JP2561642Y2 - Storage device in palletizer - 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 holding a load such as a grain bag and sequentially stacking the pallet on a pallet. More specifically, the present invention relates to a palletizer for preventing damage when transporting the palletizer. And a storage device in a palletizer for storing.

[0002]

2. Description of the Related Art An elevating body that can move up and down along a vertical frame, a traversing body that can move left and right along the elevating body and protrudes forward, and a moving device that has a holding part that can move back and forth along the traversing body. In a so-called three-axis type palletizer composed of a body or the like, since the entire apparatus is extremely large and is installed as a facility, each part is transported and assembled on site.

[0003]

In this invention, the palletizer body is configured to be loaded on a truck or the like so as to be transportable, and to be configured so as to be stored so as not to be damaged during transportation.

[0004]

Along a vertical frame (1), a vertically movable body (2), a horizontally movable body (3) that can move left and right along the vertically movable body (2), and a forwardly protruding body (3). In a palletizer comprising a movable body 5 having a holding portion 4 which can be moved back and forth, sensors S5 and S6 for detecting abnormal lowering of the elevating body 2 are provided below a stowable elevating range of the elevating body 2 during a normal stowage operation. Storage / destination control means for activating the emergency stop switch k1 of the power supply circuit upon detection of the sensors S5 and S6, and lowering the lifting / lowering body 2 to a storage position below the stowable lifting / lowering range; The storage device in the palletizer includes storage escape priority control means for raising the storage position of the body 2 from the storage position to the stowage elevation range.

[0005]

[Effect of the invention] During normal stowage work, the lifting body 2
Is moved up and down within the stowage range, and the horizontal body 3 and the moving body 5
Are moved left and right and back and forth, and the loaded items such as grain bags are held by the holding unit 4 and are sequentially stacked on the pallet. If the elevating body 2 abnormally descends from the stowable elevating range during this stowage operation, this is detected by the sensors S5 and S6, and the emergency stop switch k1 of the power supply circuit is operated to operate the entire apparatus. Stop. When the palletizer is transported, the storage / lowering priority control means lowers the lifting / lowering body 2 to a storage position below the loading / lowering range prior to the loading control, and stabilizes the palletizer by contacting the machine frame. And hold it. When assembling the palletizer, the lifting / lowering body 2 is raised to the normal stowable lifting range by the storage escape priority control means prior to the stop control by the sensors S5 and S6.

[0006]

[Effect of the Invention] Since the present invention is constructed as described above, the sensors S5, S
Despite the provision of a safety device that shuts off the emergency stop relay contact k1 and stops the entire device when an abnormal descent occurs, the storage and descent priority control means and the storage and escape priority control means load the elevating body 2 below the elevating range. Can be stably held by being lowered to the storage position, so that the device can be transported, and restarting after transport is also easy.

[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 are provided at the rotation start position and the maximum rotation position (specifically, at 270 degrees from the rotation start position) to regulate the rotation range of the holder 4. In addition to the rotation stop control by E4, the drive of the motor M4 is stopped by the detection of the sensors S15 and S16. Further, the rotation start position sensor S15 is detected by the rotary encoder
The number of pulses stored in U44, that is, the rotation angle is erased, and 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 according to a stowage pattern stored in a memory (not shown) in response to a start input signal to the CPU 40 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.

Next, the operation will be described with reference to the flowcharts shown in FIGS. 11 and 12. First, the power switch 38 is turned on and the CPU 44 is started. When performing normal stowage work, press the start switch 50,
OFF of the stop switch 51, O of the installation switch 48
After confirming the FF, normal stowage control is performed in the stowage control mode. As a result, the normal stowage operation with the installation switch 48 ON, that is, the function of the safety device stopped, is limited. Next, when each part is to be operated particularly when performing an inspection or the like, the manual operation switch 58 is operated, and when the installation switch 48 is OFF and the stop switch 51 is ON, the operation mode is switched to the manual operation mode. The user operates each of the manual operation switches 59 to 72 to drive each part and perform an inspection work. In the stowage control mode and the manual control mode, each of the sensors S1
To S23 are performed.

Next, when the elevating body 2 is lowered below the normal stowable elevating range when transporting the palletizer or the like, the installation switch 48 is operated to first move to the relay K1 as a safety stop device. And the manual lowering switch 62 is pressed. Then, as shown in the flowcharts of FIGS. 11 and 12, the installation switch 48 ON is detected, and the manual ascent switch 6 is further turned on.
Confirm that 0 is OFF and the manual lowering switch 61 is ON, and set the lowering speed to medium speed. Further, O of sensors S5 and S6
When the FF detects that the elevating body 2 is at a high position and detects that the manual operation switch 58 is OFF, the elevating body 2 quickly descends at a medium speed and decelerates by turning on the sensor S5.
The operation is stopped by turning on the sensor S6.

Subsequently, when the manual operation switch 58 is operated, the lowering speed is set to a low speed and the sensor S5
, S6 are canceled, and the elevating body 2 is lowered at a low speed to the installation position below the stowage elevating range. These constitute the storage descending priority control. Also, when the transportation is completed and the lifting body 2 is returned to the stowage lifting range,
When the installation switch 48 and the manual ascending switch 61 are turned on, the ascending speed is set to a medium speed, and when the sensor S2, the manual operation switch 58, and the sensor S1 are OFF, the ascending speed is increased, and the speed is reduced by the detection of the sensor S2. The operation is stopped by the detection of the sensor S1. When the manual operation switch 58 is
If it is N, the ascending speed is set to low speed,
The operation is stopped by the detection of the sensor S1. Note that the manual lifting switch 61 may be turned off within the stowage lifting range and stopped at an appropriate position. These constitute storage and escape priority control means.

[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 flowchart.

FIG. 12 is a flowchart.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vertical frame 2 Elevating body 3 Horizontal body 4 Holding part 5 Moving body S5 sensor S6 sensor k1 Relay switch

Continuation of the front page (56) References JP-A-58-139926 (JP, A) JP-A-62-96225 (JP, A) JP-A-58-117424 (JP, U) JP-A-61-181025 (JP, A) , U)

Claims (1)

(57) [Scope of request for utility model registration] An elevating body (2) capable of elevating and lowering along a standing frame (1), (1) and a transverse body (3) movable left and right along the elevating body (2) and protruding forward. In a palletizer composed of a movable body (5) having a holding portion (4) and capable of moving back and forth along the traversing body (3), the palletizer is provided with a lifting / lowering area of the lifting / lowering body (2) during a normal loading operation. Sensors (S5) and (S6) for detecting abnormal lowering of the lifting body (2) are provided.
5) When the (S6) is detected, the emergency stop switch (k1) of the power supply circuit is made operable, and the descent priority control means for lowering the elevating body (2) to the storage position below the stowage elevating range. And a storage escape priority control means for raising the stowage body (2) from the storage position to the stowage elevating range, in a palletizer.