JP3532867B2 - Extruder for batch sheet in depalletizer - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a batch sheet extrusion apparatus in a depalletizer for extruding batch sheets stacked on a pallet along the upper surface of a separate sheet made of paper, plastic or the like which supports the batch sheets. It is a thing.

[0002]

2. Description of the Related Art FIG. 11 (I) shows a multi-pack packaging sheet S ₁ used for packaging a plurality of can bodies filled with beverages such as beer and soft drinks in small packages.

The packaging sheet S ₁ is formed by using a rectangular paperboard as a blank, printing the blank, and then punching the blank into a predetermined shape by a punching device. A line is formed. The packaging sheet S ₁ discharged from the punching device is shown in FIG.
As shown in I), a large number of sheets are stacked to form a batch sheet S ₀ . This batch sheet S ₀ is shown in FIG. 11 (III).
As shown in, a plurality of layers are stacked on the pallet P.
The batch sheet S ₀ of each stage is supported by a separate sheet S ₂ provided below and is divided into stages.

A pallet P supporting a plurality of batch sheets S ₀ is conveyed by a conveyor to a packaging machine for packaging small cans in small packages, and the batch sheets S _{0 in the} upper stage are sequentially supplied to a sheet feeding section of the packaging machine.

[0005]

By the way, since the packaging sheet S ₁ has a thin thickness of about 0.5 mm, and the surface thereof is glossy and slippery, the batch sheet S ₀ is duplicated with a space between the side surfaces. If they are provided in rows and stacked, the batch sheets S ₀ may collapse when the pallets P are transported.
In order to prevent the collapse of the load, the batch sheets S ₀ are arranged in a double row in which the side surfaces are in close contact.

Therefore, it is extremely difficult to automatically take out the batch sheet S ₀ from the pallet P.

Articles generally stacked on a pallet
To take out the product, clamp the article from both sides with a clamp.
The batch sheet S₀of
In case of packaging sheet S₁Is about 0.5 mm as described above
It's thin and thick, and the lines and cutting lines are formed to make it rigid.
The packaging sheet S₁Separate sheet S ₂
Batch sheet S without leaving anything on top₀The whole clan
It is impossible to pinch with a
It is not possible to adopt the take-out method.

Therefore, conventionally, a method of manually taking out the batch sheet S ₀ on the pallet P and supplying it to the paper feeding section of the packaging machine has been adopted, which is extremely inefficient and requires heavy labor. In addition, the packaging machine is 400 per minute
Since it has a processing capacity capable of packing more than one pack, a plurality of workers are required to supply the packaging sheet S ₁ in accordance with the processing capacity of the packaging machine, and there is a point to be improved in order to save labor. It was left.

An object of the present invention is to provide a batch sheet extrusion device in a depalletizer capable of automatically supplying a batch sheet formed by stacking a large number of sheets such as packaging sheets.

[0010]

In order to solve the above problems, in the present invention, a batch sheet on a pallet that stops at a sheet take-out position is extruded along the upper surface of a separate sheet that supports the batch sheet. A jig body that has an extrusion jig, and the extrusion jig moves up and down, and a vertical direction that is supported by the jig body so that it can move up and down.
Consists of a pushing member extending in direction, the lower end of the extrusion member is pressed against the separate sheet is lowered further jig body downward from the position stop is stopped, the separate sheet the jig body from its rest position comprising a moving device for moving substantially parallel to the upper surface, by the mobile device during movement of the extrusion jig to substantially parallel move the jig main body to the upper surface of the separate sheet, the batch sheet by extrusion member which slides an upper surface of the separate sheet It adopted a structure designed to push it out.

In the batch sheet extruding device of the depalletizer having the above-mentioned structure, the jig main body is further lowered below the position where the lower end of the extruding member is pressed against the separate sheet to stop, and then the stop position is reached. By moving the jig body substantially parallel to the upper surface of the separate sheet, the batch sheet can be extruded along the upper surface of the separate sheet by the pushing member.

At this time, since the push-out member is pressed against the separate sheet and is movable in the vertical direction, the lower surface of the push-out member always slides in close contact with the upper surface of the separate sheet. Therefore, the entire batch sheet can be extruded by the pushing member without leaving any one sheet.

As described above, by pushing the batch sheet along the upper surface of the separate sheet, the front end of the batch sheet in the moving direction can be projected outward from one side of the outer periphery of the separate sheet. Therefore, by sandwiching the protruding portion with a clamp from the side and moving the clamp, the batch sheet can be taken out from the pallet and transferred to the paper feeding section, enabling automatic supply of the batch sheet. You can

Here, the extruding member for extruding the batch sheet may be either a plate member, a member conforming to the surface shape of the pressed surface of the batch sheet, or a plurality of extruding rods. Good. By adopting the extruding rod as the extruding member, the batch sheet can be surely pressed regardless of the shape of the pressed surface of the batch sheet.

As a means for supporting the pushing member so as to be able to move up and down, a method in which a guide cylinder is provided in the jig body and the pushing member is slidably supported in the vertical direction by the guide cylinder can be adopted. By supporting the pushing member slidably by the guide tube, the pushing member can be smoothly moved up and down.

The pushing of the pushing member against the separate sheet may be carried out by its own weight, or it may be pushed by the elastic force of the spring.
The structure can be simplified by adopting the pressing method by its own weight.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view showing a layout of a batch sheet extrusion device in a depalletizer. This batch sheet extrusion device is used for batch sheet S ₀
A pallet transporting device 1 for transporting the pallet P supporting the pallet to the sheet unloading position, and an extrusion jig for quantitatively unloading the batch sheet S ₀ supported by the pallet P in a stopped state of the pallet P transported to the sheet unloading position. 1
0, and an industrial robot 20 as a moving device that moves the pushing jig 10.

As shown in FIG. 3, the industrial robot 20
Is provided with a swivel base 23 on a base 22 supported by a gantry 21, one end of a lower arm 24 is connected to the swivel base 23, and a joint member 25 connected to the other end of the lower arm 24.
The upper arm 26 is connected to one end of the upper arm 26, and the other end of the upper arm 26 is connected to the wrist member 27.

The swivel base 2 in the industrial robot 20.
3 has a degree of freedom about the A axis, and the lower arm 24
Has a degree of freedom around the B axis. Further, the contact member 25 has a degree of freedom about the C axis, and the upper arm 2
6 has a degree of freedom around the D axis. Further, the wrist member 27 has a degree of freedom around the E axis and the F axis. Each of these members 23, 24, 25, 26, 27
Is rotated or swung about each axis by a driving device such as a motor.

The industrial robot 20 is operated according to pre-registered data, and the position, angle and attitude of the wrist member 27 are controlled.

As shown in FIG. 2, on the pallet P, a batch sheet S ₀ formed by stacking the packaging sheets S ₁ shown in FIG. The batch sheets S ₀ are arranged in rows and stacked in a plurality of rows in the vertical direction, and the batch sheets S _{0 in} each row are divided by a separate sheet S ₂ provided below the batch sheets S ₀ .

The pallet P is sent to the supply end of the pallet carrier 1. The pallet transfer device 1 is composed of a pair of left and right chain conveyors 2, and the chains 3 of the chain conveyors 2 move in synchronization with each other, and the pallets P are transferred toward the discharge end of the chain conveyor 2 by the movement. At this time, the pallet P is conveyed in the arranging direction of the double-row batch sheets S ₀ .

A sheet take-out position is set midway in the conveying path of the pallet P, the pallet P is conveyed to the sheet taking-out position, and when a sensor (not shown) provided in the conveying path detects the tip of the pallet, the chain conveyor 2
Is supposed to stop.

As shown in FIG. 4, the extrusion jig 10 for quantitatively extruding the batch sheet S ₀ on the pallet P is attached to the wrist member 27 of the industrial robot 20.
The pushing jig 10 has a jig body 11 attached to the wrist member 27, and two pushing rods 12 as pushing members which are supported by the jig body 11 so as to be vertically movable. The jig main body 11 has rod supporting plates 14 provided below the connecting plate 13 which is detachably attached to the wrist member 27, and two guide cylinders 15 are fixed to the rod supporting plate 14. The push rod 12 is slidably inserted into each guide cylinder 15.

The extruding rod 12 is made of a relatively heavy metal rod having a flat lower end, and a large diameter head 12a is formed at the upper end. The push rod 12 is prevented from coming out below the guide cylinder 15 by its own weight by the contact of the head portion 12a with the upper end of the guide cylinder 15.
Only the upper part can move freely in the retaining state.

As shown in FIG. 3, a temporary receiving device 30 is provided between the pallet conveyor 1 and the industrial robot 20. When the batch sheet S ₀ on the pallet P that stops at the sheet take-out position is pushed out toward the industrial robot 20 by the pushing jig 10, the temporary receiving device 30 receives the tip of the batch sheet S _0. Has become.

The temporary receiving device 30 has a chain 33 attached between a pair of sprockets 31 and 32 which are vertically opposed to each other, and a temporary receiving bar 34 connected to the chain 33 is moved up and down by the movement of the chain 33. The temporary receiving bar 34 receives the front end of the batch sheet S ₀ .

Now, when the pallet P supplied to the supply end of the pallet carrier 1 is carried to the sheet take-out position by the drive of the pallet carrier 1 and stopped, the industrial robot 20 pushes out according to the data registered in advance. The tool 10 is moved as follows.

That is, when the pallet P is stopped at the sheet take-out position, as shown in FIG. 4, among the plurality of batch sheets S ₀ arranged on the uppermost stage of the pallet P, the batch on the front side in the transfer direction during the pallet conveyance. The pushing jig 10 is moved to a position where the pushing rod 12 of the pushing jig 10 faces the two grooves a formed in the sheet S ₀ and extending in the vertical direction.

Here, the groove a formed on the batch sheet S ₀ is formed by two V-shaped notches b formed on one end edge in the length direction of the packaging sheet S ₁ shown in FIG. 11 (I). It is a groove.

When the pushing rod 12 faces the two grooves a of the batch sheet S ₀ , as shown in FIGS. 4 and 5,
The push-out jig 10 is moved to a position where each push-out rod 12 fits into the groove a, and after the move, as shown in FIG.
The pushing jig 10 is lowered.

When the pushing jig 10 descends by a predetermined amount, the lower end of the pushing rod 12 comes into contact with the separate sheet S ₂ and stops, and after that, only the jig body 11 stops and the peripheral surface of the pushing rod 12 stops. While the guide cylinder 15 is slid above, it is further lowered by a certain amount and stopped, and the pushing rod 12 is supported by the separate sheet S ₂ with its own weight applied.

The jig body 11 and the pushing rod 12 are
By the relative vertical movement, the push rod 12
The whole is a separate sheet S₂Supported by, obey
Move the pallet P side up or down, or
Move the pallet P and the jig body 11 vertically
Then, the entire extruding rod 12 is separated into a separate sheet S. ₂
May be supported.

After the entire pushing rod 12 is supported by the separate sheet S ₂ , the pushing jig 10 faces the front side (industrial robot side) and the separate sheet S ₂ is pushed.
Is moved by a predetermined amount substantially parallel to the upper surface of the.

The pushing jig 10 is moved substantially parallel to the upper surface of the separate sheet S ₂ while sliding the lower end of the pushing rod 12, so that the batch sheet S ₀ is pressed by the two pushing rods 12. , Keeps the original packing state and moves along the upper surface of the separate sheet S ₂ in a stable state.

At this time, the temporary receiving bar 3 of the temporary receiving device 30
4 is held at a position to support the lower surface of the batch sheet S ₀ pushed out by the pushing jig 10, and the front end portion of the batch sheet S ₀ in the moving direction is supported by the temporary receiving bar 34 (see FIG. 7). .

When the batch sheet S ₀ is extruded by the extruding jig 10 which is moved substantially parallel to the upper surface of the separate sheet S ₂ , the two extruding rods 12 of the extruding jig 10 are wholly supported by the separate sheet S ₂ . since it is movable in the upward direction is, the lower surface of the push rod 12 is also slid while always in close contact with the upper surface of the separate sheet S ₂ as there is warpage Javan songs on separate sheet S _2. Therefore, the batch sheet S ₀ is a single packaging sheet S
_The entire sheet is pushed out in order by a predetermined amount along the upper surface of the separate sheet S ₂ without any ₁ left.

As described above, one batch sheet S
_{When 0} is pushed out by a predetermined amount, the jig body 11 of the pushing jig 10 is pulled up, and the upper end of the guide cylinder 15 comes into contact with the head 12a of the pushing rod 12 during the pulling up, and the pushing rod 12 is pushed together with the jig body 11. Is raised.

When the pushing jig 10 is pulled up to the position where the lower end of the pushing rod 12 is separated from the upper surface of the separate sheet S ₂ , the pushing jig 10 is stopped.
After the stop, the pushing jig 10 is moved (retreated) in the direction opposite to the pushing direction of the batch sheet S _{0 in} a state substantially parallel to the upper surface of the separate sheet S ₂ .

The extruding rod 12 is a separate sheet S ₂
When the upper batch sheet S ₀ is moved backward to a position beyond the end surface on the trailing side in the extrusion direction, it stops. After the stop, the pushing jig 10 is moved in the arrangement direction of the batch sheet S ₀ , and when the pushing rod 12 faces the groove a formed on the rear end surface of the next batch sheet S ₀ , the pushing jig 10 is stopped. ,
The pushing jig 10 is moved forward to the position where the pushing rod 12 fits into the groove a again.

After that, the above-described operation is repeated, and the uppermost batch sheet S ₀ is sequentially ordered from the front batch sheet S _{0 in} the transfer direction during pallet conveyance to the position where the leading end of the batch sheet S ₀ is supported by the temporary receiving bar 34. Pushed out.

As described above, the uppermost batch sheet S ₀ on the pallet P is sequentially extruded to the position where the leading end of the batch sheet S ₀ is supported by the temporary receiving bar 34, and the outer side of the outer peripheral side edge of the separate sheet S _2. batch sheet by protruding one end portion of the S _0, can be easily clamped by the clamp protrusions batch sheet S _0, to enable automatic feeding of the batch sheet for the sheet feeding unit of the packaging machine or the like You can

Here, at the time of automatically supplying the batch sheet, the pushing jig 10 is removed from the wrist member 27 of the industrial robot 20 by a device (not shown) or manually, and the clamp 40 shown in FIGS. 8 and 9 is attached instead. .

The clamp 40 has a fixed holding piece 41 which can be engaged with the lower surface of the batch sheet S ₀ and a movable holding piece 42 which is movably provided with respect to the fixed holding piece 41. The holding piece 42 is moved by the cylinder 43.

The clamp 40 is attached to the wrist member 27 of the industrial robot 20, and the clamp 40 is attached to the pallet P.
From the next column batch sheet S ₀ side of the side not in contact with the batch sheet S ₀ in the conveying direction of the foremost part side of the batch the sheet S ₀ double row are aligned in the transport direction of FIG. 8 as the batch sheet S ₀ at the position of one end of the batch the sheet S ₀ between the separate sheet S ₂ and temporary supporting bar 34
The fixed holding piece 41 is moved toward the batch sheet S _0.
By closing the movable sandwiching piece 42 in a state of facing the lower surface of the sheet, the sandwiching pieces 41, 42 can sandwich the batch sheet S ₀ from above and below, and by moving the clamp 40 in the sandwiched state, the sheet feeding unit is moved. Can be fed with batch sheet S ₀ .

The clamp 40 sequentially clamps one end portion of the batch sheet S _{0 in} the next row, and the clamp 4 after the clamping operation.
By repeating the same operation as described above for moving 0, the uppermost four rows of batch sheets S ₀ on the pallet P are stacked.
Can be sequentially supplied to the sheet feeding unit from the batch sheet S ₀ on one side.

The uppermost batch sheet S₀All in the paper feed section
Once supplied, it can be
Remove the clamp 40 from the wrist member 27 of the robot 20
Remove and replace with the extrusion jig 10, and remove the uppermost bar.
Touch Sheet S₀Separate sheet S that was at the bottom of the₂To
Remove the topmost batch sheet S₀Press as in
4 rows of batch sheets S on the upper stage by the feeding jig 10₀To
Batch sheet S on one side ₀Extrude a predetermined amount in order from
After that, the above-mentioned operation is repeated to carry out all the operations on the pallet P.
Batch sheet S₀To the paper feed section of the packaging machine.

In the embodiment, as the sheet forming the batch sheet S ₀ , the packaging sheet S for packaging the can bodies in small packages.
_{Although 1} is shown, the sheet is not limited to this.

In FIG. 4, the head 12a is provided at the upper end of the pushing rod 12 inserted into the guide cylinder 15 to prevent the pushing rod 12 from coming off. As shown in FIG.
A guide groove 17 extending in the axial direction on the outer circumference of the push rod 12.
On the other hand, the guide cylinder 15 is provided with a protruding shaft 18 to be inserted into the guide groove 17, and the pushing rod 12 is provided in a range in which the protruding shaft 18 contacts the upper and lower ends of the guide groove 17.
May be lifted and lowered.

Further, in the embodiment, the jig body 11 and the pushing rod 12 are used by the industrial robot (moving device) 20.
Although and are moved in the ascending / descending direction and in a direction substantially parallel to the upper surface of the separate sheet S ₂ , the movement in these two directions may be performed by moving devices provided separately.

Furthermore, in FIG. 4, the push rod 12 is
Separate sheet S due to its own weight ₂Press on
However, as shown in FIG. 10 (II), the extrusion rod 1
A flange 12b is provided in the middle of the outer periphery of the
2b is pressed by the spring 19 so that the spring 19
The extruding rod 12 is separated by the elastic force of the separate sheet S.₂To
You may make it press. Elastic force of spring 19
By separate sheet S₂Push the push rod 12 to
The lower end of the extruding rod 12 is separated by pressing it.
Seat S₂When sliding along the upper surface of the
Separate sheet S₂Follow well along the top surface of
Separate sheet due to its own weight
S₂Extruded rod compared to pressing against the upper surface of
12 can be reduced in weight. Meanwhile, extruded rod
12 is a separate sheet S due to its own weight₂Push on
If this is done, the splint shown in Fig. 10 (II)
Since the rod 19 can be omitted, the push rod 12
It is possible to simplify the structure of the supporting portion.

Although the extruding rod 12 is shown as the extruding member in the embodiment, the extruding member is not limited to this. For example, it may be a plate-shaped extruding member, or may have a shape along the pressed surface of the batch sheet S ₀ . Extrusion rod 1 as extrusion member
By employing 2, it is possible to reliably press the batch sheet S ₀ be a surface shape of any shape surface shape of the pressing surface of the batch the sheet S _0. Further, by supporting the pushing member with the guide tube 15, the pushing member can be smoothly moved up and down.

[0053]

As described above, according to the present invention, the pushing jig is provided along the upper surface of the separate sheet while the pushing rod provided on the pushing jig is supported on the upper surface of the separate sheet. Since the batch sheet is moved in parallel, the whole batch sheet can be extruded quantitatively along the upper surface of the separate sheet, and the batch sheet can be automatically fed.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of a batch sheet extrusion device in a depalletizer according to the present invention.

FIG. 2 is a front view of the pallet transfer device shown in FIG.

FIG. 3 is a sectional view taken along the line III-III in FIG.

FIG. 4 is a partially cutaway front view showing a state where the pushing rod of the pushing jig shown in FIG. 3 is inserted into a groove of a batch sheet.

5 is a cross-sectional plan view of FIG.

FIG. 6 is a vertical cross-sectional front view showing a state in which the pushing rod of the pushing jig shown in FIG. 4 is lowered.

FIG. 7 is a vertical sectional front view showing an extruded state of a batch sheet.

FIG. 8 is a front view showing a clamp for holding a batch sheet.

9 is a partially cutaway side view of FIG.

10 (I) and (II) are cross-sectional views showing another example of supporting the extruding rod shown in FIG.

FIG. 11 (I) is a plan view of a packaging sheet, (II) is a perspective view of a batch sheet formed by the packaging sheet, and (II)
I) is a perspective view of batch sheets supported on a pallet

[Explanation of symbols]

S ₁ packaging sheet S ₀ batch sheet P pallet S ₂ separate sheet 10 extrusion jig 11 jig body 12 extrusion rod (extrusion member) 15 guide tube 20 industrial robot (moving device)

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-5-69970 (JP, A) JP-A 64-53927 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B65G 57/00-61/00 B65H 3/24 B65H 3/32

Claims (4)

(57) [Claims] 1. A jig main body having an extruding jig for extruding a batch sheet on a pallet stopped at a sheet take-out position along an upper surface of a separate sheet supporting the batch sheet, and the extruding jig moves up and down. And a pushing member extending in the vertical direction supported by the jig body so as to be able to move up and down, and the jig is further lowered from the position where the lower end of the pushing member is pressed against the separate sheet and stopped. lowers the body is stopped, comprising a moving device for moving substantially parallel to the jig body on the upper surface of the separate sheet from its stop position, extrusion jig to substantially parallel move the jig main body to the upper surface of the separate sheet by the moving device When the tool is moved, the batch sheet is pushed out by the pushing member that slides on the upper surface of the separate sheet. Extrusion apparatus of Chishito. 2. The pushing member of the pushing jig is movably supported by a guide tube provided in the jig body.
An apparatus for extruding a batch sheet in the depalletizer according to 1. 3. An apparatus for extruding batch sheets in a depalletizer according to claim 1, wherein the extruding member comprises a plurality of extruding rods. 4. The batch sheet extruding device for a depalletizer according to claim 1, wherein the extruding member is pressed against the separate sheet by its own weight.