JP6465524B2 - Palletizing apparatus and palletizing method - Google Patents

Description

  The present invention relates to a palletizing apparatus and a palletizing method for transferring articles respectively carried by carry-in apparatuses arranged on both sides to a carry-out apparatus.

  For example, a palletizing device (conveying device) shown in Patent Document 1 includes an arm mechanism that moves so as to be numerically controllable, and an extraction head that is attached to the arm mechanism and holds and takes out a molded product from the mold of the molding machine. The take-out machine constitutes a conveying device, the take-out head is moved in the two orthogonal axes, and the molded product is placed in a rectangular box-shaped container in the unloading device installed on the front side set as the collection position of the molded product. Palletizing is performed in such a manner that the molded products are sequentially opened based on the set open positions that define the respective open positions to be opened, and the molded products are arranged in a stack and boxed.

However, since the installation position of the carry-out device is limited to the front side, the palletizing device cannot be palletized by placing the carry-out device on the opposite back side, and the palletizing possible area is limited and workability is reduced. Have a bad problem.

Further, since the layout of the palletizing device and the carry-out device in the accumulation yard is limited as described above, there is a problem that it is difficult to effectively use the installation space.

JP 2007-105827 A

  The problem to be solved is that the installation position of the carry-out device is limited to the molded product collection position side, so the carry-out device cannot be placed on the opposite side of the molded product collection position and palletizing is possible. The area is limited and workability is poor. In addition, since the layout of the palletizing device and the carry-out device is limited, it is difficult to effectively use the installation space.

The invention according to claim 1 is supported so as to move in the longitudinal direction on a first frame provided at a height position higher than the take-out position and the carry-out position with a length in the longitudinal direction reaching the take-out position and the carry-out position. The first traveling body, the first driving means for reciprocating the first traveling body in the longitudinal direction, and the respective articles disposed on both sides in the longitudinal orthogonal direction on one end side of the first frame. An unloading device for unloading, an unloading device for unloading each transferred article disposed on the other end side of the first frame, and an end portion extending in the longitudinal orthogonal direction with respect to the first traveling body Is a length that reaches each loading device and is supported so as to be movable in the longitudinal orthogonal direction, a second drive means for reciprocating the second frame in the longitudinal orthogonal direction, and the second frame To move in the longitudinal orthogonal direction A second traveling body supported in this manner, a third driving means for reciprocating the second traveling body in the longitudinal orthogonal direction, and a holding means for holding an article are attached to the lower part. An upper and lower unit supported so as to be movable up and down between a lower position where the holding means reaches the take-out position of each carry-in device and a carry-out position of the carry-out device and an upper position where the holding means holding the article can get over the first frame; And a fourth driving means for raising and lowering the upper and lower units, wherein the first traveling body holds the first frame when the upper and lower units move to an upper position with respect to the second traveling body. Each carrying-in device has a height that can be moved in the direction perpendicular to the longitudinal direction and moves the second traveling body in synchronization with the movement of the second frame relative to the first traveling body to move the holding means at a double speed. It was brought into After is held by the holding means an article in Les, the most important feature that was made possible transferred by moving the holding means to the carry-out device.

According to a third aspect of the present invention, a first frame is formed by a first driving means on a first frame which is provided at a height in a longitudinal direction extending to the take-out position and the carry-out position and higher than the take-out position and the carry-out position. A first traveling body supported so as to be reciprocally movable between a carry-in device arranged on both sides in the longitudinal orthogonal direction on one end side of the frame and a carry-out device arranged on the other end side of the first frame. The second frame extending in the direction perpendicular to the longitudinal direction is supported by the second driving means so that each end portion can reach the corresponding carry-in device so as to be reciprocally movable, and the third driving means is supported with respect to the second frame. A holding means capable of holding an article is attached to the lower part of the second traveling body supported so as to move in the longitudinal orthogonal direction, and the holding means is taken out by the fourth drive member, and the take-out position of each carry-in device and the carry-out device are carried out Place In state holding means holding the lower position and an article in a palletizing device having a vertically movable upper and lower units between the upper position can be over the first frame, the holding means holding the article has moved to the upper position leading to When moving at least one of the second frame and the second traveling body in the direction perpendicular to the longitudinal direction, the holding means can get over the first frame and take out the articles carried in by the respective carrying-in devices, and remove each article taken out. The most important feature is that the holding means can be moved at a double speed by moving the second traveling body in synchronization with the movement of the second frame relative to the first traveling body.

  INDUSTRIAL APPLICABILITY The present invention can efficiently perform a palletizing operation for taking out articles from a loading device installed on the front side and the back side and transferring them to a carrying-out device. Palletizing work can be efficiently performed by increasing the degree of freedom of the layout of the palletizing device, the carry-in device, and the carry-out device, and making effective use of the installation space.

It is a whole perspective view of a palletizing device. It is a plane explanatory view of a palletizing device. It is side surface explanatory drawing seen from the arrow A direction of FIG. It is plane explanatory drawing which shows the state which the holding means moved to the taking-out position. It is plane explanatory drawing which shows the state which the holding means moved to the accumulation position. It is a partial explanatory view showing the movement state of the holding means relative to a predetermined column and row position in the pallet. It is explanatory drawing which shows the other palletizing example by a palletizing apparatus.

  The first traveling body has such a height that the holding means holding the article can move over the first frame and move in the longitudinal orthogonal direction when the upper and lower units move to the upper position with respect to the second traveling body. After the second traveling body is moved in synchronization with the movement of the second frame relative to the first traveling body so that the holding means can be moved at a double speed, and each article carried into each loading device is held by the holding means. The best mode is that the holding means is moved to the carry-out device and can be transferred.

The present invention will be described below with reference to the drawings showing examples.
As shown in FIGS. 1 to 3, the main body frame 3 constituting the first frame of the palletizing device 1 is higher than the stacking device 7 for stacking a large number of articles 5, and is disposed laterally with the stacking device 7. It is comprised by the length of the longitudinal direction which reaches the carrying-in apparatus 9 to be performed. The main body frame 3 is provided with a guide rail 11 extending in a longitudinal direction (hereinafter also referred to as a left-right direction), and the first traveling body 13 is moved on the guide rail 11 in the left-right direction. Supported.

  The first traveling body 13 is configured to stand up at a height at which the article 5 gets over the main body frame 3 when the article 5 held by the holding means 29 described later is moved in the front-rear direction.

The first driving means for moving the first traveling body 13 in the left-right direction on the main body frame 3 is, for example, rotatably supported at the left and right ends of the main body frame 3 and numerically controlled servomotors on one side. A toothed belt (not shown), a part of which is fixed to the first traveling body 13, is passed over a rotating body such as a toothed pulley to which the first electric motor 15 is connected. A belt driving mechanism that moves the first traveling body 13 in the left-right direction by means of a toothed belt that travels in response to the driving of.

  The first traveling body 13 includes a front / rear frame 17 as a second frame extending in a longitudinal orthogonal direction (hereinafter also referred to as a front / rear direction) and having a length corresponding to the width in the front / rear direction of the stacking device 7. It is supported so as to move in the front-rear direction, and is moved in the front-rear direction by the second driving means.

As the second driving means, for example, a rack gear or a toothed belt (not shown) extending in the front-rear direction is attached to the front and rear frame 17, and the first traveling body 13 is attached to the rack gear or the toothed belt. A pinion gear (not shown) fixed to the output shaft of the second electric motor 19 such as a numerically controlled servo motor provided is meshed with the first traveling body 13 as the second electric motor 19 is driven. On the other hand, the front and rear frame 17 is constituted by a rack and pinion drive mechanism that moves in the front and rear direction.

  The front / rear frame 17 supports a front / rear traveling body 21 as a second traveling body so as to move in the front / rear direction. The front / rear traveling body 21 is connected to the front / rear frame 17 by a connected third driving means. It is moved back and forth.

As the third drive means, for example, a servo that has an axis in the front-rear direction and is pivotally supported so that both end portions rotate to respective end portions in the front-rear direction of the front-rear frame 17 and numerically controlled at one shaft end portion. A feed screw (not shown) to which a third electric motor 23 such as a motor is connected is meshed with a nut member (not shown) provided on the front and rear traveling body 21, and is rotated as the third electric motor 23 is driven. The front and rear traveling body 21 is configured by a feed screw driving mechanism that moves the front and rear traveling body 21 in the front and rear direction.

  A vertical unit 25 having an axis in the vertical direction is supported by the front and rear traveling body 21 so as to move up and down. The vertical unit 25 is moved in the vertical direction with respect to the front and rear traveling body 21 by a connected fourth driving means. Moved.

  As the fourth driving means, for example, a fourth such as a numerically controlled servo motor provided on the front and rear traveling body 21 with respect to a rack gear 25a having an axis in the vertical direction and attached to the side surface of the vertical unit 25. A rack and pinion that meshes with a pinion gear (not shown) fixed to the output shaft of the electric motor 27 and moves the vertical unit 25 up and down with respect to the front and rear traveling bodies 21 by a pinion gear that rotates as the fourth electric motor 27 is driven. A drive mechanism is used.

The first to fourth drive means may be any of a known belt drive mechanism, rack and pinion drive mechanism, feed screw drive mechanism, or linear motor drive mechanism in addition to the drive mechanism exemplified above.

  A holding means 29 for holding the article 5 is attached to the lower part of the upper and lower unit 25. The holding means 29 includes, for example, a guide rod (not shown) that extends in the front-rear direction illustrated on the lower surface of the rectangular attachment plate 33 having one opposite side longer than the width of the article 5, and the guide rod A pair of sandwiching plates 37 supported so as to move in the front-rear direction, and an axis extending in the front-rear direction opposite to each other in the front-rear direction. It is comprised by the operation members 39, such as an air cylinder respectively connected with the upper part of the clamping plate 37 which protrudes from a hole. The pair of sandwiching plates 37 moves in the direction approaching and moving away from each other by the synchronous operation of the actuating members 39 to sandwich and hold the article 5 on the side surface.

It should be noted that elastic members 37 a such as rubber that increase the coefficient of friction with respect to the side surface of the article 5 are attached to the relative surfaces of the respective holding plates 37. Further, as the holding means 29, a plurality of adsorbing members (all not shown) that adsorb and hold the upper surface on a mounting plate corresponding to the size of the upper surface of the article 5 are provided to adsorb and hold the article 5. It may be. Further, the holding means 29 fixes the base end portion (upper end portion) of one clamping plate 37 to the mounting plate 33 and moves the other clamping plate 37 toward and away from the one clamping plate 37. It is good also as a structure which moves and hold | grips and cancel | releases the articles | goods 5. FIG.

An accumulation device 7 is disposed at the accumulation position on the right front side of the palletizing device 1 shown in the figure. The stacking device 7 includes a pallet 41 in which a large number of articles 5 are stacked in a plurality of columns and rows, and a plurality of articles 5 on the pallet 41 placed and placed at a stacking position. When stacked in rows and columns and in multiple stages, the transfer and transfer device 43 that transfers the pallet 41 by a length of one piece, and the pallet 41 transferred and connected to the transfer and transfer device 43 Is constituted by an unloading device 45 for unloading a predetermined position.

In addition, a carry-in device 9 for free-flow transporting the article 5 is arranged at the rear left take-out position shown in the drawing of the palletizing device 1, and the carry-in device 9 transfers the free-flow transported article 5 to the palletizing device 1. Bring it to the removal position.

In the above example, the articles 5 sequentially carried in by the carry-in device 9 are stacked in a plurality of columns and rows sequentially transferred onto the pallet 41 of the stacking device 7 and are stacked in a multistage manner. In the opposite case, that is, after the pallets 41 in which the articles 5 are stacked in a plurality of columns and rows and are stacked in a multistage manner are loaded into the stacking device 7, the articles 5 are sequentially taken out from the pallets 41 and loaded into (loading device). 9 may be transferred.

The storage means (not shown) in the control means of the palletizing apparatus 1 stores three-dimensional take-out position data in the left-right direction, the front-rear direction, and the height direction regarding the take-out position of the article 5 carried in by the carry-in apparatus 9. In addition, three-dimensional accumulation pattern data relating to the column position and the row position and the stacking height for accumulating the articles 5 in a plurality of columns and rows on the pallet 41 of the accumulation device 7 is stored. The first to fourth electric motors 15, 19, 23, and 27 are driven and controlled based on the original take-out position data and the three-dimensional integrated pattern data, respectively, and the corresponding first traveling body 13, front and rear frame 17, front and rear traveling body 21, and The upper and lower units 25 are moved to the respective positions, and the take-out operation and the accumulation operation of the articles 5 are executed.

Furthermore, although the transfer conveyance device 43, the carry-out device 45, and the carry-in device 9 of the stacking device 7 are illustrated as caterpillar type conveyance devices, they are not limited to this, and may be roller conveyors or the like.

Next, a plurality of columns and rows in which the articles 5 sequentially carried in by the carry-in device 9 arranged on the back side of the palletizing device 1 are sequentially transferred onto the pallet 41 of the stacking device 7 arranged on the front side of the palletizing device 1. The palletizing action and method of the palletizing apparatus 1 that accumulates in multiple stages will be described.

First, when the article 5 is conveyed to the take-out position on the rear left side (rear left side) in the palletizing device 1 by the conveyance drive of the carry-in device 9, the control means of the palletizing device 1 takes out the take-out position data read from the storage means. The first electric motor 15 is driven and controlled based on the first traveling body 13 on the left side, and the second electric motor 19 is driven and controlled on the first traveling body 13 so that the front and rear frames 17 are moved rearward. Further, the third electric motor 23 is driven and controlled so that the front and rear traveling bodies 21 are moved rearward with respect to the front and rear frame 17 and the holding means 29 is removed and positioned above the article 5 conveyed to the take-out position. (See Figure 4)

Next, in the above state, the control means drives and controls the fourth electric motor 27 to lower the upper and lower unit 25 and position the pair of sandwiching plates 37 in the holding means 29 on the upper both side surfaces of the article 5. Each actuating member 39 is actuated to move in a direction approaching each other, and the article 5 is sandwiched and held.

Next, the control means drives the fourth electric motor 27 in the reverse direction while holding the article 5 by the holding plate 37 to raise the vertical unit 25 and move the holding means 29 to the upper position, and then the second electric motor. The third electric motor 23 is driven in reverse to move the front / rear traveling body 21 forward relative to the front / rear frame 17 while moving the front / rear frame 17 forward relative to the first traveling body 13 by driving 19 backward.

At this time, the first traveling body 13 holds the article 5 because the holding means 29 that holds the article 5 with respect to the upper surface of the main body frame 3 is set to a height that can pass over the main body frame 3. The holding means 29 can be moved to the front side of the palletizing apparatus 1. (See Figure 5)

The second and third electric motors 19 and 23 are synchronously driven when the front and rear traveling body 21 is moved forward relative to the front and rear frame 17 while the front and rear frame 17 is moved forward relative to the first traveling body 13. By doing so, the holding means 29 may be moved at a double speed to shorten the moving time.

Next, the control means drives the first electric motor 15 to rotate in the reverse direction to move the first traveling body to the front right side of the palletizing apparatus 1 and the holding means 29 is moved to the accumulation position. The stored integrated pattern data is read out, and the first and third electric motors 15 and 23 are driven and controlled with respect to the main body frame 3 based on the integrated pattern data relating to the first column and the first row, for example. After the front and rear traveling bodies 21 are moved relative to the first traveling body 13 and the front and rear frames 17, the fourth electric motor 27 is driven and controlled, and the vertical unit 25 is lowered relative to the front and rear traveling bodies 21 to hold the article 5. The means 29 is positioned at the accumulation position of the first column and the first row in the first stage of the pallet 41. (See Figure 6)

In this state, the respective operation members 39 are operated in the opposite direction to move the pair of clamping plates 37 away from each other, and the articles 5 released from holding are moved to the first stage, first row, first row of the pallet 41. After the transfer to the line, the fourth electric motor 27 is driven in reverse to move the vertical unit 25 to the upper position.

Thereafter, the first to third electric motors 15, 19, and 23 are respectively controlled in reverse rotation to move the corresponding first traveling body 13, front and rear frame 17, front and rear traveling body 21 in the respective directions, and palletizing the holding means 29. Return to the standby position on the left side of the front of the device 1.

Then, when the next article 5 is carried into the take-out position by the conveyance drive of the carry-in device 9, the control means drives and controls the first to fourth electric motors 15, 19, 23, 27, respectively, as described above. After holding the article 5 by the holding means 29, the article 5 is moved to the stacking position, and the held article 5 is transferred to the first stage, first column, second row position on the pallet 41, and palletizing is executed.

When a large number of articles 5 are stacked in a predetermined number of rows and columns on the pallet 41 at the stacking position by repeating the above operation, the control means drives and controls the transfer / conveyance device 43 as described above. The pallet 41 on which a large number of articles 5 are accumulated is transferred onto the carry-out device 45 that is driven to be carried out.

In this embodiment, the holding means 29 that holds the article 5 can be moved over the main body frame 3 and moved between the front side and the back side of the palletizing device 1, and therefore the rear side (back side) of the palletizing device 1. The loading device 9 for loading the article 5 on the side) and the stacking device 7 on the front side (front side) can be arranged and palletized, and the stacking device 7 and the loading device 9 are effectively arranged according to the stacking yard. Thus, the palletizing operation can be executed efficiently.

In the above description, the holding means 9 is directly attached to the lower part of the upper and lower unit 25, but the holding means 29 may be attached to the lower part of the upper and lower unit 2 via the posture rotating means. The posture control means is constituted by a rotating member such as an air motor or an electric motor, and the holding means 29 is rotated at a desired angle so as to coincide with the accumulated posture, or the reversing member and the ring member constitute a reversing member. The holding means 29 may be slid at a desired angle so as to match the accumulation posture.

In the above description, the pallet 41 is placed at a fixed height with respect to the transfer conveyance device 43 of the stacking device 7, and the up and down stroke of the upper and lower unit 25 is changed to stack the articles 5 in multiple stages. A known lift mechanism such as a pantograph mechanism may be provided in the loading / conveying device 43, and the transfer conveying device 43 positioned at the uppermost stage may be sequentially lowered according to the height of the article 5 and stacked in multiple stages. .

Alternatively, a pallet carry-in device may be provided on the upper side in the carrying direction of the transfer and transfer device 43, and the pallet 41 may be sequentially carried into the transfer and transfer device 43 for automation.

The present invention allows the holding means 29 holding the article 5 to pass over the main body frame 3 when moving in the front-rear direction, and the stacking device 7 disposed on the front side (front side) of the palletizing device 1 and the rear side ( The gist of the invention is that the article 5 is moved between the carrying device (conveying device) arranged on the rear side and these devices are arranged efficiently so that palletizing can be performed efficiently. The present invention is not limited by the stacking device 7 and the carry-in device 9.

Further, as shown in FIG. 7, loading devices 71 and 73 for loading different articles 5a and 5b are arranged on the front side and the back side of the palletizing device 1, and a single unloading device 75 is arranged on the left side of the palletizing device 1 in the figure. To do. The articles 5a and 5b respectively carried in by the carry-in devices 71 and 73 are set items such as containers and their lids, and these articles 5a and 5b are set on the carry-out device 75 and carried out.

That is, the first to fourth electric motors 15, 19, 23, and 27 of the palletizing device 1 are driven and controlled to take out the article 5 a carried by the carry-in device 71 and move to a predetermined position on the pallet 41 on the carry-out device 75. After the loading, similarly, the first to fourth electric motors 15, 19, 23, and 27 are driven and controlled, and the article 5 b taken out from the carry-in device 73 is adjacent to the article 5 a transferred onto the carry-out device 75. Then, the pallet 41 on which the articles 5a and 5b transferred in one row are placed is carried out by driving and controlling the carry-out device 75.

In this example, a work area (indicated by a two-dot chain line in FIG. 7) can be provided on the front side, the back side, and one side of the palletizing apparatus 1, and the palletizing work area can be enlarged to improve workability. Can be increased. Further, since the articles 5a and 5b are carried out in a set state, for example, in the next assembling process, the assembling work can be efficiently performed.

  When the holding means 29 moved upward is moved between the stacking device 7 and the loading device 9 in the left-right direction and the front-rear direction, the front-rear frame is synchronized with the movement of the first traveling body 13 in the left-right direction relative to the main body frame 3. The movement time may be shortened by moving the holding means 29 by the shortest distance by moving the 17 and the front and rear traveling bodies 21 in the front and rear direction.

DESCRIPTION OF SYMBOLS 1 Palletizing device 3 Main body frame 5, 5a, 5b composing first frame Article 7 Stacking device 9 Loading device 11 Guide rail 13 First traveling body 15 First electric motor 17 Front and rear frame 19 as second frame Second electric motor 21 Front and rear traveling body 23 as second traveling body 3rd electric motor 25 Vertical unit 25a Rack gear 27 4th electric motor 29 Holding means 33 Mounting plate 37 Holding plate 37a Elastic member 39 Actuating member 41 Pallet 43 Transfer conveyor 45 Unloader 71, 73 carry-in device 75 carry-out device

Claims (4)

A first traveling body supported so as to move in the longitudinal direction on a first frame provided at a height position higher than the removal position and the unloading position and having a length in the longitudinal direction reaching the unloading position and the unloading position; ,
First driving means for reciprocating the first traveling body in the longitudinal direction;
A loading device that is arranged on both sides in the longitudinal orthogonal direction on the one end side of the first frame, and carries each article;
An unloading device for unloading each article transferred and placed on the other end side of the first frame;
A second frame that extends in the longitudinal orthogonal direction with respect to the first traveling body, and is supported so as to be movable in the longitudinal orthogonal direction, with the length of the end portion reaching each loading device;
Second driving means for reciprocating the second frame in the longitudinal orthogonal direction;
A second traveling body supported so as to move in the longitudinal orthogonal direction with respect to the second frame;
Third driving means for reciprocating the second traveling body in the longitudinal orthogonal direction;
Attached holding means for holding the article at the bottom, with respect to the second traveling body, holding means holding means first frame which holds the lower position and the article reaching the unloading position of the take-out position and the unloading device of each loading device An upper and lower unit supported so as to be able to move up and down between upper positions where the vehicle can be overcome
Fourth driving means for raising and lowering the upper and lower units;
With
The first traveling body has such a height that the holding means holding the article can move over the first frame and move in the longitudinal orthogonal direction when the upper and lower units move to the upper position with respect to the second traveling body. After the second traveling body is moved in synchronization with the movement of the second frame relative to the first traveling body so that the holding means can be moved at a double speed, and each article carried into each loading device is held by the holding means. A palletizing device which can move the holding means to the carry-out device. In claim 1,
Each article carried in by each carry-in apparatus is a part of a set product, and a palletizing device that can combine the articles when transferred to the carry-out apparatus. The longitudinal length on the one end side of the first frame by the first driving means on the first frame provided at the height in the longitudinal direction to the take-out position and the carry-out position and higher than the take-out position and the carry-out position. It extends in the longitudinal orthogonal direction with respect to the first traveling body that is supported so as to be able to reciprocate between a carry-in device arranged on both sides in the orthogonal direction and a carry-out device arranged on the other end side of the first frame. The second frame to be taken out is supported by the second driving means so that each end portion can reach the corresponding loading device so as to be reciprocally movable, and is moved in the longitudinal orthogonal direction by the third driving means with respect to the second frame. a second traveling body supported so attached is capable of holding the holding means an article in a lower portion, and a lower position where the holding means by a fourth driving member reaches the unloading position of the take-out position and the unloading device of each loading device In palletizing device having a vertically movable upper and lower units between the holding means holding the goods upper position capable over the first frame,
When moving at least one of the second frame and the second traveling body in the longitudinal orthogonal direction with the holding means holding the article moved to the upper position, the holding means gets over the first frame and is loaded by each loading device. The articles can be taken out and each taken-out article can be transferred to the carry-out device, and the second traveling body is moved in synchronization with the movement of the second frame relative to the first traveling body, and the holding means is doubled. Palletizing method to make it movable with. In claim 3,
Each article carried in by each carry-in device is a part of a set product, and a palletizing method that allows each article to be combined when transferred to the carry-out device.

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