JP2560337Y2 - Palletizer stowage control 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 palletizer for sequentially stacking loads such as grain bags on a pallet.

[0002]

2. Description of the Related Art A palletizer of this type is generally installed as an equipment for a facility, and does not change the supply direction and the supply attitude of the load on the way.

[0003]

SUMMARY OF THE INVENTION The present invention aims to provide a palletizer which is small and can be mounted on a truck or the like, and which is configured to be capable of supplying a load from different directions. It is.

[0004]

A. Means for Solving the Problems The stowage was Lee supplied based on a control signal from the CPU44 is held by the holding claws 49, rows with sequential product on the pallet 9 is moved in the three-dimensional directions
B. Stowage control means; A holding claw 49 that can be opened and closed on both sides is configured to be rotatable left and right about the rotation shaft 29, and the rotation angle is detected by an encoder E4 and stopped at a predetermined rotation angle to control the loading direction. B. direction control means; The rotation range of the holding claw 49 is
Are set so that the opening and closing directions are different by 90 °, and sensors S15 and S16 are provided at the end of the rotation range.
A rotation range restricting means for stopping the rotation of the holding claw 49 when the detection of 16 is performed; E. consisting origin selecting means for setting the selected work start position one side as the origin of the sensors S15, S16 of the left and right in accordance with the attitude of the supplied stowage was Lee The configuration of the palletizer stowage control device .

[0005]

First, a palletizer is installed, and furthermore, a supply conveyor 35 for supplying the load A to the palletizer is installed. Depending on the conditions of the building, etc., from the front of the palletizer and from the rear, the palletizer is further installed. May be supplied from the side. When the arrangement of the supply conveyor 35 with respect to the palletizer is determined, the holding claws 49 are moved in the left-right direction according to the supply posture, that is, when the load A is supplied in a vertical posture from the front or the rear. In order to open and close to hold the load A long in the front and back from both sides, the sensor S15 at one end of the rotation range of the holding claw 49 different by 90 ° is selected as the origin, and the work start position is set. Further, when the supply conveyor 35 is arranged on the side with respect to the palletizer, and the load A is supplied from the side, the holding claws 49 are opened and closed in the front-rear direction, and the long load A is moved from both sides. In order to hold, the sensor S16 at the other end of the rotation range of the holding claw 49 is selected as the origin, and the work start position is selected. When stowage, first, the holding claws 49
Is selected and rotated to the sensor S15 or S16 which becomes the origin, the number of pulses detected by the encoder E4 and stored in the CPU 44, that is, the rotation angle is erased and the origin is input. Next, the load A is held by the holding claw 49, and the holding claw 49 is moved to a position stored in the memory.
9 is rotated to change the orientation to a predetermined direction and the stowage is performed.

[0006]

According to the present invention, as described above, the opening and closing direction of the holding claw 49 is set to 90 degrees at both ends of the rotation range of the holding claw 49.
° and the sensors S15 and S16 are provided at both ends of this rotation range so as to be selectable as the origin when the holding claw 49 is rotated. The supply direction can be changed according to conditions.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A palletizer will be described with reference to the drawings.
An automatic supply device B for pallets 9 is provided at the rear side of the palletizer main body A, and the pallets 9 stacked in multiple stages are fed out one by one onto an inclined conveyor 10 below, and passed below the palletizer main body A to receive a pallet conveyor 11. To be transported to a predetermined loading position. The pallet supply device B is formed in a box shape with four corner pallet drop guide plates 12, 12 and connecting frames 13, 13, etc. connecting the pallet drop guide plates 12, 12, and has the above-described inclined conveyor 10 mounted on a lower portion thereof.

[0008] Square shafts 14, 14 are rotatably mounted along the outer sides of the left and right connecting frames 13, 13, and the square shafts 14, 1 are further mounted.
4 At the left and right, extended members 17, 17 provided with upper and lower two-stage locking portions 15, 16 are fitted. Reference numeral 18 denotes an electric cylinder, which is driven by a motor M6 so that the piston rod 19 can expand and contract. An arm 20 is fixed to one end of the square shaft 14 and extends vertically, the lower end is pivotally connected to the tip of the piston rod 19, and the upper end extends downward from the other end of the square shaft 14. The arm 21 is pivotally connected to the other end of the pivotal connecting rod 22.

Therefore, when the pallet 9 stacked in multiple stages and the lowermost surface of the pallet 9 is supported by the feeding members 17, 17, the piston rod 19 of the electric cylinder 18 is extended and the lower side of the feeding member 17 together with the square shaft 14 is extended. When the locking portion 16 is pivoted outward, the upper locking portion 15 locks and holds the locking portion of the second pallet 9 from below, and only the lowermost pallet 9 locks downward. The part 16 is unlocked and falls onto the inclined conveyor 10.

Next, the piston rod 19 of the electric cylinder 18
And the feeding member 17 is rotated in the opposite direction to rotate the upper locking portion 1
5 is released, and the lower surface of the pallet 9 is locked and held by the lower locking portion 16. The palletizer body A is provided with vertical frames 1 and 1 standing on the left and right sides, and the lifting frame 2 is supported on the vertical frames 1 and 1 so as to be able to move up and down. Attach the traversing body 3
The horizontal body 3 is provided with a movable body 5 movable in the front-rear direction and having a holding portion 4 for luggage such as grain bags at a lower portion.

Sprockets 2 are provided at the upper and lower positions of the vertical frames 1 and 1, respectively.
3 and 23, a chain 24 is hung between the sprockets 23, 23, and the elevating body 2 is attached to the left and right chains 24, 24, and the chains 24, 2 are driven by a motor M1.
4 is configured to be able to raise and lower the elevating body 2. Pulleys 25 and 25 are mounted on left and right positions of the elevating body 2, a timing belt 26 is stretched between the pulleys 25 and 25, and the traversing body 3 is attached to the timing belt 26. 26 is driven so that the traversing body 3 can be moved left and right.

Pulleys 27, 2 are located at front and rear positions of the transverse body 3.
7, a timing belt 28 is stretched between the pulleys 27, 27, the moving body 5 is attached to the timing belt 28, and the timing belt 28 is driven by a motor M3 mounted on the base of the traversing body 3. The moving body 5 is configured to be able to move back and forth. These elevating body 2, traversing body 3, and moving body 5 are each slidably guided by a guide rail (not shown).

The holding section 4 has a vertical rotating shaft 2
9, and the holding direction can be changed by rotating the vertical rotation shaft 29 by transmission of gears 30, 30 from the motor M4. Also, the holding section 4
Are holding claws 49 which can be opened and closed in the left and right directions around the pivot 31;
49 and an electric cylinder M5 for driving the guide claws 32, 32 to open and close via a link mechanism 33. 34
Denotes a cover, which covers the upper part of the holding unit 4. 35 is a supply conveyor driven by a motor M8,
The grain bags are configured to be supplied one by one to the holding position of the palletizer A. 36 is an operation box.

Next, the control circuit will be described. 38 is a power switch, 39 is its relay contact, 40 is a breaker, 41 is a manual emergency stop switch, and k1 is a relay contact of a safety stop device. 43 is each sensor and CPU
This is a power supply circuit to supply power from AC 200V to DC 5V.
And 12V. The CPU 44 is a central processing unit that performs arithmetic processing on each input signal and outputs a control signal to each unit.

E1 is a rotary encoder, which detects the number of revolutions of the output shaft of the motor M1 by a pulse to input the moving direction and the moving distance of the elevating body 2 to the CPU 44;
The calculated value is compared with the command value and used for stop control of the motor M1. E2 is also a rotary encoder, which detects the number of revolutions of the output shaft of the motor M2 by pulse detection, inputs the moving distance of the traversing body 3 to the CPU 44, compares it with a command value, and uses it for stop control of the motor M2. .

Similarly, the rotary encoder E3 inputs the moving distance of the moving body 5 to the CPU 44 by detecting the number of revolutions of the output shaft of the motor M3 by a pulse, compares the moving distance with a command value, and performs a stop control of the motor M3. Use. The rotary encoder E4 detects the number of rotations of the output shaft of the motor M4 by a pulse, thereby inputting the rotation angle of the holding unit 4 to the CPU 44 and comparing the rotation angle with the command value to calculate the motor M4.
It is used for stop control etc.

X1 to X5 are relays, which are supplied with a command signal from the CPU 44 via a decoder / multiplexer 45, and are configured to be able to sequentially connect the relay contacts x1 to x5 in accordance with the command. Note that the decoder / multiplexer 45 operates even when an erroneous signal is generated from the CPU 44.
Process signals so that each relay is not connected at the same time. X6 is also a relay which receives a signal from the CPU 44 and connects the relay contact x6.

The inverter control device 6 receives a command for the direction of rotation and the number of rotations from the CPU 44, controls the frequency, starts the motor M2, and moves the traversing body 3 left and right. Similarly, the inverter control device 7 receives the rotation direction and rotation speed command signals from the CPU 44 and performs frequency control to control the motor M3.
To move the moving body 5 back and forth. Similarly, the inverter controller 8 is controlled by an input from the CPU 44 to supply power to the motors M1 and the drive circuits for the motors M4 to M7, and to control the CPU 44 among the relay contacts x1 to x5.
Via relay contacts that are sequentially connected according to commands from
Select and drive each motor.

Electromagnetic brakes B1 to B4 are attached to the output shafts of the motors M1 to M4, and apply a braking force when each motor stops. Next, each sensor and its control method will be described. The sensors S1 to S6 are sensors for detecting the position of the elevating body 2, and the sensors S1 and S2 are provided on the upper portion of the upright frame 1. When the ascent / descent body 2 is detected to move upward, the motor M1 is decelerated. When the sensor S1 on the upper side detects the upward movement, the drive of the motor M1 is stopped and the electromagnetic brake B1 is actuated to reliably stop. Further, when the lifting / lowering body 2 continues to rise further due to various troubles and comes off the lower sensor S2, the signal is input to the relay K1 via the decoder / multiplexer 46 and the AND circuit 47, and the relay contact k1 of the power supply circuit is connected. The entire cutting device can be stopped. Sensors S5 and S6 are provided below the standing frame 1. When the upper sensor S5 detects the lowering of the lifting / lowering body 2, the motor M1 is decelerated in the same manner. Is stopped, and the electromagnetic brake B1 is operated to surely stop. Further, when the lifting / lowering body 2 continues to descend further due to various troubles and comes off the sensor S5 on the upper side, the relay contact k1 which is an emergency stop device of the power supply circuit as described above.
And the entire device can be stopped.

Incidentally, the sensors S 1, S
The sensor 2 and the lower sensors S5 and S6 are provided as safety devices, and the detection of the movement of the lifting body 2 to the above position is performed by the rotary encoder E1 described above. In addition, lifting body 2
The detection of the movement to each of the other stowage stages is detected by the above-mentioned rotary encoder E1, the motor M1 is decelerated at a slightly forward position, the drive is cut off, and the electromagnetic brake B1 is reliably stopped.

The sensors S3 and S4 detect the bag standby position of the elevating body 2, and when the upper sensor S3 detects the lowering of the elevating body 2, the motor M1 is decelerated, and the motor M1 is decelerated. When the sensor S4 detects that, the drive of the motor M1 is stopped, and the electromagnetic brake B1 is operated to stop at the bag standby position. Further, when the grain bag is transported to the standby position by the supply conveyor 35, the sensor S19 comprising a limit switch detects and the driving motor M of the supply conveyor 35 is detected.
8 is stopped, and a descending command is given to the lifting / lowering body 2 so as to be lowered to the grain bag holding position. This bag holding position is detected by the rotary encoder E1 to control the stop of the motor M1. This position is located slightly above the lower sensors S5 and S6.

The sensors S7 to S10 are sensors for detecting the position of the traversing body 3, and are provided in pairs on both left and right sides of the elevating body 2, and the sensors S8 and S9 on the left and right inner sides respectively traverse. When the movement of the body 3 is detected, the motor M2 is decelerated.
When the sensors S7 and S10 on the outer side detect, the driving of the motor M2 is stopped, and the electromagnetic brake B2 is operated to activate the transverse body 3.
Can be stopped. The traversing body 3 moves further outward due to various troubles and the like, and the sensors S8 and S
9 is output to the decoder / multiplexer 4
6. The relay K1 is input to the relay K1 via the AND circuit 47, the relay contact k1 of the power supply circuit is cut off, and the entire device can be stopped. The detection of the movement of the traversing body 3 to each loading position is performed by the above-described rotary encoder E2, and the motor M2 is decelerated slightly before the stop position, and then the drive is stopped.
Further, it is stopped reliably by the electromagnetic brake B2.

The sensors S11 to S14 are position detecting sensors for the moving body 5, and are provided in pairs at the front and rear ends of the traversing body 3, and perform the same control as the movement detecting means for the traversing body 3 described above.
The position detection sensor S4 of the elevating body 2, the position detection sensor S6 of the traversing body 3, and the position detection sensor S11 of the moving body 5
The moving distance signal detected by the rotary encoders E1, E2, E3 and stored in the CPU 44 is erased, and is used as a sensor for returning to the origin.

The sensors S15 and S16 regulate the range of rotation of the holding section 4. The rotation start position and the maximum rotation position (specifically, 270 degrees from the rotation start position, The opening and closing directions of the holding claws 49 are different by 90 ° at both ends of the range.) In addition to the rotation stop control by the rotary encoder E4, the drive of the motor M4 is stopped by the detection of the sensors S15 and S16. It is. Further, the rotation start position sensor S15 or S16 erases the number of pulses detected by the rotary encoder E4 and stored in the CPU 44, that is, the rotation angle at the time of the detection, so that the origin can be returned.

The sensors S17 and S18 are provided on the holding claws 35 of the holding section 4.
Open / close operation is detected. The sensor S20 is a limit switch, which is provided at the end of the conveyor 11 and detects the loading of the pallet 9 to a predetermined position, and uses the detected signal as a grain bag stacking start signal. The sensor S21 detects the discharge of the pallet 9 after the loading and uses it as a supply start signal for the next pallet 9. The sensors S22 and S23 detect the feeding of the pallet 8 from the pallet supply device B, and
To drive the conveyor 11.

Reference numeral 48 denotes an installation switch for canceling the output to the relay K1 as a safety stop device and stopping the function of the safety device. The operation box 36 is provided with the following operation switches and a display device 73. Reference numeral 50 denotes a start switch, which drives each unit in accordance with a stowage pattern stored in a memory (not shown) in response to a start input signal to the CPU 44 to perform a normal stowage operation. 5
Reference numeral 1 denotes a stop switch for stopping the stowage operation.

Reference numeral 52 denotes a display changeover switch for switching an object to be displayed on the display device 73. 53 is an adjustment switch, 54 is a shift switch, 55 and 56 are selection switches for stowage patterns and the like. These are used to select a plurality of patterns described in the memory, that is, stowage postures, the number of stowage steps, and the like. Further, the height of the pallet 9 and the height of the goods to be loaded are input, and the setting is performed by the setting switch 57.

Reference numeral 58 denotes a manual operation switch.
8, the mode is switched to the manual standby mode,
Further, by operating the origin return switch 59, the elevating body 2 is moved to the origin, that is, the bag standby position detected by the sensors S3 and S4. 60 is a manual switch of the supply conveyor 35, 61 and 62 are manual up / down operation switches of the lifting / lowering body 2, 63 and 64 are manual left / right movement operation switches of the traversing body 3, and 65 and 66 are manual front / back movement operation switches of the moving body 5. , 67 and 68 are manual open / close switches of the holding unit 4, 69 and 70 are manual left / right rotation switches of the holding unit 4, 7
1 is a manual pallet feeding switch, and 72 is a manual pallet discharge switch.

FIGS. 11 to 16 are layout diagrams showing the direction of supply of the load A (the grain bag in the example) to the palletizer, with the bag mouth of the grain bag A facing in the direction indicated by the arrow. Transport in the direction. 11 is supplied from the right front to the palletizer body A, and FIG.
14 is supplied from the right rear, FIG. 14 is supplied from the left front to the palletizer body A, FIG. 15 is supplied from the left side, and FIG. 16 is supplied from the left rear. In the figure, the numbers attached to the arrows (1) to
(4) indicates the loading direction data: D, and <1> to <4> attached to the load A indicate the loading position data: R. Next, a description will be given based on the flowchart shown in FIG. 17. First, the display changeover switch 52 of the operation box 36 is pressed to cause the display device 73 to display the load supply direction as shown in FIGS. , 56, a figure corresponding to the layout of the apparatus is selected, and registration is performed by the setting switch 57.

When this registration is performed, first, if the supply direction data: D is (0) or (2), since the load A is supplied from the front or the rear, the sensor S15 is selected as the origin. Then, the motor M4 is driven to rotate to the left and stopped by the detection of the sensor S15. Next, the holding claw 49 opens and closes in the left-right direction, and holds the load A supplied from the front or the rear from both sides.

When the holding operation of the load A is completed,
It is determined whether the supply direction data D is (0) or (2), and it is determined whether the load A is supplied from the front or the rear, and the rotation direction r is set. This determination is for determining the front and rear direction of the load A, and further determines which position of the load position data: R is <0> to <4>.
The rotation angle to the right direction = θ is determined according to the data. Is determined by setting 90 ° to 1.

Next, according to the equation of θ = θ × C (C is the number of output pulses of the rotary encoder at 90 ° rotation), the rotation angle: θ is replaced by the number of output pulses of the rotary encoder (E4), Confirm ON of the sensor (S15), erase the measurement pulse: h of the rotary encoder (E4), and set the origin. Subsequently, the holding claws 49 are rotated rightward,
If the measurement pulse: h matches the command pulse: θ, the rotation is stopped. Also, with or before this change in the stow direction, the elevating body 2, the traversing body 3, and the moving body 5 are driven in the three-dimensional direction to move to the stow position based on a command from the CPU 44. When the movement is completed, the holding claws 49 are opened to release the load A and perform the loading.

Similarly, if the supply direction data D of the load A is (1) or (3), since the load A is supplied from the side, the sensor S16 is selected as the origin, and The motor M4 is driven rightward and stopped by the detection of the sensor S16, and the holding claws 49 are opened and closed back and forth to hold both sides of the load A.

When the holding of the load A is completed, it is determined again whether the supply direction data D is supplied from (1) or (3), that is, whether the supply is from the left or right. It is determined which position R is from <0> to <4>, and the rotation angle θ is determined in the same manner as described above.
Is turned on, erase the measurement pulse of the rotary encoder (E4) and set the origin. Subsequently, the holding claw 49 is rotated to the left, and if the measurement pulse: h and the command pulse: θ coincide, the driving is stopped.

[Brief description of the drawings]

FIG. 1 is an overall perspective view.

FIG. 2 is a side view.

FIG. 3 is a plan view.

FIG. 4 is a front view of the moving body 5;

FIG. 5 is a control circuit diagram.

FIG. 6 is a control circuit diagram.

FIG. 7 is a control circuit diagram of a sensor unit.

FIG. 8 is a side view showing the position of each sensor.

FIG. 9 is a plan view showing the position of each sensor.

FIG. 10 is a layout diagram of each operation switch.

FIG. 11 is a layout diagram.

FIG. 12 is a layout diagram.

FIG. 13 is a layout diagram.

FIG. 14 is a layout diagram.

FIG. 15 is a layout diagram.

FIG. 16 is a layout diagram.

FIG. 17 is a flowchart.

[Explanation of symbols]

 9 Pallet 29 Rotary axis 44 CPU 49 Holding claw E4 Encoder S15 sensor S16 sensor A

Claims (1)

(57) [Scope of request for utility model registration] 1. A. First Embodiment The stowage control means for holding the stowage (a) supplied based on the control signal from the CPU (44) with the holding claws (49), moving the stowage in the three-dimensional direction, and sequentially stowing on the pallet (9). And B. An openable / closable holding claw (49) is provided on both sides with a rotating shaft (2).
9) A stacking direction control means which is configured to be rotatable left and right about the center, and detects the rotation angle by an encoder (E4) and stops at a predetermined rotation angle to control the stacking direction; The rotation range of the holding claw (49) is set so that the opening and closing directions of the holding claw (49) are different by 90 ° at both ends, and sensors (S15) and (S16) are provided at the ends of the rotation range.
When the sensors (S15) and (S16) detect the holding claws (49)
A rotation range restricting means for stopping the rotation of D. Left and right sensor in accordance with the attitude of the object stowage supplied (i) (S15), consisting of an origin selection means for setting the working start position to select one side as the origin of the (S16) E. Palletizer stowage control device.