching assisting members 41a provided on the left and right side surfaces of the adjacent pinching member 41. There is. Specifically, as shown in FIG. 3, three are provided on the left and right side surfaces of the sandwiching member 41 facing the horizontal direction, and two are provided on the left and right side surfaces of the sandwiching member 41 facing the horizontal direction adjacent thereto. As a result, when the four sides of the assembly Ba are sandwiched by the sandwiching members 41, the sandwiching auxiliary members 41a of the adjacent sandwiching members 41 do not collide with each other, and the four sandwiching members 41 are the four of the assembly Ba. Each can proceed horizontally towards the sides. Further, the fence-shaped plurality of (two or three) pinching assisting members 41a provided so as to extend horizontally on the left and right side surfaces of the four pinching members 41 are the pinching assisting members of the adjacent pinching members 41. Since it advances and retreats horizontally between the 41a, the adjacent sandwiching auxiliary members 41a function as a guide mechanism for moving in the horizontal direction with each other.

Further, the pinching auxiliary member 41a also has a function of pinching the four side surfaces of the aggregate Ba. As shown in FIGS. 7A and 7B, a pattern in which corrugated cardboard boxes constituting the aggregate Ba are arranged on the pallet P so as to be in the same horizontal plane so as to be in contact with each other and assembled so as to be rectangular in a plan view. Even if the sizes of the corrugated cardboard boxes are different, the entire circumference of each of the four side surfaces of the aggregate Ba can be sandwiched by the sandwiching member 41 and the sandwiching auxiliary member 41a. This makes it possible to prevent the surface configuration of the corrugated cardboard box assembly Ba from being disrupted at the time of transfer.

Here, it is desirable that the lower end of the four holding members 41 is tilted from the upper end to the four side surfaces of the aggregate Ba by a predetermined angle (for example, 0.5 to 1 degree). Depending on the mounting angle of the holding member 41, a force that suppresses the cardboard box in the central portion of the assembly Ba from falling downward works, and the surface configuration of the assembly Ba of the cardboard box at the time of transfer is destroyed. Can be prevented.

Hereinafter, the suction device 5 as the suction means of the present embodiment integrally configured with the transfer device 7 will be described in detail with reference to FIGS. 4 and 5. In the perspective view illustrating the suction device 5 of the step disassembling device 1 in FIG. 4, the description of the frame F constituting the sandwiching device 4 and the transfer device 7 is omitted for the sake of easy understanding. As shown in FIG. 3, the suction device 5 is divided into four parts and installed at four locations near the center of the transfer device 7. Since the configurations of the four suction devices 5 are the same, in FIG. 5, a side view of one suction device 5 will be described.

The suction device 5 is installed at the frame body 52, the elevating plate 54 provided vertically to the frame body 52, the mounting bracket 55 provided at the lower part of the elevating plate 54, and the lower end of the mounting bracket 55. The suction pad 51 is composed of an elevating mechanism (elevating motor 53, rotating shaft 53a, transmission belt V, rotating roller R1, guide roller R) for raising and lowering the elevating plate 54 in the vertical direction.

A guide rail for guiding the vertical ascent and descent of the rectangular elevating plate 54 is vertically formed on both side surfaces 52a of the frame body 52, and both side ends of the elevating plate 54 are held in the guide rail. Move up and down vertically. On the upper part of the opposite surface of the elevating plate 54 of the frame body 52, a rotating shaft mounting bracket 52b for rotatably attaching the rotating shaft 53a of the elevating motor 53 constituting the elevating mechanism is provided. As shown in FIG. 4, one elevating motor 53 is used to elevate and elevate the elevating plates 54 at two locations. Therefore, the rotating shaft 53a is horizontally attached to two adjacent rotating shaft mounting brackets 52b (see FIG. 5). Therefore, the four suction devices 5 of the present embodiment are configured to raise and lower the two elevating plates 54 by the two elevating motors 53. As the elevating motor 53, an AC servomotor having high positioning accuracy and capable of speed control is preferably used.

The rotating shaft mounting brackets 52b at the two locations are each provided with rotating rollers R1 connected to the rotating shaft 53a. The rotation of one elevating motor 53 is transmitted to the rotating rollers R1 at two locations by the rotating shaft 53a. As shown in FIG. 5, the rotation of the rotating roller R1 is transmitted by the transmission belt V as a vertical displacement by the four guide rollers R and the transmission belt V provided on the frame body 52. The transmission belt V and the elevating plate 54 are connected by a connecting portion 54a. As a result, the elevating plate 54 can be elevated and lowered in the vertical direction by the rotation of the elevating motor 53.

The mounting bracket 55 provided at the lower part of the elevating plate 54 connects two L-shaped brackets 55a in a side view to both ends of the lower part of the elevating plate 54, respectively, and these two L-shaped brackets 55a. The lower end of the above is connected by a rectangular flat plate bracket 55b in a plan view. On the upper surface of the flat plate bracket 55b, a hose for supplying air into the suction pad 51 is provided in order to suck the upper surface of the aggregate Ba with the suction pad 51. The suction pad 51 of the present embodiment generates a vacuum state on the lower surface 51a of the suction pad 51 by supplying air into the suction pad 51. The suction pad 51 is not limited to the above configuration. For example, one end of the hose H is communicated and connected to the suction pad 51, and the other end is communicated and connected to a vacuum pump (not shown). A suction pad 51 having a configuration in which the lower surface 51a of the pad 51 is in a vacuum state may be used.

By supplying air into the suction pad 51, the lower surface 51a of the suction pad 51 becomes a vacuum state, and the upper surface of the corrugated cardboard box constituting the aggregate Ba is commonly sucked. The lower surface 51a of the suction pad 51 is formed with a plurality of suction holes (not shown) having a plurality of small diameters (for example, a diameter of 2 mm). When the lower surface 51a of the suction pad 51 is in a vacuum state, air is sucked from the suction holes, and the lower surface 51a of the suction pad 51 commonly sucks the upper surface of the corrugated cardboard box constituting the aggregate Ba.

On the outer surface of the L-shaped bracket 55a of the mounting bracket 55, a proximity sensor 8 is provided as a detection means for detecting physical contact with the upper surface of the aggregate Ba via the bracket 82. A contact detection bar 81 is provided at the lower part of the proximity sensor 8 so as to be movable up and down, and when the contact detection bar 81 comes into close contact with the upper surface of the corrugated cardboard box constituting the aggregate Ba, the contact detection bar 81 is displaced upward. A detection sensor (for example, a photo sensor) that detects the upward displacement of the contact detection bar 81 is built in the proximity sensor 8, and when the upward displacement of the contact detection bar 81 is detected, a predetermined detection signal is obtained. Of the various devices (conveyor conveyor 2, lifting device 3, holding device 4, suction device 5, unloading conveyor lifting device 6, transfer device 7, unloading conveyor 10, etc.) constituting the step-off device 1 of the present embodiment. It is transmitted to a control device (not shown) that controls the operation.

At one end of the flat plate bracket 55b of the mounting bracket 55, a laser sensor 9 for measuring the distance between the lower surface 51a of the suction pad 51 and the upper surface of the corrugated cardboard box constituting the aggregate Ba is provided via the mounting bracket 91. ing. The laser sensor 9 is a sensor for distance measurement having a built-in amplifier. Then, by irradiating the upper surface of the corrugated cardboard box constituting the aggregate Ba from the lower end of the laser sensor 9, the lower surface 51a of the adsorption pad 51 and the corrugated cardboard box constituting the aggregate Ba are generated by the reflected light of the laser beam. Measure the distance to the top surface. The distance between the lower surface 51a of the suction pad 51 and the upper surface of the corrugated cardboard box constituting the aggregate Ba measured here is transmitted to a control device (not shown) that controls the operation of various devices constituting the step disassembling device 1. Will be done.

Here, the suction device 5 in the present embodiment changes the speed (rotational speed of the elevating motor 53) of lowering the suction pad 51 until it comes into contact with the lower surface 51a of the suction pad 51 and the upper surface of the aggregate Ba in a stepwise manner (for example, two steps). It is possible. Specifically, the suction device 5 measures the distance between the lower surface 51a of the suction pad 51 and the upper surface of the aggregate Ba with the laser sensor 9 before descending the suction pad 51. At this time, the aggregate group B on the pallet P is raised to a position where the four side surfaces of the uppermost aggregate Ba can be sandwiched by the elevating device 3. Then, among the distances measured by the laser sensor 9, the predetermined distance (for example, 1/4 of the measured distance or the distance between the lower surface 51a of the adsorption pad 51 and the upper surface of the aggregate Ba is within 100 mm) has not been reached. In this case, the lowering speed of the suction pad 51 is lowered at the first speed (high speed). Then, when the predetermined distance is reached, the descending speed of the suction pad 51 is switched to the second speed (low speed) which is relatively slower than the first speed (high speed). That is, the descending speed of the suction pad 51 of the suction device 5 has a two-step speed.

In this way, the lower surface 51a of the suction pad 51 is assembled at a low speed by gradually changing the speed of lowering the lower surface 51a of the suction pad 51 until it comes into contact with the upper surface of the corrugated cardboard box constituting the aggregate Ba. By abutting the upper surface of the corrugated cardboard box constituting the body Ba at a low speed, it is possible to prevent the lower surface 51a of the suction pad 51 from vigorously abutting the upper surface of the corrugated cardboard box constituting the aggregate Ba. This makes it possible to prevent deformation and damage to the upper surface of the corrugated cardboard box constituting the aggregate Ba. It is desirable that the speed at which the suction pad 51 is raised is a high-speed first speed. As a result, the ascending / descending time of the suction pad 51 can be shortened.

When the contact between the contact detection bar 81 provided at the lower part of the proximity sensor 8 and the upper surface of the aggregate Ba is detected when the predetermined distance is not reached among the distances measured by the laser sensor 9. Unconditionally switches the descending speed of the suction pad 51 from the first speed (high speed) to the second speed (low speed). As a result, even if the distance measured by the laser sensor 9 cannot be accurately measured due to the shape of the upper surface of the corrugated cardboard box constituting the aggregate Ba, the lower surface 51a of the suction pad 51 vigorously abuts on the upper surface of the aggregate Ba. Can be prevented.

That is, in the present embodiment, by detecting both the distance measured by the laser sensor 9 and the physical contact of the contact detection bar 81 of the proximity sensor 8, the top surface of the cardboard box constituting the aggregate Ba is reached. The load is not applied. It should be noted that such control of the descending speed of the suction pad 51 is executed by the control device (not shown) of the step disassembling device 1 described above. The control of the descending speed of the suction pad 51 described above is not limited to two stages, and may be further finely controlled in multiple stages (for example, three stages, etc.). Further, as shown in FIG. 4, in the present embodiment, the proximity sensor 8 and the laser sensor 9 for controlling the descending speed of the suction pad 51 are provided at two diagonal positions of the four suction devices 5. Although the configuration is provided in the suction device 5, the number of suction devices 5 in which the proximity sensor 8 and the laser sensor 9 are installed is not particularly limited, and may be provided in all four suction devices 5.

Hereinafter, the operations of the sandwiching device 4 and the suction device 5 of the step disassembling device 1 according to the present embodiment will be mainly described with reference to FIGS. 6A to 6C. The operations of the holding device 4 and the suction device 5 of the step-disassembling device 1 described below are also controlled by the above-mentioned control device.

As shown in FIG. 6A, the control device raises the uppermost aggregate Ba of the aggregate group B on the pallet P by the elevating device 3 to a position where the four sides can be pinched by the pinching device 4 and makes it stand by. Here, the position where the four side surfaces can be pinched by the pinching device 4 is a state in which the lower end of the pinching member 41 of the pinching device 4 is located above a predetermined distance (H in the figure) from the lower surface of the uppermost aggregate Ba. .. The type (including size (height in the vertical direction), strength, and standard) of the corrugated cardboard box constituting the aggregate Ba transported in the housing K of the present embodiment is determined by using a two-dimensional bar code or the like. It is printed in place on the surface. Then, the control device identifies the type of the cardboard box by reading the two-dimensional bar code printed on the cardboard box with a bar code reader (not shown) installed at a predetermined position of the step disassembling device 1. be able to. As a result, the control device of the step disassembling device 1 grasps the height of the corrugated cardboard box constituting the aggregate Ba, and then the elevating device 3 holds the uppermost aggregate Ba of the aggregate group B on the pallet P. The distance between the lower surface 51a of the suction pad 51 and the upper surface of the aggregate Ba is measured by the laser sensor 9 in a state where the four side surfaces are raised to the positions where the holding member 41 of the device 4 can hold the four sides.

As shown in FIG. 6B, the control device vertically lowers the suction pad 51 of the suction device 5 toward the upper surface of the uppermost aggregate Ba of the aggregate group B on the pallet P. Then, the contact detection bar 81 provided at the lower part of the proximity sensor 8 and the upper surface of the aggregate Ba come into contact with each other first.

As shown in FIG. 6C, the control device brings the upper surface of the uppermost aggregate Ba of the aggregate group B on the pallet P into contact with the suction pad 51 of the suction device 5. Then, the sandwiching member 41 of the sandwiching device 4 is horizontally moved in the direction of sandwiching the four side surfaces of the aggregate Ba. Further, the horizontal movement of the holding member 41 of the holding device 4 may be performed at the same time as the timing of vertically lowering the suction pad 51 of the suction device 5 in the state shown in FIG. 6B.

As shown in FIG. 6D, the control device brings the upper surface of the uppermost aggregate Ba of the aggregate group B on the pallet P into contact with the suction pad 51 of the suction device 5, and the holding member 41 of the holding device 4 abuts the control device. It sandwiches the four sides of the assembly Ba. In this state, air is supplied to the suction pad 51 of the suction device 5, and the suction pad 51 of the suction device 5 activates the suction on the upper surface of the aggregate Ba.

Here, the control device can stepwise adjust the pressure for sandwiching the four sides of the aggregate Ba by the sandwiching member 41 of the sandwiching device 4 according to the strength and standard of the corrugated cardboard box constituting the aggregate Ba. Can be done. Specifically, the control device reads the two-dimensional bar code printed on the cardboard box constituting the aggregate Ba conveyed in the housing K with a bar code reader (not shown), and the size of the cardboard box (not shown). Read not only the height) but also the strength and standard of the cardboard box. Then, by adjusting the pressure of the air cylinder 42, which is an advancing / retreating mechanism for advancing / retreating the pinching member 41 of the pinching device 4, in multiple stages, the pressure for pinching the four sides of the corrugated cardboard box assembly Ba by the pinching member 41 is applied to the corrugated cardboard box. Adjust to the optimum pressure according to the strength and specifications of the cardboard.

As a result, it is possible to prevent damage to the corrugated cardboard box due to the pressure of sandwiching the high-strength corrugated cardboard box by sandwiching the four sides of the aggregate Ba composed of the low-strength corrugated cardboard box with the sandwiching member 41. On the contrary, due to the pressure of sandwiching the low-strength corrugated cardboard box, the pressure is insufficient when the four sides of the aggregate Ba composed of the high-strength corrugated cardboard box are sandwiched by the sandwiching member 41. It is possible to prevent the cardboard from falling because it cannot be pinched.

The pressure for sandwiching the four sides of the aggregate Ba by the sandwiching member 41 of the sandwiching device 4 is preferably provided in a plurality of stages (for example, 5 stages) according to the strength and standard of the corrugated cardboard box, but is particularly limited. Instead, it may be in three stages or five or more stages, and may be any one according to the performance of the air cylinder 42, which is an advancing / retreating mechanism for advancing / retreating the pinching member 41 of the pinching device 4.

Further, the control device can stepwise adjust the pressure for commonly adsorbing the upper surface of the corrugated cardboard box of the aggregate Ba by the adsorption pad 51 of the adsorption device 5 according to the strength of the corrugated cardboard box constituting the aggregate Ba. You can also do it. Specifically, the control device reads the two-dimensional bar code printed on the cardboard box constituting the aggregate Ba conveyed in the housing K with a bar code reader (not shown), and the size of the cardboard box (not shown). Read not only the height) but also the strength and standard of the cardboard box. Then, by adjusting the amount of air supplied to the suction pad 51 according to the strength and standard of the cardboard box, the pressure for commonly sucking the upper surface of the cardboard box of the aggregate Ba by the suction pad 51 of the suction device 5 is applied to the cardboard. Adjust to the optimum pressure according to the strength and specifications of the box.

As a result, by adsorbing corrugated cardboard boxes of different strengths and specifications with a uniform pressure, the pressure to adsorb the upper surface of the low-strength cardboard box is strong and deforms, or the pressure to adsorb the upper surface of the high-strength corrugated cardboard box is high. It is possible to prevent the cardboard from being dropped due to insufficientness. It is desirable that the pressure for commonly adsorbing the upper surface of the corrugated cardboard box of the aggregate Ba by the adsorption pad 51 of the adsorption device 5 is provided in a plurality of stages (for example, 5 stages) according to the strength and specifications of the corrugated cardboard box. It is not particularly limited, and may be 3 steps or 5 steps or more, and may be a range that can be adjusted by the suction pad 51 of the suction device 5.

After that, the control device sandwiches the four sides of the aggregate Ba by the sandwiching device 4, and the lifting device 3 is transferred to the lifting device 7 in a state where the upper surface of the assembly Ba is sucked by the suction pad 51 of the suction device 5. It descends vertically to a position where it does not interfere with the horizontal movement of. Then, as shown in FIG. 1, the transfer device 7 sandwiches the four sides of the aggregate Ba with the sandwiching device 4, and the upper surface of the aggregate Ba is sucked by the suction pad 51 of the suction device 5 for unloading. The transfer device 7 is horizontally moved to the transfer position of the unloading conveyor 10 on the upper part of the conveyor elevating device 6.

At this time, the control device vertically raises the unloading conveyor elevating device 6 to a position where the impact of the fall of the aggregate Ba is suppressed as much as possible and makes it stand by. Then, the pinching of the four side surfaces of the aggregate Ba by the pinching device 4 is eliminated (the sandwiching member 41 is horizontally moved in the direction away from the four side surfaces of the aggregate Ba), and the aggregate Ba by the suction pad 51 of the suction device 5 is eliminated. By eliminating the adsorption on the upper surface of the surface (stopping the supply of air to the adsorption pad 51 of the adsorption device 5), the aggregate Ba is transferred onto the unloading conveyor 10.

The control device unloads the aggregate Ba transferred onto the unloading conveyor elevating device 6 to a height at which the aggregate Ba is discharged to the unloading conveyor 10 provided at the substantially central portion outside the housing K of the step-off device 1. The conveyor elevating device 6 is lowered. Then, when the discharge of the aggregate Ba transferred onto the unloading conveyor elevating device 6 to the unloading conveyor 10 is confirmed, the unloading conveyor elevating device 6 is again subjected to the impact of the fall of the aggregate Ba as much as possible. Ascend vertically to the position to hold down and make it stand by. After transferring the aggregate Ba to the unloading conveyor 10, the control device moves the transfer device 7 to a position where the four sides of the uppermost aggregate Ba of the aggregate group B remaining on the pallet P can be sandwiched. Move horizontally.

Then, the control device raises the elevating device 3 to a position where the four sides of the uppermost aggregate Ba of the aggregate group B remaining on the pallet P can be sandwiched. That is, the control device completes the transfer of the aggregate group B on the pallet P (that is, the transfer of the required number of aggregates Ba of the aggregate group B on the pallet P is completed) in FIG. 6A. ~ FIG. 6D and the subsequent steps are repeated. Finally, when the transfer of the aggregate group B on the pallet P is completed, the control device lowers the pallet P to the upper part of the base 33, and discharges the pallet P to the outside of the housing K by the conveyor 2.

In the step disassembling device 1 of the present embodiment, the pinching auxiliary member 41a constituting the pinching device 4 also has a function of sandwiching the four side surfaces of the aggregate Ba. As a result, as shown in FIGS. 7A and 7B, the corrugated cardboard boxes constituting the aggregate Ba are arranged on the pallet P so as to be in the same horizontal plane so that the side surfaces of the aggregate Ba are in contact with each other so as to form a rectangular shape in a plan view. Even if the pattern to be assembled to the cardboard box and the size of the cardboard box are different, the entire circumference of each of the four side surfaces of the aggregate Ba can be sandwiched by the sandwiching member 41 and the sandwiching auxiliary member 41a. In addition to the cardboard box assembly patterns shown in FIGS. 7A and 7B, for example, an aggregate Ba (that is, a center) in which corrugated cardboard boxes of the same size in a plan view are assembled in 3 rows and 4 rows and 5 rows and 4 rows. Even in a state where there is no gap), the entire circumference of each of the four side surfaces of the aggregate Ba can be sandwiched by the sandwiching member 41 and the sandwiching auxiliary member 41a.

Further, as shown in FIGS. 7A and 7B, the suction pad 51 of the suction device 5 has a predetermined size (for example, 300 mm in length and 240 mm in width) in a plan view, and the suction device 5 is sucked on the upper surface of the aggregate Ba. The pad 51 is brought into contact with the pad 51 and adsorbed. As a result, the corrugated cardboard boxes Bb constituting the aggregate Ba are adsorbed by the adsorption pad 51 of the adsorption device 5 over the common upper surface of the corrugated cardboard boxes Bb, and the aggregate Ba composed of the corrugated cardboard boxes Bb having reduced strength. Even if there is, it is possible to prevent the corrugated cardboard box Bb in the central portion of the aggregate Ba from falling due to the deformation of the corrugated cardboard box.

Further, the suction pad 51 of the suction device 5 is suppressed by the suction pad 51 of the suction device 5 over the common upper surface of the plurality of cardboard boxes Bb constituting the aggregate Ba. For this reason, it is also possible to prevent the corrugated cardboard box Bb in the center of the aggregate Ba from being deformed and rising up to escape upward where the pressing force is weak due to the lowering of the pushing force at the upper part of the aggregate Ba. be able to. That is, it is possible to reduce the collapse of the surface configuration of the aggregate Ba that sandwiches the four sides by the sandwiching device 4 of the present embodiment as much as possible, and the unloading conveyor 10 is in a state where the aggregate Ba is surely stable. It is possible to transfer to.

Although the present invention has been described above through the above embodiments, the present invention is not limited thereto. Moreover, each of the above-mentioned effects is merely a list of the most suitable effects resulting from the present invention, and the effects according to the present invention are not limited to those described in the present embodiment.

1 Step-off device 2 Conveyor conveyor 3 Lifting device 4 Holding device 5 Suction device 6 Unloading lifting device 7 Transfer device 8 Proximity sensor 9 Laser sensor 10 Unloading conveyor 31 Lifting motor 41 Holding member 41a Holding assist member 42 Air cylinder 42a Piston Rod 51 Suction pad 52 Frame body 53 Elevating motor 53a Rotating shaft 54 Elevating plate 54
55 Mounting bracket 55
B aggregate group Ba aggregate F frame K housing P pallet V conduction belt

Claims (4)

A plurality of boxes containing articles are arranged horizontally so that their sides are in contact with each other, and combined so as to form a rectangular shape as a whole in a plan view to form an aggregate of a plurality of boxes, and the aggregates are stacked in a plurality of stages. It is a stage disassembling device that transfers to the unloading conveyor in order from the aggregate on the top stage.
The holding means for holding the four sides of the aggregate on the uppermost stage, and
A suction means for commonly adsorbing the upper surfaces of a plurality of the boxes constituting the aggregate sandwiched by the sandwiching means is provided.
The holding means is
A plurality of sandwiching members that sandwich the four sides of the aggregate, and
An advancing / retreating mechanism for advancing / retreating the sandwiching member horizontally to the four sides of the aggregate,
Have,
The adsorption means is
A plurality of adsorption pads that commonly adsorb the upper surface of the box body of the aggregate on the uppermost stage, and
An elevating mechanism that raises and lowers the suction pad to the upper surface of the aggregate,
Have,
In a state where the four sides of the uppermost aggregate are sandwiched by the holding member of the holding means, and the upper surface of the box body of the uppermost assembly is commonly sucked by the suction pad of the suction means. , A step-off device, characterized in that the aggregate is transferred to the unloading conveyor. The adsorption means is
A laser sensor that measures the distance between the upper surface of the assembly and the lower surface of the suction pad before the elevating means causes the suction pad to descend toward the upper surface of the assembly.
A proximity sensor that detects the proximity of the upper surface of the aggregate to the suction pad when the suction pad is lowered toward the upper surface of the aggregate by the elevating means.
Have,
The step disassembling device according to claim 1, wherein the speed at which the suction pad is lowered until it comes into contact with the upper surface of the aggregate can be adjusted stepwise. The holding means is
The first or second aspect of the present invention is characterized in that the pressure for sandwiching the four sides of the aggregate by the sandwiching member can be adjusted stepwise according to the strength of the box constituting the aggregate. The described step disassembling device. The adsorption means is
The claim is characterized in that the pressure for commonly adsorbing the upper surface of the box body of the aggregate by the adsorption pad can be adjusted stepwise according to the strength of the box body constituting the aggregate. The step disassembling device according to any one of 1 to 3.

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