JPH0420424A - Loading device for packed bag - Google Patents

Abstract

PURPOSE:To freely form various loading patterns without reducing loading capabilities by providing multiple transport cargo holding devices below a horizontally rotatable rotor below a mover moved three-dimensionally. CONSTITUTION:A horizontally rotatable rotor 5 is provided below a mover 4 at the tip of an articulated arm system 3, and a pair of transport cargo holding devices 6 are provided below the rotor 5. The transport cargo holding devices 6 are independently operated, multiple mating L-shaped fingers 7 of the individual transport cargo holding devices 6 are closed to scoop and hold packed bags B from both sides, and the fingers 7 are opened to release them. The packed bags B held by the transport cargo holding devices 6 can be moved from a place to another place together with the mover 4, the packed bags B can be rotated together with the rotor 5 to change direction freely, thus the packed bags B can be loaded in many layers on a pallet while a preset loading pattern is formed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a bag loading device for loading bag filling in multiple stages.

(Prior Art) As a pallet loading device for loading bags in multiple stages on a pallet, the device disclosed in Japanese Patent Application Laid-Open No. 151533/1980 loads several bags for one row of the loading pattern. The stuffed bags are arranged on the carry-in conveyor, and the stuffed bags are held by a transfer baggage holding device for one row of the loading pattern and transferred onto the pallet.

For this reason, in this pallet loading device, in order to form a loading pattern, it is necessary to provide various mechanisms such as a plurality of selectively activated stopper mechanisms and a cargo direction changing mechanism on the conveyor, etc. Even with this method, it is only possible to form one predetermined loading pattern, and it is not possible to freely form various loading patterns.

Furthermore, as another pallet loading device, there is a device disclosed in Japanese Patent Application Laid-open No. 57-195038, in which the bags are held one by one by a transfer baggage holding device and the pallet is turned in any direction. Since the cargo can be transferred to the top, there is no need for a mechanism for forming a loading pattern, and various loading patterns can be freely formed, but there is a problem in that the loading capacity is poor.

(Problem to be Solved by the Invention) As described above, in the conventional bag loading device, which transfers bag fillers one by one for one row of the loading pattern, it is difficult to form a loading pattern. However, even with this method, it is only possible to form several predetermined loading patterns, and it is not possible to freely form various loading patterns. In addition, the system that transfers stuffed bags one by one does not require a mechanism to form a loading pattern and can freely form various loading patterns, but the loading capacity is limited. There is a problem with being inferior.

The present invention has been made in view of the above points, and allows various loading patterns to be freely created without reducing loading capacity without providing a mechanism for forming loading patterns on an incoming conveyor or the like. The purpose is to form

[Structure of the invention]

(Means for Solving the Problems) In the bag loading device of the present invention, a rotary body 5 that can be rotated in the horizontal direction is provided at the bottom of a movable body 4 that moves three-dimensionally, and A plurality of transfer cargo holding devices 6 are arranged in parallel, each of which operates independently.

(Function) The bag filling device of the present invention holds a plurality of bag fillings B in each of the plurality of transfer cargo holding devices 6 independently, thereby loading a plurality of bag filling B in one reciprocation of the movable body 4. When loading and unloading bags B, if a plurality of bags B held in a plurality of transfer baggage holding devices 6 are placed side by side while still being held, the plurality of bags B are When unloading a plurality of bag fillers B as is from the holding device 6, or when arranging a plurality of bag fillers B with different intervals, positions, directions, etc., 1
After unloading the stuffed bag B from one transferred cargo holding device 6, the moving body 4 is moved or the rotating body 5 is rotated to change the position and direction of the other transferred cargo holding device 6. At the top, the bag stuffing B is unloaded from this transfer cargo holding device 6.

(Embodiment) An embodiment of the bag loading device of the present invention will be described with reference to the drawings.

FIG. 1 shows a loading device, which includes a horizontally rotatable main body 2 on a base 1.
A multi-joint arm mechanism 3 that can bend and extend in the vertical direction is provided, and a rotating body 5 that can rotate in the horizontal direction is provided at the bottom of the movable body 4 at the tip of the multi-joint arm mechanism 3. A pair of transfer cargo holding devices 6 are provided at the bottom, and each of the pair of transfer cargo holding devices 6 operates independently. By closing the shaped fingers 7 and scooping the bag filling B from both sides, the bag filling B can be held independently.
From this state, the bag stuffing B can be independently released by opening the plurality of L-shaped fingers 7 facing each other.

This loading device can hold and release a pair of stuffed bags B by a pair of transferred cargo holding devices 6, and can move the stuffed bags B held in the transferred cargo holding devices 6 back and forth. It can be moved from one position to another together with the movable body 5 that moves three-dimensionally in left, right, up and down directions, and furthermore, the bag B held in the transfer cargo holding device 6 can be rotated together with the rotary body 5 to freely change the direction. Since it can be changed, it is used as a pallet loading device, and the bag stuffing B is loaded in multiple stages on a pallet while configuring a predetermined loading pattern.

Next, various examples of loading the stuffed bags B by the loading device equipped with the pair of transfer cargo holding devices 6 will be explained with reference to FIGS. 2 to 8.

Figures 2 to 5 each show a relatively small bag B.
Figures 6 to 8 are examples of loading patterns for relatively large bags B, and in each figure, (x) is an odd-numbered stack, and (b) is an even-numbered stack. This shows the stacking patterns of bag stuffing B in odd-numbered tiers and even-numbered tiers in a symmetrical arrangement.

2 and 6 each show an example of loading onto a square pallet P, and FIGS. 3 and 7 each show an example of loading onto a rectangular pallet P with one side slightly longer. 4, 5, and 8 each show an example of loading a rectangular pallet P with one side longer.

In addition, in each figure, the symbol (
Hereinafter, they will simply be referred to as round numbers, circle 1, circle 2, etc.) and symbols with numbers surrounded by squares (hereinafter, simply referred to as square numbers, square 1, square 2, etc.)
) indicates the loading position of bag stuffed goods B, and if there are two same rounded numbers on each stage, a pair of transfer baggage holding devices 6 are installed for these two loading positions. Indicates that a pair of packed bags B are to be unloaded at the same time, and if each stage has one round number and one square number of the same number, the bag is unloaded from one of the pair of transfer baggage holding devices 6 to the position of the round number. After unloading the stuffed bag B, the stuffed bag B is unloaded from the other of the pair of transfer cargo holding devices 6 to the position indicated by the square numeral while the movable body 4 is moved or the rotating body 5 is rotated. There is.

Note that the black circles in each figure indicate the direction of the center position of the rotating body 5 when the bag stuffing B is lowered to the position indicated by the respective circle number or square number.

First, in the example shown in FIG. 2, the first transfer is carried out at each stage with bag stuffing B being held in each of the pair of transfer cargo holding devices 6 (hereinafter simply referred to as holding devices 6). When carrying out this process, after lowering the bag filling B held on one holding device 6 to the position marked by circle 1 at the corner corner of the pallet P, the bag filling B held on the other holding device 6 is lowered to the corner corner of the pallet P. When unloading the container at corner 1, and carrying out the second transfer,
After lowering the stuffed bag B held on one holding device 6 to the position circle 2 on the periphery of the pallet P, the stuffed bag B held on the other holding device 6 is placed at the corner 2 position on the periphery of the pallet P. When carrying out the third transfer, the stuffed bag B held in one holding device 6 is lowered to the position of circle 3 between circles 1 and 2, and then held in the other holding device 6. Filled bag B
is lowered to corner 3 between corner 1 and corner 2, and when the next fourth transfer is carried out, the bag filling B held in one of the holding devices 6 is placed in the corner 4 of the corner of pallet P. After lowering the bag filling B held in the other holding device 6 to the position of the corner 4 of the corner of the pallet P, when carrying out the next fifth transfer, one of the holding devices 6 After lowering the stuffed bag B held on the pallet P to the corner 5 on the periphery of the pallet P, the stuffed bag B held on the other holding device 6 is lowered to the corner 5 on the periphery of the pallet P.
When carrying out the next 6th transfer, the bag filling B held in both holding devices 6 is placed between circle 1, circle 2, circle 3 and corner 1, corner 2, and corner 3. When they are unloaded at the 90th position at the same time, the transfer of that stage is completed.

In the example shown in FIG. 3, when the first transfer is carried out on each stage, the bag stuffed materials B held in both holding devices 6 are placed in two circles at the corners and the periphery of the pallet P. When carrying out the second transfer, the bag stuffed goods B held in both holding devices 6 are simultaneously unloaded into the two positions of circle 2 adjacent to circle 1 on the pallet P, and the third time. When transferring the bag stuffed goods B held in both holding devices 6,
are placed on the two circles 3 at the corner and the periphery of the pallet P at the same time, and when transferring for the fourth time, the bags B held in both holding devices 6 are placed on the circles 3 on the pallet P. After unloading the bag stuffed material B held in one of the holding devices 6 to the position marked by circle 5 at the corner of pallet P when carrying out the fifth transfer, When the bag stuffing B held on the other holding device 6 is lowered to the corner 5 position of the corner of the pallet P and the sixth transfer is carried out, the bag stuffing B held on both holding devices 6 is rolled. 2 between 2 and circle 4
Lower them at the same time in position 96.

In the example shown in FIG. 3, one stage of the loading pattern is composed of an odd number of 13 bags B, so when carrying out the seventh transfer, one of the holding devices 6 holds them. As shown in (1), when the bag filling B is lowered to the position of circle 7 between circle 5 and corner 5 of that stage, the transfer of that stage is completed, so the bag held in the other holding device 6 is Filling B is lowered into the corner 7 of the next tier, as shown in (bl).

Therefore, in the next stage, the loading pattern for this stage can be configured by transferring the goods six times.

In addition, in the example shown in FIG. 4, the only difference is the size of the pallet P, and the arrangement of the bag stuffing B is the same as in the example shown in FIG. 3.
The explanation will be omitted.

Furthermore, in the example shown in FIG. 5, in each stage, in the first transfer, the bag stuffing B is lowered from one holding device 6 to the position marked by circle 1, and then the bag stuffing B is unloaded from the other holding device 6. In the second transfer, after unloading the bag filling B from one holding device 6 to the position of circle 2, transfer it to the other holding device 6.
From there, bag stuffed material B is lowered to the corner 2 position, and on the third transfer,
After unloading the bag filling B from one holding device 6 to the position of the circle 3, the bag filling B is unloaded from the other holding device 6 to the corner 3 position. After lowering the stuffed bag B to the position of circle 4, the stuffed bag B is lowered from the other holding device 6 to the position of corner 4, and in the fifth transfer, the stuffed bag B is lowered from the other holding device 6 to the position of circle 5. After unloading the bag filling B from the other holding device 6 to the corner 5 position, in the sixth transfer, the bag filling B is simultaneously unloaded from both holding devices 6 to the two positions 96, In the seventh transfer, the bag stuffing B is unloaded from both holding devices 6 to two positions marked by circles 7 at the same time.

In the example shown in FIG. 5, one stage of the loading pattern is composed of an odd number of 15 bags B, so in the 8th transfer, the bags B held in one of the holding devices 6 of,(
As shown in 1), when the bag is unloaded to the position indicated by the circle 8 between corner 4 and corner 5 of that tier, the transfer of that tier is completed, so that the bag stuffed material B held in the other holding device 6 is placed at (b). ), lower it to corner 8 of the next tier.

Therefore, in the next stage, the loading pattern for this stage can be configured by transferring the goods seven times.

In addition, in the example shown in FIG. 6, in each stage, in the first transfer, the bag stuffing B is lowered from one holding device 6 to the position marked by circle 1, and then the bag stuffing B is unloaded from the other holding device 6. In the second transfer, after unloading the bag filling B from one holding device 6 to the position of circle 2, transfer it to the other holding device 6.
From there, bag stuffed material B is lowered to the corner 2 position, and on the third transfer,
After unloading the bag filling B from one holding device 6 to the position of the circle 3, the bag filling B is unloaded from the other holding device 6 to the corner 3 position. After the stuffing B is lowered to the position of the circle 4, the bag stuffing B is lowered from the other holding device 6 to the position of the corner 4, and the transfer of that stage is completed.

Furthermore, in the example shown in FIG. 7, in each stage, in the first transfer, the bag fillings B are simultaneously unloaded from both holding devices 6 to the positions marked by circles 1, and in the second transfer, both In the third transfer, the bag stuffing B is simultaneously lowered from both holding devices 6 to the two positions marked with circles 3, and in the fourth transfer, With the transfer of
When the bag stuffing B is unloaded from both holding devices 6 to the two positions marked by circles 4 at the same time, the transfer of that stage is completed.

In addition, in the example shown in FIG. 8, in each stage, in the first transfer, the bag fillings B are simultaneously unloaded from both holding devices 6 to the positions marked by circles 1, and in the second transfer, one After unloading the stuffed bag B from the holding device 6 of the other holding device 6 to the position of the circle 2, the stuffed bag B is unloaded from the other holding device 6 to the position of the corner 2, and in the third transfer, the stuffed bag B is unloaded from both holding devices 6. At the same time, B is lowered into two positions marked by circles 3, and in the fourth transfer, after lowering the stuffed bags B from one holding device 6 to the position marked by circles 4, the stuffed bags B are transferred from the other holding device a6 to the corner. In the fifth transfer, the stuffed bag B is unloaded from one holding device 6 to the position marked by circle 5, and then the stuffed bag B is taken down from the other holding device 6 to the position marked by corner 5.

In the example shown in FIG. 8, one stage of the loading pattern is composed of an odd number of 11 bags B, so in the sixth transfer, the bags B held in one of the holding devices 6 of,(
As shown in a), the transfer of that stage ends when it is lowered to the position 96 of that stage, so the bag stuffed B held in the other holding device 6 is transferred to the next stage as shown in (b). Lower it to corner 6 of the step.

Therefore, at the next stage, the loading pattern for this stage can be configured by transferring the items five times.

In this way, in this loading device, by holding the bag stuffing B independently in each of the pair of holding devices 6, it is possible to transfer the pair of bag stuffing B in one reciprocation of the movable body 4. , has excellent loading capacity.

When unloading the bag fillings B, if the pair of bag fillings B held by the pair of holding devices 6 are placed side by side while being held, the pair of bag fillings B are directly removed from the pair of holding devices 6. In addition, when placing a pair of bag fillings B with different intervals, positions, directions, etc., one of the holding devices 6
After unloading the bag stuffed material B, move the movable body 4 or rotate the rotary body 5 to change the position and direction of the other holding device 6, and then remove the bag from this other holding device 6. Since the bag stuffing B can be unloaded, various loading patterns can be freely configured.

In particular, when loading bag stuffing B, bag stuffing B is
If you transfer to the corner or periphery of pallet P after transferring it to the center of pallet P, the transfer position of bag stuff B at the corner or periphery of pallet P that was transferred later will be stabilized. There is a great risk of the load collapsing as it tends to shift outwards.To avoid this risk, when loading bag stuffed stuff B, first place the stuffed stuffed bag in the corner or corner of pallet P. It is necessary to transfer the bag to the peripheral area and then transfer the bag stuff B between the bag stuff B that was transferred first, but it is necessary to support such a complicated transfer order. I can do it.

〔Effect of the invention〕

As described above, in the bag loading device of the present invention, a plurality of bag fillings can be transferred in one reciprocation of the movable body by holding bag fillings independently in each of the plurality of transfer load holding devices. It has excellent loading capacity, and since each baggage holding device operates independently when unloading bags, multiple bags held in multiple baggage holding devices can be unloaded. When arranging multiple bag fillings while still holding them, unload the multiple bag fillings from the multiple transfer baggage holding devices as they are, or change the spacing, position, direction, etc. of the multiple bag fillings. When placing bags, after unloading the bags from one transfer cargo holding device, move the moving body or rotate the rotating body to change the position and direction of the other transfer cargo holding device. Then, the bags can be unloaded from another transfer cargo holding device, so various loading patterns can be configured freely. If the bags are transferred to the center of the pallet, etc., and then transferred to the corners or periphery of the pallet, etc., the transfer position of the bags at the corners or periphery of the pallet, etc., will not be stable.
There is a high risk of the load collapsing as it tends to shift outwards, so to avoid this risk, when loading bags,
First of all, it is necessary to transfer the bag fillings to the corners and surrounding areas, and then to transfer the bag fillings between the bags that were transferred earlier. It is also possible to accommodate various transfer orders.

[Brief explanation of drawings]

FIG. 1 is a side view of one embodiment of the bag loading device of the present invention, and FIGS. 2 to 8 are illustrations of a bag loading pattern for explaining the operation thereof. B... Bag filling, 4... Moving body, 5... Rotating body, 6... Transfer cargo holding device. In order of

Claims (1)

[Claims] (1) A rotating body that can rotate horizontally is provided at the bottom of a moving body that moves three-dimensionally, and a plurality of transfer cargo holding devices that each operate independently are installed in parallel below this rotating body. Features: A loading device for bag stuffing.