JP2570058Y2 - Stowage control 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 palletizing stowage control device for stacking stowage such as grain bags on a pallet in a predetermined pattern.

[0002]

2. Description of the Related Art In a palletizer of this kind, a stacking pattern such as the number of stacking stages on a pallet and a stacking direction is selected before a stacking operation, and the stacking pattern stored in a memory of a CPU is selected. According to the above program, the holding claws are moved in the three-dimensional direction to perform the stowage. When actually performing the loading operation according to the set loading pattern, especially for loaded items such as grain bags, the type and filling state of the filled grains, and the opening of the bag opening The shape of the grain bag differs slightly depending on the method and the like, and an unnecessary gap may be generated between the loaded items, or a partial polymerization may occur. In this case, in the conventional apparatus, it is necessary to remove the load on the pallet, set a new load pattern, or adjust the load and perform the operation from the beginning.
The workability was extremely poor.

[0003]

The purpose of the present invention is to solve the above-mentioned drawbacks of the prior art and to provide a palletizer with good workability.

[0004]

A. Means for Solving the Problems B. a stowage device that holds the stowage A supplied based on a control signal from the CPU 44 with the holding claws 49, moves the stowage three-dimensionally, and stows the pallet 9 sequentially; C. stopping means for stopping the holding claws 49 at the discharge position of the load A by the load position adjustment command signal during the loading operation; The stowage control device in the palletizer including stowage position changing means for changing the position of the holding claw 49 at the time of this stop is adopted.

[0005]

When the stowage pattern is selected and the start switch 50 is pressed, the holding claw 49 first holds the supplied stowage A in accordance with the stowage pattern program stored in the memory of the CPU 44, and then performs the tertiary operation. Holding claw 4 in original direction
The pallet 9 is moved to perform the loading operation on the pallet 9 sequentially. For example, if it is found at the time when the first-stage stowage is completed that the stowed materials A and A to be stowed on the pallet 9 partially overlap with each other or that an unnecessary gap is generated. Must be corrected because there is a risk of overturning if subsequent loading is performed in multiple stages. In this case, when the stowage position adjustment switch is pressed, the holding claw 49 is stopped at the discharge position of the stowage a. At the time of this stop, the loading position of the load A already loaded is manually corrected, and then the holding claws 49 which are stopped at the release position to match the corrected load A are moved back and forth, or left and right, and further. Fine adjustment is performed vertically, and if necessary, the rotation angle of the holding claw 49 is changed to adjust the discharge position. Next, start switch 5
When 0 is pressed, the load A is discharged at this correction position, the stowage is performed, and the process moves to the next step. This operation is repeated to correct all necessary stowage positions. Further, the corrected stow position data is stored in the memory of the CPU 44, and thereafter, stow is performed at this corrected position.

[0006]

[Effect of the Invention] Since the present invention is constructed as described above, it is possible to adjust the stowage position during the stowage work, and to take the already stowed goods a from the pallet 9 as in the prior art. Except for setting a new stowage pattern or adjusting the stowage pattern and then starting stowage, it is not necessary to perform complicated work, and efficient work can be performed. Further, in the case where the loading position is adjusted during this work, the holding claw 49 is stopped after moving to the discharging position while holding the loaded material A, and the adjustment is possible in this state. From
Its adjustment is very 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. In addition,
In the following description, the moving direction is shown with the moving body 5 as the X axis, the traversing body 3 as the Y axis, the elevating body 2 as the Z axis, and the rotation axis of the holding unit 4 as the H axis. A supply conveyor 35 is driven by a motor M8, and is configured to be able to supply grain bags one by one to a 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 rotations of the output shaft of the motor M1 by a pulse to determine the moving direction and moving distance of the elevating body 2, that is, the Z axis.
, And compares it with the command value to use 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, that is, the Y-axis, to the CPU 44, compares it with a command value, calculates the stop value, and controls the motor M2 to stop. Use for etc.

Similarly, the rotary encoder E3 inputs the moving distance of the moving body 5, that is, the X-axis, to the CPU 44 by detecting the number of revolutions of the output shaft of the motor M3 by a pulse.
The calculated value is compared with the command value and used for the stop control of the motor M3. Further, the rotary encoder E4 detects the number of revolutions of the output shaft of the motor M4 by a pulse, so that the holding unit 4
, The rotation angle of the H axis is input to the CPU 44,
The calculated value is compared with the command value and used for stop control of the motor M4.

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
Is detected by the above-described rotary encoder E1 and the motor M1 is detected at a slightly forward position.
Is decelerated, the driving is stopped, and the electromagnetic brake B1 is surely 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 and the motor M1 is detected.
This control is slightly higher than 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, and 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.

Next, a description will be given with reference to the flowcharts shown in FIGS. 11 and 12. First, when the power switch 38 is turned on, the CPU 44 is started up to enter the operation standby mode.
In this operation standby mode, when the display changeover switch 52 is turned on, the stowage pattern can be switched. When the selection switch 55 or 56 is pressed in this state, the stowage pattern stored in the memory is changed one by one and the display device 73 is changed. Displayed to While looking at this display, the stowage pattern is selected and the setting switch 57 is pressed to make the setting.

Next, when the start switch 50 is turned on, the mode is switched to the stowage mode.
F, After confirming that the adjustment switch 53 is OFF, the stowage data of the selected stowage pattern is read from the memory.
That is, if the bag number counter is the first bag, it is the stow position data from the origin position of each moving body of the first bag in the first stage.
Each data of x, y, h, zf, zu, zd is read.
Here, x is the moving distance of the moving body 5 in the X-axis direction, y is the moving distance of the traversing body 3 in the Y-axis direction, h is the H-axis rotation angle of the holding unit 4, and zf is the bag from the origin of the elevating body 2. The descending distance in the Z-axis direction to the take-up position, zu indicates the distance in the Z-axis direction to each stacking stage of the elevating body 2, and zd indicates the descending distance in the Z-axis direction to the bag release position of the elevating body 2.

Next, the read data is converted into the pulse numbers of the encoders E1 to E4, X, Y, H, ZF, ZU and ZD.
At the same time, the lifting / lowering body 2 is first lowered by the ZF pulse in the Z-axis direction, and the holding claws 49 are opened and closed to hold the grain bag, which is the load A supplied on the supply conveyor 35.
Subsequently, the elevating body 2 is raised by ZF + ZU pulses in the Z-axis direction, and the moving body 5 is moved by X pulses in the X-axis direction.
Are rotated in the Y-axis direction, and the holding unit 4 is further rotated by H-pulses about the H-axis to stop at the discharge position. If the adjustment switch 53 is OFF at this point, the stowage operation is continued.

First, the lifting body 2 is lowered by the ZD pulse in the Z-axis direction to approach the loading surface, the holding claws 49 are opened and the loading is performed, and the ZD pulse is raised again. The number of rotary encoders E2, E3, E4 for measuring the amount of movement of the horizontal body 3 and the holding unit 4 in the axial direction is cleared. Next, the moving body 5, the traversing body 3, and the holding unit 4 are respectively returned to the origins. Further, at this time, when it is confirmed again that the adjustment switch 53 is OFF, the lifting / lowering body 2 is lowered by the ZU pulse in the Z-axis direction, and the origin is returned. And the bag number counter is set to +1.

This operation is repeated to sequentially perform stowage. For example, when an unnecessary gap is formed between the grain bags A and A at the time when the first-stage stowage is completed, or when partial polymerization occurs, Needs to adjust the loading position, in this case,
When the adjustment switch 53 is turned on during the stowage process, 1 is input to the memory F, and the stowage process is continued to move the holding claw 49 to the release position. Since 1 has been input to the memory F at this release position, the stowage operation is stopped, the mode is switched to the adjustment mode, and the stowage position of the stowed item A held is corrected. First, when correcting the position of the moving body 5 to the front side in the X-axis direction, the manual forward movement switch 65 is turned on.
When N, the moving body 5 is moved at a low speed only at the time of ON, and the stowage position is corrected while looking at the position of the lower stage or the adjacent grain bag A already stowed and corrected.

Similarly, by operating the manual rearward movement switch 66, the moving body 5 is corrected rearward in the X-axis direction, and by operating the manual left / right movement switches 63, 64, the horizontal body 3 is corrected in the Y-axis direction. . Further, by operating the manual left / right rotation switches 69 and 70, the rotation angle h of the holding unit 4 in the H-axis direction is corrected and stored. In this case, the rotation angle h is set to the manual left / right rotation switch 69, 70.
Is changed every 90 ° by a single ON operation, is converted into a pulse H, is stored in the memory, and the holding unit 4 is rotated and corrected.

When the start switch 50 is turned on after the completion of these correction operations, the stowage operation is continued, and
When the selection switch 55 or 56 is turned ON, the stowage operation is continued after the descending distance zd in the Z-axis direction to the bag release position of the elevating body 2 is changed to the high position or the low position. When the loading operation is started, first, the lift 2
At the same time, the opening / closing claw 49 is opened at the position after the correction to release the grain bag A and perform stowage. Subsequently, a normal return operation is performed, but when the moving body 5, the traversing body 3, and the holding unit 4 return to the origin, they are cleared at the release position and are measured and calculated by the encoders E2 and E3 from the release position to the origin. The moving distance is stored in the memory and the stowage pattern is corrected. When this correction is completed,
Is input to the terminal and the adjustment operation is completed. Subsequently, when the stow position in the next step is also corrected, the adjustment switch 53 is operated again to perform the same correction. By performing the above adjustment operation on all the bags to be stacked,
It is also possible to newly create an arbitrary stowage pattern.

[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]

 9 Pallet 44 CPU 49 Holding claw a.

Claims (1)

(57) [Scope of request for utility model registration] 1. A. First Embodiment A stowage device for holding the stowage (a) supplied based on a control signal from the CPU (44) with the holding claws (49), moving the stowage in the three-dimensional direction, and sequentially stowing the stowage on the pallet (9); B. B. stopping means for stopping the holding claw (49) at the discharge position of the load (a) by the load position adjustment command signal during the loading operation; A stowage control device in a palletizer comprising stowage position changing means for changing the position of the holding claw (49) during this stop.