JP3051563B2 - Moving goods stacking device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for collecting moving articles to be continuously supplied, for example, a product, which is caught in the middle of the supply, transported to an accumulation position, and accumulated.

[0002]

2. Description of the Related Art Conventionally, when articles continuously sent in an irregular state by a transport conveyor are packed, first, articles continuously sent in an irregular state are arranged in a plurality of rows by guide rails. It is arranged, and the aligned articles in the middle of transportation are intercepted by a stopper, and the interlocked articles are transferred to another conveyor every several pieces, and are stacked in a two-stage stack, a three-stage stack, and packed. I have to.

However, articles continuously sent in an irregular state are moved laterally by guide rails,
When the stopper is used to block the articles, the articles may be displaced or fall down, and the alignment of the articles on the conveyor may be disturbed, which may hinder the stacking operation. In order to solve this drawback, there has been proposed an apparatus for collecting moving articles, which captures articles moving by the conveyor without stopping the conveyor, transports the articles to an accumulation position, and accumulates the articles.

The conventional example will be described with reference to FIG.
1 is an article, 02 is a conveyor (supplying means) for continuously conveying the article 01, 03a, 03b, 03c are a plurality of sprockets (driving vehicles of moving means), and 04 is a circulation between the sprockets 03a to 03c. A loop-shaped chain (flexible member) movably suspended, 05a and 05b are vacuum pads (capture tools of article capturing means) attached to the chain 04, and 06 is connected to a vacuum source (not shown). Rotary joints 07a and 07b are air hoses connecting the rotary joint 06 and the vacuum pads 05a and 05b.

Reference numeral 08 denotes a sprocket driving motor for driving the sprocket 03a, and reference numerals 09 and 09 denote sensors for detecting the passage of the article 01 on the transport conveyor 02. In the moving goods accumulating apparatus shown in FIG. 12, the sensors 09 and 09 installed at the point A use the transport conveyor 02.
The sprocket driving motor 08 is controlled while detecting the passage of the above article 01 and calculating the moving distance based on the detection signal obtained at that time.

[0006] The vacuum pads 05a and 05b are operated at a point C where the position and speed of the article 01 on the conveyor 02 coincide with the positions of the vacuum pads 05a and 05b to adsorb the moving article 01 on the conveyor 02. , Is captured, transported to an accumulation position, and accumulated.

[0007]

In the moving article stacking apparatus shown in FIG. 12, the moving article 01 can be captured, conveyed to the stacking position, and stacked in a line at the stacking position.
There is a problem that it is not possible to accumulate in two or three rows at the accumulation position. The present invention is proposed in view of the above problems,
The object is to accumulate articles in a multi-column × multi-row and multi-stage manner at an accumulation position. Another object of the present invention is to provide a moving article stacking device capable of efficiently performing a stacking operation.

[0008]

In order to achieve the above object, the present invention provides a supply means for continuously supplying articles,
A sensor for detecting an article position on the supply means, a loop-shaped moving means circulating by a motor whose speed is controlled based on a detection signal from the sensor, and the supply means operating based on a detection signal from the sensor. In an apparatus for collecting moving articles having an article capturing means or the like on the moving means side for capturing the above articles, the moving means may include a plurality of driving vehicles and a chain or the like suspended between the driving vehicles so as to be able to circulate. A flexible member, of the plurality of driving vehicles, two adjacent driving vehicles are configured to be movable by position changing means,
The position changing means, a fixed bracket arranged in parallel with the supply means, a moving bracket arranged movably perpendicular to the fixed bracket, interposed between the moving bracket and the fixed bracket, It is characterized in that it has expansion / contraction means such as a spring for applying tension to the flexible member while urging the moving bracket to the initial position.

Further, the present invention provides the above-mentioned moving article accumulating apparatus, comprising a plurality of moving means, a plurality of article catching means installed in each of the moving means, and a plurality of moving means driving systems.

[0010]

The moving article accumulating apparatus of the present invention is constituted as described above, and the position of the article is detected by the supply means by the sensor, and the speed of the motor of the moving means is controlled based on the detection signal of the sensor. Position and speed of article capturing means and articles attached to moving means (loop-shaped moving means constituted by a plurality of driving vehicles and a flexible member such as a chain suspended in a circulating manner between the driving vehicles) Are matched, the article is captured by the article capturing means, and the article is transported to the stacking position and stacked there. At that time, by the position change means,
Move two sets of driving vehicles adjacent to the moving means to an arbitrary position,
Change the stacking position along the flexible member. Where spring
The moving bracket is fixed by the telescopic means.
To the initial position.
Energizes the moving bracket in the direction in which tension acts on the flexible member
To maintain a constant tension on the flexible member.
It becomes possible.

Further, the moving article accumulating apparatus of the present invention comprises a plurality of moving means, a plurality of article capturing means installed on each of the moving means, and a plurality of moving means driving systems. When one of the systems is stopped and the articles are lowered to the stacking position, the other system is operated to efficiently perform the stacking operation.

[0012]

【Example】

(First Embodiment) Next, FIG.
According to the first embodiment shown in FIGS.
Reference numeral 2 denotes a conveyor (supply unit) that continuously supplies the articles 1.

3a, 3b, 3c are a plurality of sprockets (drive wheels), 4 is a loop-shaped chain (flexible member) suspended between the sprockets 3a to 3c so as to be able to circulate.
Reference numeral 8 denotes a sprocket driving motor for driving the sprocket 3c, and these devices constitute a moving means. 5a and 5b are a plurality of vacuum pads attached to the chain 4 at intervals, and 6 is a vacuum source (not shown).
The rotary joints 7a and 7b are air hoses connecting the rotary joint 6 and the vacuum pads 5a and 5b, and these devices constitute article capturing means.

Reference numerals 9 and 9 denote a pair of sensors installed at a position A in front of the stacking device with the transport conveyor 2 interposed therebetween. Next, the position changing means (of the sprockets 3a to 3c,
The position changing means for enabling the set of sprockets 3a and 3b to be installed at arbitrary positions will be specifically described. Reference numerals 23, 23 are fixed members fixed to a base frame or the like and located above the conveyor 2, and 11 is a fixed bracket fixed to each fixed member 23, and the fixed bracket 11 is the conveyor 1
Is parallel to

Reference numeral 21 denotes a linear rail attached to the fixed bracket 11 along the longitudinal direction thereof, reference numeral 20 denotes a bearing slidably fitted to the linear rail 21, and reference numeral 12 denotes a moving bracket attached to the bearing 20. The bracket 12 and the fixed bracket 11 are orthogonal to each other. 14 and 14 are a pair of supports attached to both ends of the moving bracket 12, 13 is a screw shaft rotatably supported by each support 14, and 22 is a motor attached to one end of the moving bracket 12. The motor 22 rotates the screw shaft 13.

A nut 17 screwed onto the screw shaft 13;
16 is a linear rail attached to the moving bracket 12 along its longitudinal direction, 19 is a bearing slidably fitted to the linear rail 16, 18 is a connecting bracket for connecting the bearing 19 and the nut 17, 15 is A bracket mounted on the lower surface of the nut 17 is a shaft 25a mounted on the bracket 15, and the sprocket 3a is rotatably supported by a coaxial 25a.

Reference numeral 25b denotes a shaft attached to the other end of the moving bracket 11, and the sprocket 3
b is rotatably supported, and the chain 4 is suspended between the sprockets 3a and 3b so as to circulate and move.
, Vacuum pads 5a and 5b are attached at intervals. Reference numeral 24 denotes a spring interposed between the moving bracket 12 and one end (the left end in FIGS. 1 and 3) of the fixed bracket 11.
Is pulled to the left in FIGS. This spring 24
It constitutes a stretching means. Due to the contraction force of the spring 24,
The moving bracket 12 is moved to the left in FIGS.
(In the same direction as the conveyor 2). Sand
That is, the moving bracket 12 changes from the initial position to the accumulation position.
The force to always return to the initial position
Working. With this restoring force, two sets of sprockets
Even if the position is changed, always keep the tension of the chain 4 constant.
Can be maintained.

When the motor 22 is driven to rotate the screw shaft 13 forward, the nut 17 moves along the linear rail 16 in the direction of the arrow in FIG.
The sprocket 3a mounted via 5 also moves in the direction of the arrow. By this moving operation, the shaft 25 of the sprocket 3a is moved.
a moves from the position 25a to the position 25a 'in FIG. 1 and the distance between the axes of the sprockets 3a and 3b is increased. At this time, the tension generated in the chain 4 causes the sprockets 3a and 3a to move.
b and the moving bracket 12 move from the solid line position to the broken line position in FIG.

Conversely, when the motor 22 is driven to rotate the screw shaft 13 in the reverse direction, the nut 17 moves along the linear rail 16 in the direction indicated by the arrow in FIG. Sprocket 3 mounted via
a also moves in the direction opposite to the arrow. By this moving operation, the shaft 25a of the sprocket 3a is moved from the 25a 'position in FIG.
1 and the distance between the axes of the sprockets 3a and 3b is reduced, but at the same time, the movable bracket 12 is moved from the broken line position to the solid line position in FIG. Pulled in the direction,
The moving bracket 12 returns to the original solid line position.

By driving the motor 22 to change the distance between the adjacent sprockets 3a and 3b, the sprockets 3a and 3b are moved in the direction of conveyance of the conveyor 2, and That is, the accumulation position of the articles 1 is changed. Next, the operation of the moving article stacking device shown in FIGS. 1 to 5 will be specifically described. As shown in FIG. 1, when the articles 1 continuously sent on the conveyor 2 are detected by the sensors 9, 9, a detection signal obtained at that time and a conveyor speed V ₁ set to a predetermined speed are obtained.
Or an encoder (not shown) provided in the conveyor drive system
Then, the subsequent movement position and speed of the article 1 are calculated based on the measured values.

On the other hand, the positions and speeds of the vacuum pads 5a and 5b circulating with the chain 4 are measured every moment by an encoder (not shown) attached to the motor 8. Based on these calculation and measurement results, the motor 8 is controlled by fuzzy control or other control means to match the position and speed of the article 1 with the vacuum pads 5a, 5b.

Assuming that point C in FIG. 1 is the capture position, the article 1 and the vacuum pad 5a coincide at point C. At this time,
As shown in FIG. 4, the air cylinder 10 is operated in the extension direction to lower the vacuum pad 5a, and at the same time, the vacuum pad 5a is operated to adsorb (capture) the article 1. Then, the article 1 moves with the chain 4,
The chain 4 is transported to the stacking position, where the chain 4 is stopped, and then the suction of the vacuum pad 5a is released, and the articles 1 are stacked at the stacking position. When the accumulation operation is completed, the chain 4
Is circulated again.

Since the same operation as described above is performed in the other vacuum pad 5b, the two vacuum pads 5a and 5b are alternately used to capture the product 1,
Each operation of transport and accumulation is performed efficiently, and the articles 1 are accumulated in one row × multiple rows and in multiple stages along the circulating movement trajectory of the chain 4. Next, as shown in FIG. 5, a case where the products 1 are accumulated in two rows and three rows along the circulating movement locus of the chain 4 will be described.

After the articles 1 have been accumulated in the column (a) of FIG. 5 in one column and three rows by the above-described accumulation operation, the motor 22 of the position changing means is driven to rotate the screw shaft 13 forward. The nut 17 is moved along the linear rail 16 in the direction of the arrow in FIG. 2, and the sprocket 3a attached to the nut 17 via the bracket 15 is also moved in the direction of the arrow in FIG. By this moving operation, the shaft 25a of the sprocket 3a
Moves from the position 25a to the position 25a 'in FIG. 1 and the distance between the axes of the sprockets 3a and 3b is widened. At this time, the sprockets 3a and 3b
Then, the moving bracket 12 moves from the position indicated by the solid line to the position indicated by the broken line in FIG. When the sprockets 3a, 3b and the moving bracket 12 reach the position (c) in FIG.
Then, the articles 1 are stacked in the (b) position in one column × three rows as described above.

Next, the motor 22 of the position changing means is driven again, and the sprockets 3a and 3b and the moving bracket 1 are moved.
2 is further moved in the above direction. Sprocket 3a,
When the moving bracket 3b and the moving bracket 12 reach the position on the right side of the position (c) in FIG. 5, the motor 22 is stopped, and then the articles 1 are accumulated at the position (c) in one column.times.3 rows as described above. I do.

In this case, the articles 1 can be integrated in multiple rows and multiple rows and in multiple stages. When the stacking position is changed from the position (c) to the position (b) or the position (a), the motor 2
2 and the screw shaft 13 is rotated in the reverse direction to reduce the distance between the sprockets 3a and 3b, and at the same time, the sprockets 3a and 3b and the moving bracket 12 are returned to the original (C) or (B) position by the spring 24. Move.

FIG. 6 shows four sets of sprockets 3a, 3b,
Another embodiment using 3c, 3d is shown, in which case the sprockets 3c, 3d do not move, but the sprockets 3a, 3b move with the moving bracket 12. Other configurations are the same as those of the embodiment of FIGS. In each of the embodiments shown in FIGS. 1 to 5 and 6, a flexible member such as a belt may be used instead of the chain 4. Also, the product catching device may use a solenoid valve type catching device instead of the vacuum pad. Further, the vacuum pad is raised and lowered by the air cylinder, but may be changed to an electric moving device other than the cylinder. When the electromagnetic valve type trapping device or the electric moving device is employed as described above, a power supply cable and a slip ring device are used instead of the air hose and the rotary joint. A spring 24 interposed between the fixed bracket 11 and the movable bracket 12
Alternatively, other means such as a set of an air cylinder and a regulator that maintains a constant pressure even if the stroke varies may be used.

(Second Embodiment) Next, a moving article stacking device according to the present invention will be described with reference to a second embodiment shown in FIGS. Explaining only the differences from the first embodiment, 25
a is the shaft attached to the bracket 15 on the nut 17 side;
a and 3a 'are a pair of sprockets (drive wheels) rotatably mounted on a coaxial 25a via a bush 26; 25b is a shaft fixed to the other end of the moving bracket 12;
b 'is a pair of sprockets (drive wheels) rotatably mounted on the coaxial 25b via a bush 26, and 25c is a shaft fixed on a base stand or the like, 3c, 3c' is rotatable on the coaxial 25c via the bush 26 Is a pair of sprockets (drive vehicle).

4a is a chain suspended between the sprockets 3a, 3b and 3c, and 4a is a sprocket 3a, 3b and 3
c, a loop-shaped chain (flexible member) suspended so as to be able to circulate and move between sprockets 3a ', 3b', 3
A plurality of vacuum pads 5a ', 5a', 5a 'and 5b' are attached to the chain 4a at intervals with a loop-like chain (flexible member) suspended so as to be able to circulate between them.
b 'is a plurality of vacuum pads attached to the chain 4b at intervals.

8a is a sprocket driving motor for driving the sprocket 3c, and 8b is a sprocket driving motor.
This is a sprocket drive motor that drives c ′. Next, the operation of the moving article stacking apparatus shown in FIGS. 7 to 10 will be specifically described. As shown in FIG. 7, when the articles 1 continuously sent on the conveyor 2 are detected by the sensors 9 and 9, a detection signal obtained at that time is detected and the conveyor speed V ₁ set to a predetermined speed or the conveyor drive. The subsequent movement position and speed of the article 1 are calculated based on the measurement values of an encoder (not shown) provided in the system.

On the other hand, the vacuum pads 5a, 5b and 5a ', 5a circulating with the chains 4a, 4b are moved.
The position and speed of b 'are measured momentarily by an encoder (not shown) attached to the motors 8a and 8b. Based on these calculation and measurement results, the motors 8a and 8b are controlled by fuzzy control or other control means, and the article 1 is controlled.
And the positions and velocities of the vacuum pads 5a, 5b and 5a ', 5b'.

Assuming that the point C in FIG. 7 is the capturing position, the article 1 and the vacuum pad 5a or 5a 'coincide at the point C. At this time, the air cylinder 10a or 10a 'is operated in the extension direction, and the vacuum pad 5a or 5a is operated.
a ′ is lowered, and at the same time, the vacuum pad 5a or 5
By operating a ′, the article 1 is adsorbed (captured). Thereafter, the article 1 moves together with the chain 4a or 4b and is transported to the stacking position, where the chain 4a or 4b is moved.
b, and then the vacuum pad 5a or 5
The article 1 is accumulated at the accumulation position by releasing the suction of a '. When the stacking operation is completed, the chain 4a or 4b is circulated again.

At this time, two chain systems (chain 4
a, 4b system), one of the chains 4a (motor 8
a) is stopped and the vacuum pad 5a is turned to the product 1 at the point (b).
Lower. Meanwhile, the other chain 4b continues the circulating movement, and the vacuum pad 5b 'moves to the article capturing position C.
Is reached, the article 1 is captured and transported, and reaches the point (b), the chain 4b (motor 8b) is stopped, and the article 1 is stopped.
Lower. At this time, one of the chains 4a has started circulating.

As described above, the two chain systems (chains 4a and 4b systems) are alternately stopped and driven, and the article 1 is suctioned by the vacuum pads provided in each system.
They are captured, conveyed one after another to a collecting position, collected, and the collecting operation is performed efficiently. Next, a case where the articles 1 are stacked in two or three rows along the circulating movement trajectory of the chain 4 as shown in FIG. 10 will be described.

After the articles 1 have been accumulated in one column and multiple rows at the position (a) in FIG. 10 by the above-described accumulation operation, the motor 22 of the position changing means is driven to rotate the screw shaft 13 forward. The nut 17 is moved along the linear rail 16 in the direction of the arrow in FIG. 8, and the sprockets 3a, 3a 'attached to the nut 17 via the bracket 15 are also moved in the direction of the arrow in FIG. By this moving operation, the sprocket 3a,
The shaft 25a of 3a 'moves from the 25a position to the 25a' position in FIG.
The distance between the shafts b and 3b 'is increased.

At this time, the sprockets 3a, 3a 'and 3b, 3b
b ′ and the moving bracket 12 move from the solid line position to the broken line position in FIG. Sprockets 3a, 3a 'and 3
When the b, 3b 'and the moving bracket 12 reach the position (c) in FIG. 10, the motor 22 is stopped, and then the articles 1 are stacked in the (b) position in one column.times.3 rows as described above.

Next, the motor 22 of the position changing means is driven again to move the sprockets 3a, 3a 'and 3b, 3b' and the movable bracket 12 further in the above-mentioned direction.
When these reach the position on the right side of the position (c) in FIG. 10, the motor 22 is stopped, and then, as described above,
The articles 1 are stacked in the position (c) in one column × three rows. In this case, the articles 1 can be integrated in multiple rows and multiple rows and in multiple stages.
In addition, the accumulation position is changed from the position (c) to the position (b) or (b).
To change the position, the motor 22 is driven and the screw shaft 13
Are rotated in reverse to reduce the distance between the sprockets 3a, 3a 'and the sprockets 3b, 3b'.
The sprockets 3a, 3a 'and the moving bracket 12
Are moved to the original (C) or (B) position.

FIG. 11 shows four sprockets 3a, 3
b, 3c, 3d show another embodiment in which the sprockets 3c, 3c 'and 3d, 3d'
Does not move, but sprockets 3a, 3a 'and 3
b and 3b 'move together with the moving bracket 12.
Other configurations are the same as those of the embodiment of FIGS.

[0039]

The moving article stacking apparatus of the present invention is constructed as described above. The position of the article is detected by the sensor by the supply means, and the speed of the motor of the moving means is controlled based on the detection signal of the sensor. And the position of the article capturing means and the article attached to the moving means (a loop-shaped moving means constituted by a plurality of driving vehicles and a flexible member such as a chain suspended in a circulating manner between the driving vehicles). The articles are captured by the article capturing means at the same speed and at the same speed, and the articles are conveyed to the collection position and collected there. At this time, the position changing means moves the two sets of driving wheels adjacent to the moving means to an arbitrary position and changes the stacking position along the flexible member. And it can be integrated in multiple stages. Ma
In addition, the moving bracket is fixed by elastic means such as a spring.
When it is possible to return to the initial position of the bracket
Both brackets move in the direction in which tension acts on the flexible member.
By urging the cartridge, the tension applied to the flexible member is reduced.
It is possible to maintain constant.

Further, the moving article accumulating apparatus of the present invention comprises a plurality of moving means, a plurality of article catching means installed on each of the moving means, and a plurality of moving means driving systems. When one of the systems is stopped and the articles are lowered to the stacking position, the other system is operated, so that the stacking operation can be performed efficiently.

[Brief description of the drawings]

FIG. 1 is a plan view showing a first embodiment of a moving article accumulation device according to the present invention.

FIG. 2 is a vertical sectional front view taken along line YY in FIG. 1;

FIG. 3 is a bottom view taken along line XX of FIG. 1;

FIG. 4 is an explanatory diagram of an operation of a product capturing means.

FIG. 5 is an operation explanatory view of the integrated device.

FIG. 6 is an operation explanatory view of another example of the integrated device.

FIG. 7 is a plan view showing a second embodiment of the moving article accumulation device of the present invention.

8 is a vertical sectional front view taken along the line YY in FIG. 7;

FIG. 9 is a bottom view taken along line XX of FIG. 7;

FIG. 10 is an operation explanatory view of the integrated device.

FIG. 11 is an operation explanatory view of another example of the integrated device.

FIG. 12 is a plan view showing a conventional moving article accumulation device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Article 2 Supply means 3a, 3b, 3c Driving vehicle of moving means 4 Flexible member of moving means 5a, 5b Article capturing means 8 Motor 9 Sensor 11-22 Position changing means

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B65G 47/84-47/92 B65B 35/36-35/38

Claims (2)

(57) [Claims] 1. A supply means for continuously supplying articles, a sensor for detecting the position of the articles on the supply means, and a loop-like movement circulating by a motor controlled to change the speed based on a detection signal from the sensor. Means, and a moving article accumulation device having a moving means-side article capturing means or the like that captures an article on the supply means by operating based on a detection signal of the sensor, wherein the moving means includes a plurality of driving vehicles. And a flexible member such as a chain suspended between the driving vehicles so as to be able to move in a circulating manner.
The set of driving vehicles is configured to be movable by the position changing means , and
The position changing means is fixed in parallel with the supply means.
The bracket can be moved perpendicular to the fixed bracket
The arranged moving bracket, the moving bracket and the moving bracket
It is interposed between the fixed bracket and the moving bracket.
Spring that applies tension to the flexible member while urging it to the initial position
And a telescopic unit . 2. The moving article according to claim 1, further comprising a plurality of moving means, a plurality of article capturing means arranged in each of the moving means, and a plurality of moving means driving systems. Integrated device.