JP2514599B2 - Cargo delivery method and freight delivery device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cargo unloading method for unloading a cargo loaded in a container, and an apparatus for realizing the unloading method.

[0002]

2. Description of the Related Art Conventionally, small bag-like cargoes such as wheat flour loaded in a container (weight is about 30 kg per piece)
Due to the structure of the container, only the rear part of the container is opened, and the cargo itself is not placed on the pallet in the container to improve the loading capacity. Since many of them are not loaded evenly due to load collapse due to vibration during container transportation work, mechanical force such as forklift cannot be used in consideration of damage to freight and it is taken out by workers. From easy-to-work cargo to human power,
There was no choice but to carry out the work by connecting multiple belt conveyors from the rear of the container.

[0003]

However, in the above-mentioned conventional apparatus, in order to carry out the load in the container manually by using the belt conveyor, it is efficient that a large number of workers do not carry out the carrying-out work at one time. Frequently, cargo that is loaded in a container cannot be processed.
As it is called K (tight, messy, no holidays, etc.), it is a reality that workers who are engaged in the work are difficult to gather, and therefore the work must be carried out by insufficient personnel. Efficiency cannot be improved sufficiently. Further, when the worker carries out the carrying-out work, if the carrying-out work is carried out from the cargo that is easy for the worker to carry out, the irregularly loaded cargo may collapse again, which may endanger the worker. is there.

Further, in the unloading work of the cargo in the container by human power, when the cargo carried out from the container is stored in a warehouse or the like, a belt conveyor is used to improve the efficiency of the unloading work. If the stop position of the vehicle carrying the container is changed for some reason, the position of the existing belt conveyor will also have to be changed. There is a drawback that the workability required for carrying out the cargo loaded inside is significantly reduced.

Therefore, the present invention is intended to improve the drawbacks of the above-mentioned conventional ones, and enables a bag-like small-sized cargo such as wheat flour loaded in a container to be easily and reliably carried out efficiently. To do.

[0006]

Therefore, in the work of carrying out the cargo loaded in the container, which has been raised above the tire diameter by the hydraulic jack, to the outside of the container, the front row of the loaded cargo is moved to the last row. Across
After measuring the loading height of the frontmost cargo with a sensor,
The cargo at the highest height is sucked and carried out onto a collection belt conveyor installed outside the container in order.

Further, in realizing such a carry-out method, in carrying out a cargo, a forward-movable traverser equipped with a distance sensor for measuring a distance from the forefront cargo in the container is mounted on the front side. With a guide to expand toward, the collection conveyor that is connected to the telescopic conveyor towed by the traverser behind it, is arranged integrally with the cockpit containing a computer that processes the signals from each sensor, Further, in front of the traverser, there is provided a sensor holding member for mounting a height sensor that measures the loading height of the cargo loaded in the container and is slidable in the left-right direction, and is expandable and contractible, and the tip is freely sucked and vertically. For an arm with a vacuum pad that can be swung freely, a mounting base that supports the arm vertically and horizontally And the lateral holding material formed by attaching slidably in the lateral direction, the vertical support member formed by vertically movable held vertically is to use a cargo unloading apparatus comprising disposed integrally.

Then, on a self-propelled traverser equipped with a distance sensor for measuring the distance to the forefront cargo in the container at the forefront, it is connected to a telescopic conveyor towed by the traverser behind it. The collection conveyor to be installed shall have a guide so as to widen forward to the width of the traverser, and at the end of the arm that can be expanded and contracted by the air cylinder installed,
A plurality of vacuum pads are arranged so that the upper surface and the side surface of the object to be sucked can be sucked at the same time via a pad-shaped pad support member.

[0009]

With the above-described structure, when carrying out a small cargo that is irregularly loaded due to vibration collapse during transportation in a container, the container full of cargo is moved to a certain height or higher by a hydraulic jack. After raising the load to eliminate the influence of cargo discharge on the suspension of the trailer, the loading height of the frontmost cargo is measured by the sensor from the front row to the last row of the cargo to be loaded. The cargo from the high-positioned cargo is sequentially drawn onto the collecting conveyor that is placed outside the container, and is carried out to the telescopic belt conveyor that is connected to the conveyor belt conveyor provided on the platform by the guide on the collecting belt conveyor. Can be efficiently sent out, improving the workability of carrying out the work, and in addition, from the place where the worker can easily carry out the work It is possible to prevent secondary collapse of cargo inside the container due to carrying out the cargo, and to carry it out of the container without damaging the bag-like small cargo due to the carrying-out work by suction. Is.

At this time, even if the cargo in the container to be carried out collapses and falls out of the container, the collection belt conveyor installed on the traverser expands forward, so The dropped cargo will be collected on the collecting belt conveyor, and the cargo falling outside the container will not hinder the work to be carried out, so that the work efficiency can be improved and the telescopic arm tip can be extended. In addition, by allowing the upper surface and the side surface of the object to be sucked simultaneously through the L-shaped pad support material,
Even if the loaded cargo is glued, the suction force can be kept to a minimum because there are multiple suction surfaces, and since it is also held on the side surfaces, it prevents damage to the suction surface of the object to be suctioned. Therefore, even if the arm is rocked to separate the adhered surfaces of the object to be sucked, the object to be sucked can be carried out without collapsing the load in the container.

In carrying out such carrying-out work,
By using the above unloading device, it is possible to prevent the secondary collapse of the cargo in the container due to the unloading of the cargo from the place where the worker can easily carry out the unloading work, and it becomes a bag shape by the unloading work by suction. It can be carried out of the container without damaging the small cargo, and even if the stop position of the vehicle carrying the cargo is different from the normal one, A conveyor belt conveyor that leads to the warehouse by self-propelled by the traverser and the collection belt installed on the traverser that self-propels and adjustment by the telescopic belt conveyor that is pulled by the traverser even if it itself is loaded in the back position Since it can be connected to, it can be easily carried out.

[0012]

The present invention will be further described with reference to the embodiments shown in the drawings. (1) is a cargo unloading device according to an embodiment of the present invention, and this cargo unloading device (1) carries out a cargo loaded in a container which is raised by a hydraulic jack above a tire diameter to the outside of the container. In working, the collection belt is constructed by measuring the loading height of the forefront cargo from the front row to the last row of the cargo to be loaded by the sensor and then sequentially installing it on the traverser from the cargo at the top height. The conveyor is sucked and carried out on the conveyor, and the cargo carrying-out section (3) and the collection belt conveyor (4), and the cockpit (6) for operating them are integrally installed on the upper part thereof. A self-propelled traverser (2) and a collection belt conveyor (4) towed by the traverser (2) and installed on the traverser (2).
And an expansion belt conveyor (7) fixedly arranged on the platform (23) and connected to a conveyor belt conveyor (24) leading to a warehouse or a pallet for sequentially loading cargo.
Consists of

More specifically, in the frontmost part, a distance sensor (8) for measuring the distance to the forefront cargo (20) in the container (19) which is raised by a hydraulic jack (26) above the tire diameter. ) Is mounted on a self-propelled traverser (2), which has a guide (5) for expanding the front and is connected to a telescopic belt conveyor (7) pulled behind by the traverser (2). The collecting belt conveyor (4) is integrally arranged with the cockpit (6) having a computer for processing the signals from the respective sensors, and further in front of the traverser (2), it is loaded in the container (19). A height sensor (1
(0) is equipped with a sensor holding material (9),
An arm (13) having a vacuum pad (14) that is expandable and contractible by an internal air cylinder (15) and can be sucked at the tip and can be vertically swung by an internal air cylinder or a bearing having a ball bearing. Air cylinders (16) (1) that allow the arm (13) to rotate vertically and horizontally.
6 ') is attached to a lateral holding member (11) slidably mounted in the left-right direction through a mounting base (12) containing the built-in mounting base (12) and held vertically by an internal air cylinder (18). The vertical support member (17) is provided.

Since the present invention has the above-mentioned structure, a small-sized cargo (20) such as bag-shaped flour in the container (19).
Before carrying out the container (19), the container (19) itself rises due to the elasticity of the suspension of the vehicle because it becomes lighter as the cargo (20) in the container (19) is carried out in advance, and thus the container (19) rises. ) And the platform (23) to prevent a step from occurring,
A hydraulic jack (26) is used to raise the tire diameter above the tire diameter.

Then, by driving the traverser (2) behind the rear end opening (21) of the container (19), the cargo unloading device (1) is advanced, and a distance sensor (which is mounted on the forefront of the traverser (2) ( The distance between the cargo unloading device (1) and the traverser (2) and the forefront of the cargo (20) loaded in the container (19) is measured by 8), and the cargo unloading device (1) on the traverser (2) is measured. ) To container (1
9) Corrected at an appropriate position behind the rear end opening (21),
The unloading work is started by moving it.

Furthermore, an air cylinder (15) to be installed inside
The arm (13) having a vacuum pad (14) that can be expanded and contracted by means of a suction pad and can be swung by an air cylinder or the like installed inside can be freely swung in the vertical and horizontal directions of the arm (13). Mounting base (1) with built-in air cylinders (16) (16 ')
2) A horizontal holding member (11) slidably attached in the left-right direction is fixed to a vertical support member (17) vertically held by an air cylinder (18) installed therein. Sensor holding material (9)
The front cargo (2) loaded in the container (19)
0) to the container (19) rear end opening (21)
The container is inserted into the upper part of the container (19) and the height sensor (10) slidably held by the sensor holding material (9) inserted into the container (19) is slid in the left-right direction. The load height of the cargo (20) loaded in the front row in (19) is measured.

Next, the highest position of the cargo (20) is detected based on the loading height data of the cargo (20) loaded in the front row in the container (19) measured by the height sensor (10). At the same time, the position of the arm (13) having a vacuum pad (14) that can be sucked at the tip is placed on the lateral holding member (11) with respect to the left and right positions, the mounting base (12) supporting the arm (13). By sliding by the operation of the air cinder (18 '),
By raising and lowering by injecting and discharging the air pressure in the air cylinder (18) that houses the high and low positions,
After the position is adjusted to an appropriate position, an air cylinder (15) for expansion and contraction, which incorporates an arm (13) having a vacuum pad (14) that can be sucked at the tip, is attached to the tip of the arm (13) by a vacuum pad (14). ), The distance sensor (22) attached to the container (19) is used to measure the distance from the front row cargo (20) loaded in the container (19) to extend the arm (13), and then the arm (13) is extended and held horizontally. An air cylinder for vertically rotating the arm (13) built in a mounting base (12) that is slidably mounted in the left-right direction while supporting the arm (13) integrally with the material (11). The arm (13) is swung by operating the armature (16), and the cargo (20) in the container (19) to be sucked is attached to the vacuum pad (at the tip of the arm (13) ( 4) is brought into contact, and then the pump connected to the vacuum pad (14) is operated to adsorb the cargo (20) to the vacuum pad (14), and again the air cylinder (15) to be installed is operated. This causes the arm (13) to contract, and the arm (1
The vacuum pad (14) at the tip of 3) is returned to the collecting belt conveyor (4) arranged on the traverser (2) and is connected to the vacuum pad (14) for adsorbing and holding the cargo (20). By stopping the operation of the pump, the cargo (20) is transferred from the vacuum pad (14).
The cargo (20) placed on the collecting belt conveyor (4) by dropping the cargo onto the collecting belt conveyor (4).
Is sent to the conveyor belt conveyor (24) through the telescopic belt conveyor (7) pulled behind the traverser (2) by the operation of the collecting belt conveyor (4), and is stored or stored in a warehouse or a pallet. Is to be loaded.

On the other hand, the arm (13) on which the cargo (20) adsorbed by the vacuum pad (14) at the tip of the arm (13) is dropped onto the collecting belt conveyor (4) is again loaded with the cargo (20) of the first cargo (20). As cargo is collapsed as it is carried out, the cargo height of the cargo (20) changes, and
If the carry-out work is continued based on the load height data of 0), the load collapse may occur again. Therefore, in order to prevent the load collapse of the cargo (20), the change of the load height of the cargo (20) is changed. For the measurement, the height sensor (10) slidably held by the sensor holding member (9) inserted in the container (19) is slid in the left-right direction again to the front row in the container (19). Based on the data of the loading height of the cargo (20) loaded on the front row in the container (19) measured by the height sensor (10) by measuring the loading height of the cargo (20) loaded on the
The highest position of the cargo (20) existing in the container (19) is detected, and the position of the arm (13) having a vacuum pad (14) that can be sucked at the tip is set to the position of each air cylinder (18) (18 '). ) Is adjusted, and further the air cylinder (15) installed inside the arm (13) is operated to extend the arm (13),
The vacuum pad (14) at the tip of the arm (13) is operated to suck and hold the cargo (20) and drop it onto the collecting belt conveyor (4). After carrying out for the cargo (20) loaded in the front row in 19), the carry-out work is similarly continued for the cargo (20) loaded behind it, and the cargo (20) is loaded in the container (19). All the cargo (20) loaded in the container is carried out of the container (19).

By the way, with respect to the cargo (20) loaded in the corner of the container (19), the arm (13) comes into contact with the container (19) itself and the arm (13).
Since the vacuum pad (14) at the tip does not accurately contact the cargo (20) that is the object to be sucked, the horizontal holding member (which allows the arm (13) to move up and down with respect to the vertical support member (17) ( The air cylinder (1) for turning in the lateral direction, which is built into the mounting base (12) mounted on the (11)
By activating 6 '), the arm (13) can be swung laterally, and the vacuum pad (14) at the tip of the arm (13) can be reliably brought into contact with the cargo (20) that adsorbs and holds it. Since the cargo (20) can be surely adsorbed and held on the vacuum pad (14) at the tip of the arm (13), it is possible to smoothly and quickly carry out the cargo (20) inside the container (19). . Further, when the cargo (20) is loaded near the ceiling in the container (19), for example, the vacuum pad (14)
The vacuum pad (14) is moved to the arm (13) by operating the air cylinder installed at the base of the
And the skewed vacuum pad (1
4) the tip of the container (19) and the cargo (2
By inserting it between the vacuum pad (14) and the vacuum pad (14), the cargo (20) can be adsorbed and held by the vacuum pad (14) and then carried out of the container (19).

A guide (5) arranged on the collecting belt conveyor (4) arranged on the traverser (2).
When the cargo (20) sucked and held by the vacuum pad (14) provided at the tip of the arm (13) is dropped onto the collecting belt conveyor (4), it is smoothly pulled behind the traverser (2). The expansion belt conveyor (7) is expanded to the front so that it can be delivered to the expansion belt conveyor (7), but the collection belt conveyor (4) arranged on the traverser (2) is connected to the traverser (2). Even if the cargo (20) loaded in the container (19) falls out of the container (19) during the unloading work, the collection is performed by expanding the width of the vehicle body and expanding the guide (5) as well. By belt conveyor (4) and guide (5)
It can be smoothly delivered to the telescopic belt conveyor (7) connected to the conveyor belt conveyor (24) fixed on the platform (23).

Further, FIG. 6 shows a cargo unloading device (1 ') according to a second embodiment of the present invention, which is not a bag-like small-lot cargo (20) to be carried out. ,
It is a cargo (20 ') in the shape of a carton, and for this reason, in the vertical support member (17) integrally arranged with the traverser (2), the horizontal holding member (1) that can be lifted up and down is held.
1) The air cylinder (1) that is supported by the mounting base (12) slidably attached to the interior of
5) The top and side surfaces of the carton-shaped cargo (20 ′) that is the object to be sucked can be sucked at the same time via the L-shaped pad support member (25) at the tip of the arm (13) that can be expanded and contracted by the above. By arranging a plurality of vacuum pads (14 '), even if the cargoes loaded in the container (19) to prevent the cargo collapse are adhered to each other,
Since there are a plurality of suction surfaces of the plurality of vacuum pads (14 '), the suction force can be kept to a minimum on the upper surface or the side surface of the cargo (20'), and particularly because it is also held on the side surfaces. Since it is possible to prevent damage such as unsealing of the upper surface to the suction surface of the cargo (20 ') which is a suction object, the arm (13) is used to peel off the adhesive surfaces of the cargo (20') which is a suction object. Even if swinging in the up-down direction, the cargo (20 ') that is an object to be sucked can be carried out without collapsing the cargo in the container (19).

Incidentally, as described in the embodiment of the present invention, the cargo (20) (2) loaded in the container (19).
0 '), the loading device of the cargo (20) (20') is automatically measured from the front row to the top row at any time by the control device that controls the cargo unloading apparatus (1) (1 '). On the other hand, cargo (20) (20 ') loaded at the highest position
From the above, the arm (13) is sequentially operated, and suction is performed by the vacuum pad (14) provided at the tip of the arm (13) to collect the conveyor belt (4) on the traverser (2).
These freight (20) (2
It is also possible to carry out all the unloading work of 0 ') manually.

[0023]

As described above, the loading height of the cargo loaded in the container is measured for the cargo loaded in the foremost end of the container in advance before carrying out the work, and the cargo is loaded in the foremost end of the container. Of the cargo, the one with the highest loading position is sequentially sucked and held by the vacuum pad at the end of the arm that operates by the air cylinder,
By carrying out the product by dropping it on the collection belt conveyor arranged on the traverser, it is possible to minimize the risk of load collapse etc. accompanying the carry-out work and to carry out the carry-out work of the cargo quickly and reliably. It has an excellent effect.

[Brief description of drawings]

FIG. 1 is a side view of a cargo unloading device according to an embodiment of the present invention.

FIG. 2 is a top view of the cargo unloading device according to the embodiment of the present invention.

FIG. 3 is a graph showing a state of cargo loaded in a container and data obtained by measuring the state with a height sensor.

FIG. 4 is a partial sectional view of a vacuum pad at the tip of an arm.

FIG. 5 is a flowchart showing a procedure for carrying out cargo.

FIG. 6 is a cargo unloading device according to a second embodiment of the present invention.

FIG. 7 is a side view showing a suction state of the cargo of the vacuum pad used in the cargo unloading device according to the second embodiment of the present invention.

[Explanation of symbols]

 1, 1'Cargo unloading device 2 Traverser 3 Cargo unloading part 4 Collection belt conveyor 5 Guide 6 Pilot seat 7 Telescopic belt conveyor 8 Distance sensor-9 Sensor-holding material 10 Height sensor-11 Horizontal holding material 12 Mounting base 13a -Mum 14 Vacuum pad 15 Air cylinder 16 (for vertical rotation) Air cylinder 16 '(for horizontal rotation) Air cylinder 17 Vertical support 18, 18' Air cylinder 19 Container 20, 20 'Cargo 21 ( Rear end opening (of container) 22 Distance sensor (attached to arm tip) -23 Platform 24 Conveyor belt conveyor 25 (L-shaped) pad support 26 Hydraulic jack

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-64-53927 (JP, A) JP-A-53-87464 (JP, A) JP-A-5-105235 (JP, A) JP-A-5- 246549 (JP, A) JP 62-259927 (JP, A) Actually open 4-135523 (JP, U) Actually open 61-176123 (JP, U)

Claims (4)

(57) [Claims] 1. With respect to a cargo loaded in a container which is raised above a tire diameter by a hydraulic jack, a loading height of the frontmost cargo is detected from the front row to the last row of the loaded cargo. Measured by the above method, the cargo is carried out by suctioning and carrying it out from the cargo located at the top of the container onto the collecting conveyor that is installed outside the container. 2. A self-propelled traverser equipped with a distance sensor for measuring the distance to the forefront cargo in the container at the forefront has a guide so as to expand toward the front, and behind it. In addition, the collection conveyor connected to the telescopic conveyor pulled by the traverser is integrally arranged with the cockpit containing the computer that processes the signal from each sensor, and in front of the traverser, the cargo to be loaded in the container is loaded. An arm with a vacuum pad that measures height and is equipped with a height sensor that is slidable in the left and right directions, and that is expandable and contractible, can be sucked at the tip, and can be vertically swung The mounting base, which is freely supported, is attached to the horizontal holding member, which is slidable in the left-right direction, in the vertical direction. A cargo unloading device integrally provided with a vertical support member that is vertically held. 3. On a self-propelled traverser equipped with a distance sensor for measuring the distance to the forefront cargo in the container at the forefront, it is connected to a telescopic conveyor towed by the traverser behind it. 3. The cargo unloading device according to claim 2, wherein the collecting conveyor installed in the vehicle has a guide so as to widen forward to the width of the traverser. 4. A plurality of vacuum pads are arranged at the tip of an arm that can be expanded and contracted by an internal air cylinder so that the upper surface and the side surface of an object to be aspirated can be simultaneously sucked through an L-shaped pad support member. The cargo unloading device according to claim 2 or 3, wherein