JP3182647B2 - How to load goods - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of stacking articles to be loaded with a subsequent article on an article moving downward, and more particularly to a method of stacking articles in a column shape. Things.

[0002]

2. Description of the Related Art As a conventional technique relating to a method of packing articles, the one described in Japanese Patent Application Laid-Open No. 5-58452 is known.

The prior art described in the above publication is described in Japanese Patent Application Laid-Open No. Hei 5-58452, in which the same item product or the same group product is moved up and down along the same wall by sequentially moving an article transport conveyor or a pallet. hand,
There is described a loading method in which articles are stacked in a bar shape along the wall while abutting the wall, and are sequentially placed in a state of being vertically stacked on a pallet.

[0004]

However, the above-mentioned prior art has the following problems.

That is, JP-A-5-58452 discloses that
It does not state whether or not the preceding article is moving downward when stacking subsequent articles, and whether the speed of moving the stacked articles downward can be changed. Neither is it described.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to make it possible to change the speed at which a pile of articles is moved downward, thereby efficiently stacking tall articles at a high speed. An object of the present invention is to provide a method for packing articles.

[0007]

SUMMARY OF THE INVENTION The present invention relates to a method of stacking articles in a plurality of rows by supplying a succeeding article on an article moving downward and stacking the articles in a plurality of rows. The speed at which the robot moves can be changed
Equipped with an elevating device , the following articles are packed at intervals according to the descending time of the stacked articles, and the following articles on the articles stacked in any row are sent to the article supply conveyor.
Thus, when supplied, the loaded articles are moved downward at a low speed so that the assorted articles are stacked on the articles moving downward, and the following articles are loaded.
When goods are not stowed, raise the stowed goods
The above object has been achieved by providing a method for packing articles, characterized by descending at a speed .

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below together with an example of an article packing apparatus suitable for carrying out the present invention.

FIG. 1 is a perspective view partially showing an embodiment of an article packing apparatus, FIG. 2 is a partial elevation view partially showing an embodiment of an article packing apparatus, and FIG. FIG. 4 is an enlarged side view showing the downstream end of the gravity roller conveyor shown in FIG.
FIG. 5 is a plan view of FIG. 3, FIG. 5 is a plan view of one embodiment of a gravity roller conveyor for storing packed articles, FIG.
FIG. 7 is a side view partially showing an embodiment of the gravity roller conveyor shown in FIG. 5, FIG. 7 is a perspective view showing an embodiment of an article packing apparatus, and FIG. FIGS. 9 and 10 are side views for explaining the operation of the article stacking apparatus shown in FIG. 7, and FIGS. 11 and 12 are pallets by the article stacking apparatus shown in FIG. FIG. 13 is a perspective view showing a state of the articles stacked on the pallet shown in FIG. 12, and FIG.

[0010] In these drawings, 1 is a kind (variety).
Separately, a gravity roller conveyor for storing articles G is provided with a plurality of rows (5 rows) in the direction along the conveyor 2 and a plurality of rows (2 rows) in the vertical direction, with the tip side inclined low. The gravity roller conveyor 1 constitutes a fluidized shelf F having a plurality of rows and a plurality of stages. Further, the transport conveyor 2 is a drive roller conveyor arranged in each stage along the frontage, and is provided in two vertical stages. At the downstream end of each gravity roller conveyor 1, an article take-out device 3 is provided. Reference numeral 4 denotes an up-down transport device which is disposed downstream of the two-stage transport conveyor 2 and transports the articles G in a vertical direction at a constant pitch, and is an article transport having a skewer (fork) -shaped article placement section 411. A tool 41 and an endless rotating body 42 are provided, and the article transporting tool 41 is continuously rotated by the endless rotating body 42. Further, reference numeral 1001 denotes a gravity roller conveyer having a front end side for storing the packed articles G inclined at a low angle, and is arranged in a plurality of rows (five rows) in a direction along the conveyor 1002. At the downstream end of each gravity roller conveyor 1001, an article take-out device 1003 is provided. Reference numeral 2000 denotes an apparatus for stacking articles G stored in the gravity roller conveyor 1001 in a plurality of rows on the pallet P, and the pallet transport conveyor 2001 and the articles P are supplied to the pallet P or supplied in advance and stacked. A plurality of rows (five rows in FIG. 5 and four rows in FIG. 7) of the article supply conveyor 2002 for supplying the articles G attached thereto, and the speed at which the pallets P or the articles G previously stacked are moved downward. Lifting device 2003 capable of shifting gears, and lifting device 20
03 moving along the supply direction of the article G
04, the article supply conveyor 2002 is configured to be able to advance and retreat along the supply direction of the article G, and the articles G are supplied by the article supply conveyor 2002 in advance in one or more rows. It is configured to be supplied above. Thus, the articles G stored in the gravity roller conveyors 1 arranged in a plurality of rows and a plurality of stages are taken out and merged into the conveyors 2 of the respective stages, and the articles G merged in the respective conveyors 2 are vertically moved. Transport device 4
After further merging into one row, the merged articles G are branched and stored in the gravity roller conveyors 1001 arranged in a plurality of rows via the transport conveyor 1002, and then, according to the descending time of the stacked articles G. Subsequent articles G stored in the gravity roller conveyor 1001 at intervals are taken out on the article supply conveyor 2002 and packed, and the precedingly supplied and stacked articles moving the packed articles G downward. Column shape by supplying on G (vertical direction)
And a plurality of rows and columns of columns are formed on the pallet P. In addition, when the following articles G are supplied on the articles G stacked in any of the rows, the stacked articles G are moved downward at a low speed.

To explain each part in the above embodiment, the gravity roller conveyor 1 comprises a plurality of rollers 1
The article G supplied on the gravity roller conveyor 1 is stored on the roller 11 by its own weight by self-running and then stored in the article take-out device 3. Is taken out to the conveyor 2. 1a, 1b, 1c, 1d, 1e are gravity roller conveyors, 1f, 1
g, 1h, 1i, and 1j are gravity roller conveyors disposed on the upper side.

The conveyor 2 has a conveyor speed of 25 m, which is connected to an article take-out device 3 provided at the downstream end of the gravity roller conveyor 1 arranged side by side.
/ Min (416.7 mm / sec) drive roller conveyor,
A plurality of stages (two stages) are provided in the vertical direction so as to be substantially orthogonal to the gravity roller conveyor 1, and a rubber band (not shown) stretched between the roller 21 and a line shaft 22 (not shown) in a figure-eight shape. The rotation of the line shaft 22 is transmitted to the roller 21. Further, the line shafts 22 of the respective conveyors 2 are connected to each other by a chain and are driven by the same motor. A pulse encoder (not shown) is attached to one of the line shafts 22.

The article take-out device 3 includes shafts 33, 3
A pair of rail frames 32 each having a plurality of rollers 31 pivoted up and down by an air cylinder 35 and a lever 36 with the fulcrum 4 as a fulcrum; and a stopper 37 for locking the articles G that are self-propelled in the inclined direction. When the air cylinder 35 is at the lower end, the inclination of the rail frame 32 substantially coincides with the inclination of the rail frame 12, and the upper end of the stopper 37 projects from the upper surface of the roller 31. . Thus, when there is an article take-out instruction, by operating the air cylinder 35,
The upper end of the stopper 37 is lowered from the upper surface of the roller 31 and the inclination of the rail frame 32 is changed to the rail frame 12.
And the article G at the tip locked by the stopper 37 is taken out. At this time, since the rear end of the rail frame 32 is higher than the surface of the roller 11 of the rail frame 12, the following articles G are locked at the rear end of the rail frame 32 and the articles stored on the gravity roller conveyor 1. Only one G can be taken out to the conveyor 2 and the taken-out article G is joined to the conveyor 2 by the wheel rail 38.

An up-down transport device 4 disposed downstream of the two-stage transport conveyor 2 is an article transport tool 4 having a skewered (fork) -shaped article mounting portion 411 and guide rollers 412.
An endless rotating body (endless chain) 42 stretched in a substantially rectangular shape by one and four sprocket wheels 43; a first guide frame 44 disposed along a rotation locus of the endless chain 42; A second guide frame 45, which is substantially the same shape as the rotation locus of 42, and is arranged vertically and horizontally shifted, and an auxiliary guide frame 46 for keeping the article carrier 41 in a constant posture, etc. 2 (only two of them are shown in FIG. 2), the endless chain 42 having a speed of 30 m / min.
mm), the article carrier 41 held in a fixed posture (substantially horizontal) by the first guide frame 44, the second guide frame 45, and the auxiliary guide frame 46 is continuously arranged in the vertical direction. It is designed to rotate.

Reference numeral 5 denotes a delivery conveyor provided at the downstream end of the upper conveyor 2 for transferring the articles G to the upper and lower conveyors 4, which is a fork-shaped fixed endless chain composed of seven endless chains. A skewer conveyor 51, a movable skewer conveyor 52 formed in a fork shape with six endless chains and a sliding air cylinder (not shown), and the six endless chains of the movable skewer conveyor 52 are used for sliding. The gap between the seven endless chains of the fixed skewer-type conveyor 51 or the seven skewers (forks) of the article placing portion 411 is moved by the air cylinder along the conveying direction of the article G. Conveyor 52 and Article Placement Unit 4
11 is configured to be able to cross. Note that a stopper 521 is provided at the tip of the moving skewer conveyor 52.

Reference numeral 6 denotes a delivery conveyor provided at the downstream end of the lower conveyor 2 for transferring the articles G to the upper and lower conveyors 4, which is a fixed fork formed by six endless chains. The endless chain is composed of a skewer conveyor 61, and six endless chains of the fixed skewer conveyor 61
The fixed skewer-type conveyor 61 and the article placement section 411 are configured to be able to cross each other. Note that a stopper 611 is provided at the tip of the fixed skewer type conveyor 61.

Reference numeral 7 denotes a take-out conveyer for taking out the articles G from the vertical conveying device 4, and a fixed skew-shaped conveyer 71 formed in a fork shape by six endless chains and a drive roller disposed downstream thereof. The endless chain includes a conveyor 72, and six endless chains of the fixed skewer conveyor 71 are disposed in the gaps between the seven skewers (forks) of the article placement section 411, and the fixed skewer conveyor 71 and the article placement section 411 are provided. Are configured to be able to cross.

Further, a merging control device (not shown) is provided, and a virtual space β of a fixed length (pitch) is provided on the conveyor 2.
When the set virtual space β reaches a position facing the gravity roller conveyor 1 storing the articles G to be merged with the virtual space β, the articles G to be merged by the article take-out device 3 Is controlled to be taken out.

Next, the articles G stored in the gravity roller conveyor 1 of the above-mentioned article packing equipment are taken out and merged into the conveyors 2 at the respective stages, and the articles G merged into the respective conveyors 2 are separated. A description will be given of a method in which the articles G are further merged in one line by the vertical transport device 4 and the merged articles G are taken out to the conveyor 7.

When the spacing between the five rows of gravity roller conveyors 1 arranged in each row along the lower and upper conveyors 2 is 700 mm, the fifth row of gravity rollers from the downstream end is Gravity roller conveyor 1e upstream,
The distance from the gravity roller conveyors 1e and 1j is 700 mm, the gravity roller conveyors 1d and 1i are 700 mm, and the gravity roller conveyor 1d and 1i are adjacent to the gravity roller conveyors 1d and 1i.
c, 1h is 1400 mm, gravity roller conveyor 1
c, Gravity roller conveyor 1b, 1h adjacent to 1h
g is 2100 mm, gravity roller conveyor 1b, 1
Gravity roller conveyors 1a and 1f adjacent to g
800 mm.

The length of the gravity roller conveyor 1, that is, the dimension in the direction of the conveyor 2 is at most 600 m.
The articles G of various sizes up to m, for example, articles Ga on the gravity roller conveyor 1a, articles Gb on the gravity roller conveyor 1b, and articles Gj on the gravity roller conveyor 1j in the same manner. It is stored (the article G is shown in the same size in FIG. 8).

Thus, for example, the take-out conveyor 7
The ten articles G are in the following order: articles Ga, Gg, G
When there is a packing instruction so that the articles G can be taken out by j, Gj, Gd, Gi, Gi, Gh, Gj, Gd, the timing at which the articles G conveyed on the respective conveyors 2 are merged into the upper and lower conveyors 4 Accordingly, the phase difference γ is set to the timing at which the articles G are merged from the gravity roller conveyor 1 for each conveyor 2 [the phase difference γ of the upper conveyor 2 with respect to the lower conveyor 2 (the transfer conveyor 5 And the gap in the step direction between the transfer conveyor 6 and 700 mm ÷
The speed of the endless chain 42 is set to 30 m / min =) 1.4 seconds], and the phase difference γ is added to the timing of merging the articles G from the gravity roller conveyor 1 to the respective conveyors 2 (to the lower conveyor 2). Add 0 seconds to the timing of merging the articles G, and add 1.4 seconds to the timing of merging the articles G to the upper conveyor 2), and keep the articles G from the gravity roller conveyor 1 on the respective conveyors 2 Pitch (the endless chain 42 of the article carrier 41)
Calculation and control so that the articles G joined to the respective conveyors 2 are joined by the upper and lower conveyors 4 at an attachment interval of 1830 mm (the speed of the endless chain 42 is 30 m / min = 3.66 seconds). Then, the desired articles G are merged in a desired order.

That is, the article Ga first taken out to the take-out conveyor 7 is taken out from the gravity roller conveyor 1a, but since the gravity roller conveyor 1a is located at the most downstream position where the offset value α is 2800 mm, the load Ga is started. , The article G delayed by the offset value α
a is taken out. That is, 2800 mm from the start of packing
After 416.7 mm / sec = 6.72 seconds, the article Ga is transferred from the gravity roller conveyor 1 a to the lower conveyor 2.
Is given to the article take-out device 3 provided at the downstream end of the gravity roller conveyor 1a. Since the phase difference γ of the lower conveyor 2 is 0 second, there is no need to add the phase difference γ to the above time.

An article Gg to be taken out by the take-out conveyor 7 after the article Ga is a gravity roller conveyor 1 arranged along the upper conveyor 2 different from the article Ga.
g, a phase difference γ of 1.4 seconds is added so that they are merged.
To a fixed length (the conveyance pitch of the article carrier 41 is 3.66 seconds x
(Transport speed of conveyor 2 is 25m / min = 1525mm)
Is set continuously according to the merging order of the articles G, and when a predetermined virtual space β reaches a position facing the articles G to be merged, the articles G are taken out so as to be taken out to the transport conveyor 2. A command is given to the article take-out device 3 provided at the downstream end of the gravity roller conveyor 1, and the article G is supplied at a constant pitch (3.66 seconds, ie, 152
(At intervals of 5 mm), so that the offset value α of the article Ga previously passed to the vertical transport device 4
And the take-out time to the conveyor 2 excluding the phase difference γ, ie, 0 seconds later, 1.4 seconds of the phase difference γ and the time required for the virtual space βa set in the conveyor 2 to move, 1525 mm ÷ 416.7 mm / sec = 3.66
5.06 seconds after the addition of 2 seconds, the offset value α of the gravity roller conveyor 1 g is 2100 mm, that is, 2100 mm.
10. Add mm / 416.7 mm / sec = 5.04 sec.
One second later, an article take-out command is given to the article take-out device 3 provided at the downstream end of the gravity roller conveyer 1g so as to take out the articles Gg from the gravity roller conveyer 1g into the virtual space βg set in the upper conveyor 2. Can be

The articles Gj to be taken out by the take-out conveyor 7 after the articles Gg are stored in the gravity roller conveyor 1 at the same level as the articles Gg, and thus the articles G stored in the gravity roller conveyor 1 at the same level as the articles Gg are stored. When being continuously taken out and merged on the conveyor 2,
It is necessary for the virtual space βg set in the conveyor 2 to move after 5.06 seconds, ie, the take-out time of the article Gg transferred to the vertical conveyor 4 excluding the offset value α. 8.72 seconds after adding the time, that is, 3.66 seconds, the article take-out command of the gravity roller conveyor 1j is issued so that the article Gj is taken out of the gravity roller conveyor 1j into the virtual space βj set in the upper conveyor 2. It is provided to the article take-out device 3 provided at the downstream end. Since the offset value α of the gravity roller conveyor 1j is 0 mm, it is not necessary to add the offset value α to the above time.

Since the article Gj is also continuously taken out after the article Gj, the time required for the virtual space βj set on the conveyor 2 to move after the above-mentioned take-out time, ie, 8.72 seconds, ie, 3. 12.38 seconds after adding 66 seconds, an article take-out instruction is provided at the downstream end of the gravity roller conveyor 1j so as to take out the article Gj from the gravity roller conveyor 1j into the virtual space βj set in the upper conveyor 2. Provided to the received article take-out device 3.

Since the article Gd to be taken out to the take-out conveyor 7 after the article Gj is stored in the lower gravity roller conveyor 1 different from the article Gj, a 0 second phase difference γ is added so that the articles Gd are merged. In addition, the removal time of the article Gj previously transferred to the vertical transport device 4 to the transport conveyor 2 excluding the offset value α and the phase difference γ, that is, the article Gj is set to the transport conveyor 2 after 10.98 seconds. Time required for the virtual space βj to move, that is, 3.6
14.64 seconds after adding 6 seconds, the offset value α of the gravity roller conveyor 1d, that is, 700 mm ÷ 41
16.32 seconds after adding 6.7 mm / sec = 1.68 seconds, an article take-out command is issued so as to take out the article Gd from the gravity roller conveyor 1d into the virtual space βd set in the lower conveyor 2. It is provided to the article take-out device 3 provided at the downstream end of the conveyor 1d.

Since the articles Gi to be taken out to the take-out conveyor 7 after the articles Gd are stored in the upper gravity roller conveyor 1 different from the articles Gd, they are combined by adding a phase difference γ of 1.4 seconds. In addition to the above, the take-out time to the conveyor 2 excluding the offset value α and the phase difference γ of the article Gd previously taken out to the vertical conveyance device 4, that is, 14.64 seconds later, the phase difference γ 1.
19. adding 4 seconds and the time required for the virtual space βd set on the conveyor 2 to move, that is, 3.66 seconds.
After 7 seconds, the offset value α of the gravity roller conveyor 1i is 700 mm, that is, 700 mm ÷ 416.7 mm /
21.38 seconds after adding 1.68 seconds, an article take-out instruction is issued downstream of the gravity roller conveyor 1i so as to take out the article Gi from the gravity roller conveyor 1i to the virtual space βi set in the upper conveyor 2. It is given to the article take-out device 3 provided at the end.

Since the article Gi is continuously taken out after the article Gi, the above-mentioned take-out time, that is, the time required for the virtual space βi set on the conveyor 2 to move after 21.38 seconds 3.66 seconds 25.04 seconds after the addition, the article removal instruction is provided at the downstream end of the gravity roller conveyor 1i so as to take out the article Gi from the gravity roller conveyor 1i to the virtual space βi set in the upper conveyor 2. It is provided to the take-out device 3.

Since the article Gh to be taken out by the take-out conveyor 7 after the article Gi is stored in the gravity roller conveyor 1 at the same stage as the article Gi, the offset value α of the article Gi transferred to the vertical transport device 4 first. The removal time to the conveyor 2 excluding the minute, that is, the time required for the virtual space βi set on the conveyor 2 to move after 23.36 seconds, that is, 27.02 seconds after adding 3.66 seconds, Offset value α of gravity roller conveyor 1h
Minute 1400 mm, that is, 1400 mm ÷ 416.7 mm /
After 30.38 seconds after adding seconds = 3.36 seconds, an article take-out command is issued downstream of the gravity roller conveyor 1h so as to take out the articles Gh from the gravity roller conveyor 1h to the virtual space βh set in the upper conveyor 2. It is given to the article take-out device 3 provided at the end.

Since the article Gj to be taken out by the take-out conveyor 7 after the article Gh is stored in the gravity roller conveyor 1 at the same level as the article Gh, the offset value α of the article Gh delivered first to the vertical transport device 4 The removal time to the conveyor 2 excluding the minute, ie, the time required for the virtual space βh set on the conveyor 2 to move after 27.02 seconds, ie, 30.68 seconds after adding 3.66 seconds, An article removal command is given to the article removal device 3 provided at the downstream end of the gravity roller conveyor 1j so as to remove the article Gj from the gravity roller conveyor 1j to the virtual space βj set in the upper conveyor 2. Since the offset value α of the gravity roller conveyor 1j is 0 mm, it is not necessary to add the offset value α to the above time.

The articles Gd to be taken out to the take-out conveyor 7 after the articles Gj are stored in the lower gravity roller conveyor 1 different from the articles Gj. In addition, the removal time of the article Gj transferred to the transport conveyor 2 excluding the offset value α and the phase difference γ of the article Gj previously passed to the vertical transport device 4, that is, the article Gj is set on the transport conveyor 2 after 29.28 seconds. Time required for the virtual space βj to move, that is, 3.6
32.94 seconds after adding 6 seconds, the offset value α of the gravity roller conveyor 1d, that is, 700 mm ÷ 41
34.62 seconds after adding 6.7 mm / sec = 1.68 seconds, an article take-out command is issued to remove the article Gd from the gravity roller conveyor 1d to the virtual space βd set in the lower conveyor 2. It is provided to the article take-out device 3 provided at the downstream end of the conveyor 1d.

The value obtained by multiplying the time required for each article G to be taken out of the gravity roller conveyor 1 by the conveying speed of the conveying conveyor 416.7 mm / sec, which is calculated by the computer (not shown) as described above, is as follows. , The transport distance of each virtual space β from the start of packing to the removal of each article G. Therefore, the transport distance of the virtual space β from the start of packing to the removal of each article G is divided by the transport distance of the virtual space β during one pulse of the pulse encoder attached to the line shaft 22 of the transport conveyor 2. The value thus obtained is a pulse value from the start of assortment of articles to be taken out. Thus,
The computer transmits a pulse value from the start of the packing and the number of the gravity roller conveyor 1 from which each article G is to be taken out to a sequencer (not shown). The sequencer having received the data stores the pulse value from the start of the packing and the number of the gravity roller conveyor 1 from which the articles G are to be taken out, and starts counting the pulses of the pulse encoder simultaneously with the start of the packing. The air cylinder 35 of the article take-out device 3 provided at the downstream end of the gravity roller conveyor 1 that coincides with the commanded pulse value is operated to take out a predetermined article G to the transport conveyor 2.

As described above, the articles G joined from the plurality of gravity roller conveyors 1 at a constant pitch are conveyed to the transfer conveyors 5 and 6 arranged at the downstream end of the respective conveyors 2, and are moved up and down. When reaching the position where the article placement section 411 of the transport device 4 intersects with the fixed skewer conveyor 61 or the movable skewer conveyor 52, the articles G are continuously scooped up by the article placement section 411 passing upward from below. Is transferred to the article carrier 41 and further joined. When the article G reaches the loading section of the fixed skewer conveyor 51 of the delivery conveyor 5, the movable skewer conveyor 52 is moved to a position where it intersects with the article placement section 411, and the article G is received by the article carrier 41. After the delivery, the product returns to the original state (however, when the subsequent article G is delivered from the movable skewer conveyor 52 to the article transporting tool 41, the subsequent article G
Is returned to the original state after being transferred to the article transport tool 41). In addition, according to the timing at which the articles G conveyed on the respective conveyors 2 are transferred to the article conveyor 41, the phase difference γ is set at the timing at which the articles G are merged from the plurality of gravity roller conveyors 1 for each conveyor 2. And the phase difference γ is set at the timing when the articles G are merged from the gravity roller conveyor 1 to the respective conveyors 2.
Is added, the timing at which the article G reaches the fixed skewer conveyor 61 or the movable skewer conveyor 52 substantially coincides with the timing at which the article G is scooped up by the article placement unit 411.

The articles G joined by the vertical transport device 4
Are taken out by the article placing section 411 carrying the articles G passing from above to below the fixed skewer conveyor 71 of the takeout conveyor 7, and the articles Ga, Gg, Gj, Gj, Gd are placed on the drive roller conveyor 72. , Gi, Gi, G
It is extracted in the order of h, Gj, Gd.

The articles G taken out by the drive roller conveyor 72 are branched via the conveyor 1002 to the gravity roller conveyors 1001 arranged in a plurality of rows so as to be loaded.

The configuration around the gravity roller conveyor 1001 will be described.
001 is a pair of rail frames 1012 provided with a plurality of rollers 1011 arranged in an inclined manner, and articles G supplied on the gravity roller conveyor 1001 are stored on the rollers 1011 by self-running by their own weight. After that, it is taken out to the article supply conveyor 2002 by the article take-out device 1003.

The conveyor 1002 is a drive roller conveyor connected to the upstream end of the gravity roller conveyor 1001 arranged side by side, and is installed downstream of the drive roller conveyor 72. At a branch point from the conveyor 1002 to the gravity roller conveyor 1001, rollers 1021 are provided by an air cylinder (not shown).
A branching device 1004 including a pair of endless chains 1041 and the like that swings so as to protrude and retract from the upper surface is provided. The article G is located upstream of the conveyor 1002.
A direction changing device (not shown) for changing the conveying direction by 90 ° in the horizontal direction is provided.

The article take-out device 1003 includes a plurality of rollers 1 which are moved up and down by an air cylinder (not shown).
031 and a pair of rail frames 1034 fixedly installed downstream of the rail frame 1032 with a plurality of rollers 1033.
And a stopper 1035 provided at the upstream end of the rail frame 1034, so that the upper surface height of the roller 1031 matches the upper surface height of the roller 1011 when the air cylinder is at the lower end. The article G which is self-propelled in the inclined direction is locked by the stopper 1035. Thus, when there is an article removal command, by operating the air cylinder,
The top article G locked by the stopper 1035 is taken out so that the upper surface height of the roller 1031 matches the upper surface height of the roller 1033. At that time, the rail frame 10
Since the rear end of the roller 32 is higher than the upper surface of the roller 1011, the succeeding article G is locked at the rear end of the rail frame 1032, and the article G stored on the gravity roller conveyor 1001 is transferred to the article supply conveyor 2002. Can be taken out individually.

A fluid shelf F composed of 26 gravity roller conveyors 1a, 1b,..., 1z arranged in a plurality of rows and a plurality of stages [5 rows × 2 stages (= 10) shown in FIG. Example of Another Example of Flow Shelf F Containing Gravity Roller Conveyor 1]
A description will be given of a method of diverging and packing the gravity roller conveyors 1001 arranged in a plurality of columns via the conveyor 1002. As shown in FIG. 11, articles of the same type are placed in the first column of the first row of the pallet P, as shown in FIG. For example, length 300
Product Ga with a height of 50 mm and a height of 50 mm is m steps (for example, 4 steps)
Stowed, articles of the same type in the second row, e.g.
An article Gu having a height of 0 mm and a height of 70 mm is placed in n stages (for example, 3
In the third row, articles of the same type, for example, articles Gc having a length of 300 mm and a height of 50 mm are stacked in o rows (for example, four levels), and articles of the same type in the fourth row, for example, length. Are stacked in p rows (for example, three rows) of articles Gv having a height of 300 mm and a height of 70 mm, and articles of the same type, for example, articles Ge having a length of 300 mm and a height of 50 mm are placed in the fifth row in r rows (for example, four rows). In the case of stacking, four articles Ga from the gravity roller conveyor 1a, four articles Gc from the gravity roller conveyor 1c, four articles Ge from the gravity roller conveyor 1e, and three articles Ge from the gravity roller conveyor 1u. Are taken out from the gravity roller conveyor 1v, and are passed through the drive roller conveyor 72 and the transport conveyor 1002 to the respective branching devices 100. , The four articles Ga are loaded on the first gravity roller conveyor 1001 from the downstream side of the conveyor 1002, and the three articles Gu are loaded on the second gravity roller conveyor 1001 from the downstream side. The four articles Gc are aligned on the third gravity roller conveyor 1001 from the downstream side, and the fourth gravity roller conveyor 1 from the downstream side is aligned.
001, three articles Gv are packed and 5
Four articles Ge are loaded on the gravity roller conveyor 1001. 18 items G in stock
Are stacked on the pallet P moving downward by the article stacking device 2000 in an arrangement of 3 to 4 rows × 5 rows, as described later.

As shown in FIG. 12, articles G of different varieties, for example, an article Gw having a length of 390 mm and a height of 50 mm from the bottom, and a length of 33, are arranged in the first column of the second row of the pallet P.
Article Gx of 0 mm and height of 110 mm, length of 390 m
In the order of articles Gz having a height of 70 mm and a height of 70 mm,
Row length 300mm and height 50mm or 100m
m of articles Gb, Gg, G from the bottom in the second row, for example.
In the order of q, from the bottom in the order of the articles Gc, Gh, Gr in the third column, and in the order of the articles Gd, Gi, Gs from the bottom in the fourth column,
When the articles Ge, Gj, and Gt are stacked in the fifth row from the bottom in order, one article Gb from the gravity roller conveyor 1b, one article Gc from the gravity roller conveyor 1c, and one article Gc from the gravity roller conveyor 1d. One article Gd, one article Ge from the gravity roller conveyor 1e, one article Gg from the gravity roller conveyor 1g, one article Gh from the gravity roller conveyor 1h, and one article from the gravity roller conveyor 1i Is an article Gj from the gravity roller conveyor 1j, one article Gq from the gravity roller conveyor 1q, one article Gr from the gravity roller conveyor 1r, and one article from the gravity roller conveyor 1s. Gs is one item Gt from the gravity roller conveyor 1t. One article Gw is taken out from the troller conveyor 1w, one article Gx is taken out from the gravity roller conveyer 1x, and one article Gz is taken out from the gravity roller conveyer 1z, and they are respectively passed through the drive roller conveyer 72 and the conveyor 1002. Branching device 1004
The articles Gw, Gx, and Gz are arranged on the first gravity roller conveyor 1001 from the downstream side of the conveyor 1002 in the order of the articles Gb, Gg, and the like on the second gravity roller conveyor 1001 from the downstream side.
In the order of Gq, on the third gravity roller conveyor 1001 from the downstream side, in the order of articles Gc, Gh, Gr,
The fourth gravity roller conveyor 1001 from the downstream side
The articles Gd, Gi, and Gs are arranged on the fifth gravity roller conveyor 1001 from the downstream side in the order of the articles Gd, Gi, and Gs.
e, Gj, Gt 15
The individual articles G are stacked by the article stacking device 2000 on the pallet P moving downward in an arrangement of 3 rows × 5 rows.

The article stacking apparatus 2000 is provided with a pallet transport conveyor 20 for transporting the pallets P in the horizontal direction.
01, a plurality of rows (five rows in FIG. 5 and four rows in FIG. 7) for supplying the articles G taken out of the gravity roller conveyor 1001 by the article take-out apparatus 1003 onto the pallet P or the articles G previously stacked. Of the goods supply conveyor 2002, the pallet P or the articles G previously stacked so that the speed of moving the pallets P or the articles G previously stacked can be moved in two stages. Lifting device 2003, lifting device 20
03 moving along the supply direction of the article G
04, etc., by moving the pallet P horizontally and vertically with respect to the article supply conveyor 2002, the articles G stored in the plurality of rows of gravity roller conveyors 1001 are stacked on the pallet P. is there. Note that each of the article supply conveyors 2002 is constituted by a telescopic belt conveyor configured to be able to advance and retreat as indicated by a one-dot chain line or a two-dot chain line in FIG. The pallet transport conveyor 2001 is constituted by a drive roller conveyor, the elevating device 2003 is constituted by a table lifter, and the table 2031 is provided with a drive roller 2032. Also, the table 2031
An article regulating plate 2033 is provided upright at the end of. In addition, the moving device 2004 includes the rack 2041 and the pinion 20.
42, and the elevating device 200 along the guide 2043.
3 is moved in the supply direction of the article G. Thus, gravity roller conveyors 1001 arranged in a plurality of rows at intervals according to the falling time of the stacked articles G
The following articles G stored in the container are transferred to the article supply conveyor 2
002 and palletized, and the loaded articles G are supplied onto the pallet P moving downward or the articles G previously stacked, and are stacked in a column shape (longitudinal direction). A plurality of rows and columns of columns are formed on P. In addition, when the following articles G are supplied on the articles G stacked in any one of the rows, the articles G stacked so as to move the stacked articles G downward at a low speed. Are stacked on the article G moving downward.

That is, as shown in FIG. 9, the pallet P mounted on the lifting device 2003 is
And the moving device 2004
As a result, the tip of the article supply conveyor 2002 is moved to a position where the articles G forming the columns of the first row can be stacked. That is, four articles Ga stacked in the first row,
Three articles Gu stacked in the second row, four articles Gc stacked in the third row, 3 stacked in the fourth row
Items Gv, four items Ge stacked in the fifth row
Are all 300 mm in length, the stacking positions of the 18 articles G to be stacked in a column are determined based on the length (300 mm) of these articles G.

When the pallet P is moved to the loading start position, gravity roller conveyors 1001 arranged in a plurality of rows at intervals corresponding to the descending time of the loaded articles G.
The following article G stored in the apparatus is the article take-out device 1
003 (for example, as will be described later, the articles Ga, Gc, and Ge taken out subsequent to the articles Ga, Gc, and Ge having a height of 50 mm have a height of 7 seconds after 1.0 second.
Article G to be taken out after 0 mm articles Gu and Gv
u and Gv are taken out after 1.4 seconds), packed on the article supply conveyor 2002, and supplied to the article supply conveyor 2002.
The detector G attached to the tip of the product
When the arrival of the object G is detected, the elevating device 2003 starts descending, and the articles G continuously supplied by the article supply conveyor 2002 are placed on the pallet P moving downward or the articles G previously stacked. They are supplied and stacked so as to be stacked (see the phantom line in FIG. 9), and as shown in FIG. 11, a plurality of articles G of the same type are stacked in a column shape (vertical direction). The lowering speed of the lifting / lowering device 2003 when the articles G are stacked on the pallet P is continuously lowered at a low speed (3 m / min or less) when the articles G having a low height are stacked. Products Ga, Gc, Ge with a height of 50 mm
50m is taken out of articles Ga, Gc and Ge following
m ÷ 3 m / min = article G having a height of 70 mm after 1.0 second
Articles Gu and Gv taken out after u and Gv are 70
mm ÷ 3 m / min = 1.4 seconds later, the article take-out device 100
3, the articles G are taken out and packed in the article supply conveyor 2002, so that the succeeding article G is supplied in advance at the timing when the upper surface of the already stacked articles G and the upper surface of the article supply conveyor 2002 substantially coincide with each other. The articles G can be stacked in a column shape on the stacked articles G, and various articles G having different heights can be stacked on the pallet P without disturbing arrangement or the like.

When the final articles G forming the columns of the first row are stacked on the pallet P, the pallet P is raised to a position immediately below the article supply conveyor 2002 as shown in FIG. The transfer device 1002 in the second to fifth rows shown in FIG.
(Corresponding to the second to fifth gravity roller conveyors 1001 from the downstream side of the product supply conveyor 2002). The articles G forming the columns of the second row in which the tip of the article supply conveyor 2002 is stacked in the second to fifth columns are stacked. It is moved to the position to get.
That is, three articles Gb, Gg, stacked in the second row,
Gq, three articles Gc, Gh to be stacked in the third row,
Gr, three articles Gd, Gi, stacked in the fourth row,
Gs, three articles Ge, Gj, stacked in the fifth row
Since the lengths of Gt are all 300 mm, the loading positions of the twelve articles G stacked in a column are determined based on the length (300 mm) of these articles G, and the pallet P is moved by the moving device 2004. It is moved 300 mm. At the same time as the pallet P is moved, the first row of the article supply conveyors 200 (corresponding to the first gravity roller conveyor 1001 from the downstream side of the conveyor 1002).
2 are arranged in the second to fourth rows as shown by the dashed line in FIG.
With respect to the tip of the article supply conveyor 2002 in the row (in FIG. 5, the second row to the fifth row), (390 mm-300 mm
=) Retracts 90 mm. That is, based on the maximum length (300 mm) of the articles G stacked in the second to fifth rows, the length stacked in the first row is 39.
It is determined based on the article G having the maximum length of the article Gw having a length of 0 mm, the article Gx having a length of 330 mm, and the article Gz having a length of 390 mm, that is, the articles Gw and Gz having a length of 390 mm. , First row goods supply conveyor 20
02 in the second to fifth rows of the article supply conveyor 200
3 articles Gw by retracting 90 mm from the tip of 2
Gx and Gz can be stacked at predetermined positions.

When the pallet P is moved to the loading start position of the articles G forming the columns in the second row and the leading end of the article supply conveyor 2002 in the first row is retracted to a predetermined position, the stacking is performed. Roller conveyors 1 arranged in a plurality of rows at intervals according to the falling time of the articles G
Subsequent articles G stored in 001 are taken out by the article take-out device 1003 (for example, as described later, articles Gq, Gr, and Gs that are taken out after 100-mm-high articles Gg, Gh, Gi, and Gj. , Gt is taken out after 1.52 seconds, and the article Gz to be taken out after the article Gx having a height of 110 mm is taken out after 1.64 seconds), packed on the article supply conveyor 2002, and the tip of the article supply conveyor 2002. When a detector (not shown) attached to the unit detects the arrival of the leading article G, the lifting device 2
003 starts descending, and the article supply conveyor 20
02, the articles G continuously supplied are supplied and stacked so as to be stacked on the pallet P moving downward or the articles G previously stacked (see the phantom line in FIG. 10). As shown in FIGS. 12 and 13, a plurality of types of articles G are stacked in a column shape (vertical direction). The lifting device 2 when the articles G are stacked on the pallet P
The lowering speed of 003 is a low speed (a speed of 3 m / min or less) when a high article G is supplied above the preceding article G when stacking a high article G. When the high articles G are stacked on the preceding articles G, the upper surface of the high articles G stacked at a high speed (5 m / min or less) and the articles The height of the feed conveyor 2002 is 100 mm because the feed conveyor 2002 descends until the upper surface thereof substantially coincides with the upper surface.
The articles Gq, Gr, Gs, and Gt to be taken out after the articles Gg, Gh, Gi, and Gj are 40 mm (the amount of descent while the high article G is supplied above the preceding article G). After 3 m / min + 60 mm / 5 m / min = 1.52 seconds, the article Gz to be taken out after the article Gx having a height of 110 mm is 40 mm (the article G having a high height is supplied on the preceding article G. 3m / min + 7
0 mm ÷ 5 m / min = 1.64 seconds later, the article removal device 1
003, the articles G are taken out and packed in the article supply conveyor 2002, so that the succeeding article G is supplied in advance at the timing when the upper surface of the already stacked articles G substantially coincides with the upper surface of the article supply conveyor 2002. It can be stacked in a column shape on the stacked articles G,
Since various articles G having different heights can be stacked on the pallet P without disturbing the arrangement, the speed at which the stacked articles G are moved downward can be changed. When the succeeding article G is supplied on the preceding article G, the articles can be stacked at a low speed without disturbing the arrangement, and the article G having a high height is stacked on the preceding article G. When attached, the articles G descend at a high speed until the upper surface of the articles G substantially coincides with the upper face of the article supply conveyor 2002 (when the following articles G are not stacked). Can also be efficiently loaded. In the above embodiment, the height of the articles Gx stacked in the second row of the first row and the articles G stacked in the second row of the second to fifth rows are set.
Since the heights of g, Gh, Gi, and Gj are different, higher effects can be achieved by controlling as follows. That is, the articles G following the articles Gg, Gh, Gi, Gj stacked in the second to fifth rows
Immediately before the supply of q, Gr, Gs and Gt is started, the descending speed of the lifting device 2003 is changed from a high speed (5 m / min or less) to a low speed (3 m / min or less). While decelerating, the articles Gz to be taken out after the articles Gx stacked in the first row are reduced by 40 mm (the amount of descent while the high articles G are supplied above the preceding articles G) ÷ 3 m / Minute (time to descend at low speed) +60
mm ÷ 5m / min (time to descend at high speed) + (70mm
−60 mm) ÷ 3 m / min (time to descend at a low speed due to the following articles G being supplied on the articles G stacked in the second to fifth rows) = articles after 1.72 seconds By controlling the take-out device 1003 to take out the goods to the article supply conveyor 2002 and pack the goods, before the supply of the succeeding article Gz on the article Gx is started,
The arrangement may be more disturbed than when the descending speed of the elevating device 2003 is reduced from a high speed (5 m / min or less) to a low speed (3 m / min or less). And various articles G having different heights can be stacked on the pallet P.

Similarly, the pallets P stacked up to the third row column are carried out by the pallet conveyor 2001.

FIG. 14 shows an article stacking apparatus 2000.
FIG. 14 is a plan view showing another embodiment of the present invention, in which twelve rows of article supply conveyors 2002 are configured to be able to advance and retreat along the supply direction of articles G, and each article G is arranged in one or more rows (see FIG. 14). The articles G previously supplied by the article supply conveyor 2002 in two or three rows in the embodiment shown)
It is configured substantially the same as the article stacking apparatus 2000 shown in FIG. 5 or FIG.

Referring to the embodiment shown in FIG. 14, the pallet P is a flat pallet having a plurality of vertical side plates W (such as blinds, watermarks or meshed structures) as superstructures on the surface (the embodiment shown in FIG. 14). Is a box pallet having three sides), and the goods stacking apparatus 2000 is provided with left and right vertical side plates W.
14 (in the embodiment shown in FIG.
Item supply conveyor 2 of up to 6 rows can be inserted)
002, the articles G are stacked on the pallet P or the articles G previously stacked.

That is, a 12-row article supply conveyor 2002
Among them, the leading ends of the three rows of article supply conveyors 2002 on the left and right end sides except the center six rows of article supply conveyors 2002 are retracted from the direction of the pallet P, and the pallet P mounted on the lifting device 2003 is located at the center. While being raised to a position directly below the six-row article supply conveyor 2002, the moving device 2004 closes a position where the tip of the middle six-row article supply conveyor 2002 can load the articles G forming the first row column. Be moved. That is, the articles Gα stacked in the first row by the article supply conveyors 2002 in the fourth and fifth rows, and the articles Gβ, 7 stacked in the second row by the article supply conveyor 2002 in the sixth row.
The third through ninth rows of the article supply conveyor 2002
The loading position of the articles Gγ to be loaded in the row is determined based on the length of these articles G, and the pallet P is moved to the loading start position, and the fourth row and the fifth row are simultaneously moved with the pallet P. Based on the difference between the length of the article Gα and the length of the article Gγ, the tip of the article supply conveyor 2002 in the row is slightly (the length of the article Gα and the article The difference between the length of the articles Gβ and the length of the articles Gγ is determined by moving the tip of the article supply conveyor 2002 in the sixth row based on the difference between the length of the articles Gβ and the length of the article Gγ. A little with respect to the tip of the article supply conveyor 2002 (the length of the article Gβ and the article G
(by the difference from the length of γ).
Note that the articles Gγ are stacked at a predetermined position only by moving the pallet P without being retracted at the tip of the article supply conveyor 2002 in the seventh to ninth rows. Thus, gravity roller conveyors 1 arranged in a plurality of rows at intervals according to the falling time of the stacked articles G
001 is taken out by the article take-out device 1003, and the article supply conveyor 2
When an unillustrated detector attached to the leading end of the article supply conveyor 2002 detects the arrival of the leading article G, the elevating device 2003 starts descending and is continuously operated by the article supply conveyor 2002. A plurality of articles G are supplied and stacked so as to be stacked on the pallet P moving in the downward direction or the articles G previously stacked, and a plurality of articles G are formed in a column shape (vertical direction). Stowed in.

The embodiment of the method of packing articles according to the present invention has been described above together with the example of the article packing equipment suitable for carrying out the method. However, the method of packing articles according to the present invention is not limited thereto. Not something. For example, a stacked article G
May be appropriately set according to the height dimension of the articles G to be stacked.

Further, even when a subsequent article is not supplied above the articles stacked in each row, the next succeeding article is supplied above the articles stacked in any row. Short time interval (less than the specified time)
In such a case, control may be performed such that the stacked articles are moved downward at a low speed, and the unpacked articles are stacked on the articles moving downward.

[0053]

The method for packing articles according to the present invention is configured as described above, so that articles having a high height can be efficiently stacked at a high speed.

[Brief description of the drawings]

FIG. 1 is a perspective view partially showing an embodiment of an article packing apparatus.

FIG. 2 is an elevational view of main parts partially showing an embodiment of an article packing apparatus.

FIG. 3 is an enlarged side view showing a downstream end portion of the gravity roller conveyor shown in FIG. 1;

FIG. 4 is a plan view of FIG. 3;

FIG. 5 is a plan view showing one embodiment of a gravity roller conveyor for storing a packed article.

FIG. 6 is a side view partially showing one embodiment of the gravity roller conveyor shown in FIG. 5;

FIG. 7 is a perspective view showing an embodiment of an article stacking apparatus.

FIG. 8 is an explanatory diagram of an embodiment of a packing method using the packing equipment for articles.

FIG. 9 is a side view for explaining the operation of the article stacking apparatus shown in FIG. 7;

FIG. 10 is a side view for explaining the operation of the article stacking device shown in FIG.

11 is a perspective view showing a state of articles stacked on a pallet by the article stacking device shown in FIG. 7;

12 is a perspective view showing a state of articles stacked on a pallet by the article stacking device shown in FIG. 7;

FIG. 13 is an AA view of the state of the articles stacked on the pallet shown in FIG. 12;

FIG. 14 is a plan view showing another embodiment of the article stacking apparatus.

[Explanation of symbols]

 2000 goods loading device 2002 goods supply conveyor 2003 lifting device 2004 moving device G goods

Claims (1)

(57) [Claims] 1. A method of stacking articles in a plurality of rows by supplying a succeeding article on an article moving downward and stacking articles in a plurality of rows, the speed of moving the stacked articles downward may be changed. A lifting device arranged in the manner described above is arranged so that subsequent articles are packed at intervals according to the descending time of the stacked articles, and the following articles are supplied on the articles stacked in any row. When being fed by a conveyor , the loaded articles are moved downward at a low speed so that the assorted articles are stacked on the articles moving downward and the subsequent articles are stacked. Not
A method of stacking articles, wherein the stacked articles are lowered at a high speed .