JPH0441334A - Automatic loading device - Google Patents
Automatic loading deviceInfo
- Publication number
- JPH0441334A JPH0441334A JP14911390A JP14911390A JPH0441334A JP H0441334 A JPH0441334 A JP H0441334A JP 14911390 A JP14911390 A JP 14911390A JP 14911390 A JP14911390 A JP 14911390A JP H0441334 A JPH0441334 A JP H0441334A
- Authority
- JP
- Japan
- Prior art keywords
- conveyor
- traverser
- hand
- workpiece
- loading
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005484 gravity Effects 0.000 claims description 10
- 238000005188 flotation Methods 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 2
- 238000005339 levitation Methods 0.000 claims 1
- 241000288673 Chiroptera Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Landscapes
- Rollers For Roller Conveyors For Transfer (AREA)
- Intermediate Stations On Conveyors (AREA)
- Specific Conveyance Elements (AREA)
- Loading Or Unloading Of Vehicles (AREA)
- Control Of Conveyors (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の目的〕
（産業上の利用分野）
この発明は、自動荷物積み込み装置に関するものである
。DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) This invention relates to an automatic luggage loading device.
（従来の技術）
従来、荷物等をトランクの荷台内、コンテナ内等の被積
み込み車両に運び込む場合には人力や搬送装置に頼って
いる。(Prior Art) Conventionally, when transporting luggage and the like to a vehicle to be loaded, such as in a cargo area of a trunk or a container, it has relied on human power or a transport device.
しかし、コンテナ内に荷物を背筋れせず、効率よく積載
・収納するにはどうしても人力が必要であり、人手不足
の昨今ではすべてを人力に軌るには困難であった。However, in order to efficiently load and store cargo inside containers without straining, human labor is absolutely necessary, and in these days of labor shortages, it has been difficult to do everything manually.
（発明が解決しようとする問題点）
そこで、この発明は、上記の欠点を除去するために考案
されたものであり、効率よく被積み込み車両内への荷物
の積載あるいは収納することのでき、また、ワークの重
心を検知して所定の方向へワークを揃えて積み込み、荷
崩れ防止を図り、人力による積み降ろしの際の便を図る
自動荷物積み込み装置を提供するものである。(Problems to be Solved by the Invention) Therefore, the present invention was devised to eliminate the above-mentioned drawbacks, and it is possible to efficiently load or store cargo in a loaded vehicle, and To provide an automatic cargo loading device that detects the center of gravity of the workpieces, aligns the workpieces in a predetermined direction, and loads the workpieces to prevent the cargo from collapsing and facilitates manual loading and unloading.
（問題点を解決するための手段）
以下、この発明の一実施例を図面に従って説明すると、
走行車輪（２）を有する台車本体（１）を設け、該台車
本体（１）の両側にはそれぞれ被積み込み車両（Ｂ）の
煽り等の両壁面に接触して台車本体を被積み込み車両（
Ｂ）に案内し、また、車幅を検知する荷台幅検知器（３
）を設け、台車本体（１）の後部には昇降コンベア（４
）を設け、中部にはワーク（Ａ）をコンベアの中央部に
寄せるセンタリングコンベア（５）を設け、前部にはコ
ンベア（６）を設けると共にワーク（Ａ）を上方にやや
浮上させる浮上装置（７）を設け、台車本体（１）の両
側には、該台車本体に跨座し、前後方向に移動可能なト
ラバーサ（８）を設け、該トラバーサ（８）には左右方
向に移動可能な横送り装置（９）を上下方向に移動可能
に設け、該横送り装Ｗ（９）にはハンドトラバーサ（１
０）を介して積付ハンド（１１）を設け、該ハンドの内
部にはブツシャ−（１２）を設けたものより構成される
。(Means for solving the problems) An embodiment of the present invention will be described below with reference to the drawings.
A trolley body (1) having running wheels (2) is provided, and on both sides of the trolley body (1), the trolley body is moved into contact with both walls of the loading vehicle (B), etc.
B) and also a loading platform width detector (3) that detects the vehicle width.
), and a lifting conveyor (4) is installed at the rear of the trolley body (1).
), a centering conveyor (5) for moving the workpiece (A) to the center of the conveyor is provided in the middle part, a conveyor (6) is provided in the front part, and a flotation device ( 7), and on both sides of the trolley body (1), there are provided traversers (8) that sit astride the trolley body and are movable in the front and back direction, and on the traversers (8) there are traversers (8) that are movable in the left and right directions. A feeding device (9) is provided to be movable in the vertical direction, and a hand traverser (1) is provided on the lateral feeding device W (9).
A stowage hand (11) is provided through the handle 0), and a butcher (12) is provided inside the hand.
尚、台車本体上の（１３）は、操作盤、（１４）は制御
盤であり、操作盤（１３）には作業員が乗り操作するも
のである。Note that (13) on the trolley body is an operation panel, and (14) is a control panel, which is operated by a worker riding on the operation panel (13).
また、これら装置について更に詳述すると、台車本体（
１）は、荷台の高さと同一の高さを有するプラットホー
ム（図示せず）に後着けされた被積み込み車両（Ｂ）内
にモータ等の駆動源にて入り込むための走行車輪（２）
を設けており、被積み込み車両の荷台に入るに当たり、
側面に衝突せず侵入し、台車本体（１）の側面に設けら
れた荷台幅検知器（３）により荷台の幅を検知する。In addition, to explain these devices in more detail, the trolley body (
1) is a running wheel (2) that is driven by a drive source such as a motor to enter a loaded vehicle (B) that is attached to a platform (not shown) having the same height as the loading platform.
When entering the loading platform of the loaded vehicle,
The vehicle enters without colliding with the side surface, and the width of the platform is detected by the platform width detector (3) provided on the side surface of the bogie body (1).
更に、昇降コンベア（４）は、台車本体の後部に搭載さ
れており、ワーク（Ａ）の搬送されてくる側のコンベア
、例えば伸縮コンベア（Ｃ）の高さまで上昇し、ワーク
を受は取り、前方のセンタリングコンベア（５）の高さ
まで降下して搬送するものであり、動力で昇降する。Furthermore, the elevating conveyor (4) is mounted on the rear part of the trolley body, and rises to the height of the conveyor on the side where the work (A) is being transported, for example, the telescopic conveyor (C), picks up the work, and It is conveyed by descending to the height of the centering conveyor (5) in front, and is raised and lowered by power.
次に、センタリングコンベア（５）は、台車本体（１）
の中部に搭載されており、順次搬送されてくるワーク（
Ａ）を送りながら中心（ローラ芯）に移動させるための
縦ローラを設けている。Next, the centering conveyor (5)
The workpieces (
Vertical rollers are provided to move A) to the center (roller core) while feeding it.
また、フロントコンベア（５）は、台車本体の前部に搭
載され、センタリングコンベア（５）で中心に寄せられ
たワーク（Ａ）を受は取り、該コンベアに設けられた浮
上装置（７）でやや浮いた状態となる。Further, the front conveyor (5) is mounted on the front part of the trolley body, and receives the workpiece (A) brought to the center by the centering conveyor (5), and uses a flotation device (7) provided on the conveyor to receive the workpiece (A) brought to the center by the centering conveyor (5). It will be in a slightly floating state.
そして、トラバーサ（８）は、門型であり、台車本体（
１）の両側に跨がって設けられ、台車本体の前・後方向
に自走できるよう構成されている横送り装置（９）は、
トラバーサ（８）に上・下方向に移動可能に設けられ、
かつ、後述のハンドトラバーサ（ｌＯ）を水平方向に移
動可能に設けている。The traverser (8) is gate-shaped, and the trolley body (
The lateral feed device (9) is provided across both sides of 1) and is configured to be self-propelled in the front and rear directions of the truck body.
It is provided in the traverser (8) so as to be movable in the upward and downward directions,
In addition, a hand traverser (lO), which will be described later, is provided so as to be movable in the horizontal direction.
そして、ハンドトラバーサ（ｌＯ）は、ブツシャ−（１
２）の駆動源を備えると共に、積付ハンド（１１）の水
平方向の移動の動力源も備えている。Then, the hand traverser (1O) is operated by the button traverser (1
2), and also includes a power source for horizontal movement of the stowing hand (11).
更に、積付ハンド（１１）は、前記ハンドトラバーサ（
１０）に設けられ、左右一対の板体からなり、それぞれ
の下端部が内側に少し折り曲げられたものであり、これ
ら板体の間にプッシャー（１２）が位置しており、ブツ
シャ−（１２）は伸長すると板体よりも前方に突出する
よう構成されている。Furthermore, the stowage hand (11) is connected to the hand traverser (
The pusher (12) is located between these plates. is configured so that when expanded, it protrudes further forward than the plate body.
これらのすべての構成の駆動源はマイコンまたはパソコ
ン等に情報を記憶しておき、荷台幅検知器により検知さ
れた車両の寸法データやワークの大きさ等の積付情報よ
り読み取り最適な積み込みを行うものである。The drive source for all of these configurations stores information in a microcomputer or personal computer, etc., and performs optimal loading by reading the loading information such as vehicle dimension data and workpiece size detected by a loading platform width detector. It is something.
また、他の実施例においては、ワーク（Ａ）の種類によ
り、ワークの重心が異なったものがあり、この場合には
前述の装置において、センタリングコンベア（５）によ
り搬送されたワーク（Ａ）をコンベア（６）に代わり、
ワーク（Ａ）の重心を検知する重心検知装置（１６）と
、ワーク（Ａ）の方向を転換する方向転換機（６′）を
設けると共に、ワーク（Ａ）をやや上方に浮上させる浮
上装置（７）を設けたものより構成される。Further, in other embodiments, the center of gravity of the workpiece (A) may be different depending on the type of the workpiece (A), and in this case, in the above-mentioned device, the workpiece (A) transported by the centering conveyor (5) is Instead of conveyor (6),
A center of gravity detection device (16) for detecting the center of gravity of the workpiece (A), a direction changer (6') for changing the direction of the workpiece (A), and a flotation device (for floating the workpiece (A) slightly upward) are provided. 7).
方向転換機（６′）は、センタリングコンベア（５）に
より搬送されてきたワークの重心を左右のいづれが重い
が重心検知装置（１６）で検知されると、ＡＣサーボ等
の駆動源により左には９０度、右には１８０度回転させ
ることにより、ワーク（Ａ）を常に重い側を手前に向け
るものである。The direction changer (6') moves the center of gravity of the workpiece conveyed by the centering conveyor (5) to the left side using a drive source such as an AC servo when the center of gravity detecting device (16) detects which side is heavier. By rotating the workpiece (A) by 90 degrees and 180 degrees to the right, the heavy side of the workpiece (A) always faces toward you.
これらの装置（１６） （６’ ）を設けることによ
り、重心の異なるワーク（Ａ）を積み込む際に予め、人
力によって降ろす場合のことを考え、ワーク（Ａ）の重
い側を手前に向けてすべて積み込んでおけば、その重い
部分を最初に肩に担ぐことができ、バランスがよく降ろ
し易く、また、荷崩れが起こらないよう積み込むように
したものであるまた、ブツシャ−（１２）には、バキュ
ームバット（１５）を−または複数個着脱自在に設け、
積み込んだワーク（Ａ）を吸引して積付ハンド（１１）
内に引き込み、積み陣ろしの際も自動で降ろせるよう構
成してもよい。By providing these devices (16) (6'), when loading workpieces (A) with different centers of gravity, consider in advance the possibility of unloading the workpieces (A) by hand, and place all the workpieces (A) with the heavy side facing toward you. If it is loaded, the heavy part can be carried on the shoulders first, and it is well-balanced and easy to unload.It is also designed to prevent the load from collapsing.In addition, the boot shear (12) is equipped with a vacuum - or a plurality of bats (15) are removably provided,
Suction the loaded workpiece (A) and use the loading hand (11)
It may also be configured so that it can be pulled in and automatically lowered when stacking and unloading.
（作用）
次に、この発明の使用方法を説明すると、先ず作業者が
制御盤を操作することにより、台車本体（１）はトラッ
クの荷台等の被積み込み車両（Ｂ）内に入り、トラバー
サ（８）を台車本体（１）の先端に位置させると共にブ
ツシャ−（１２）を積付ハンド（１１）より突出させ、
ストローク−杯に突出させた状態で荷台の先端部まで進
み、間隔をおいて待機する。そして、伸縮コンベア（Ｃ
）より順次搬送されて来るワーク（Ａ）を隣接する昇降
コンベア（４）が待機しており、該ワークを受けとり、
センタリングコンベア（５）の高さまで降下し、センタ
リングコンベア上を搬送されながらワーク（Ａ）は中心
部に寄せられる。(Function) Next, to explain how to use the present invention, first, by operating the control panel by the operator, the trolley body (1) enters the loaded vehicle (B) such as the bed of a truck, and the traverser ( 8) is positioned at the tip of the truck body (1), and the butcher (12) is made to protrude from the loading hand (11),
Stroke: Proceed to the tip of the loading platform with the cup protruding, and wait at an interval. Then, the telescopic conveyor (C
) The adjacent elevating conveyor (4) is waiting for the workpieces (A) that are being conveyed in sequence, and receives the workpieces.
The workpiece (A) descends to the height of the centering conveyor (5) and is brought to the center while being conveyed on the centering conveyor.
そしてワークの種類により、あるものは浮上装置（７）
でワークをやや上方に浮かせ、他のものは、ワークを方
向転換機（６′）に移動させ、ワークの重心を検知し、
重い側が手前を向くようワークを転換し、このワークを
やや上方に浮上装置（７）により浮上させる。Depending on the type of workpiece, some have a flotation device (7)
, the workpiece is floated slightly upwards, and for other workpieces, the workpiece is moved to the direction changer (6'), the center of gravity of the workpiece is detected,
The workpiece is turned so that the heavy side faces toward you, and the workpiece is levitated slightly upward by the flotation device (7).
そして、トラバーサ（８）が台車本体上を移動し、メイ
ンリフト（９）が左右に移動してハンド（１１）を都合
のよい位置まで移動し、浮上装置によりやや浮上したワ
ーク（Ａ）を挟持して被積み込み車両の積み込み位置の
少し手前で落とし、ブツシャ−（１２）で押し込み、ハ
ンドは後方に引き下がり積み込みを完了する。Then, the traverser (8) moves on the trolley body, the main lift (9) moves left and right, moves the hand (11) to a convenient position, and clamps the workpiece (A) that has been slightly floated by the flotation device. Then, drop it a little before the loading position of the vehicle to be loaded, push it in with the pusher (12), and the hand will pull back to complete loading.
そしてこれらワークを順次積み込むものであるさらに、
ワーク（Ａ）は、−度積付ハンド（１１）で浮上装置（
７）の上方に持ち上げておき、次のワーク（Ａ）が浮上
装置（７）に搬送された際に前記のワーク（Ａ）を次の
ワーク（Ａ）上に降るし、あらためて積付ハンド（１１
）で再び積み重ねた２個のワーク（Ａ）（Ａ）を−度に
積み込む場合もある。Furthermore, these works are loaded one after another.
The workpiece (A) is lifted by the flotation device (
7), and when the next work (A) is transferred to the flotation device (7), the previous work (A) is lowered onto the next work (A), and the loading hand ( 11
) The two workpieces (A) (A) stacked again at - may be loaded at - degree.
さらに、プッシャー（１２）に、前記の如くバキューム
バット（１５）を設け、積み込んだワークを吸引しブツ
シャ−（１２）で積付ハンド（１１）内に引き寄せ、前
記積み込みの作動と逆の作動をすれば積み降ろしも自動
でできるものである。Further, the pusher (12) is provided with the vacuum butt (15) as described above, and the loaded workpiece is sucked and pulled into the loading hand (11) by the pusher (12), and the loading operation is reversed. Loading and unloading can then be done automatically.
（発明の効果）
この発明によると、ワークをコンテナ車やトラック等の
被積み込み車両内に自動的に積み込むことができ、しか
も効率よく積み込み・収納ができ、荷崩れがせず、作業
時間の短縮・省力的である等極めて有益なる効果を奏す
るものである。(Effects of the Invention) According to this invention, workpieces can be automatically loaded into a loaded vehicle such as a container car or truck, and moreover, the loading and storage can be carried out efficiently, preventing the load from collapsing, and reducing work time.・It has extremely beneficial effects such as being labor-saving.
第１図は、この発明の一実施例を示す斜視図、第２図は
、この発明の一実施例を示す側面面、第３図は、この発
明の一実施例を示す平面面、第４図は、この発明の一実
施例を示す正面図である。FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a side view showing an embodiment of the invention, FIG. 3 is a plan view showing an embodiment of the invention, and FIG. The figure is a front view showing an embodiment of the present invention.
Claims (2)
後部には昇降コンベアを設け、中部にはワークをコンベ
アの中央部に寄せるセンタリングコンベアを設け、該コ
ンベアにはワークを上方にやや浮上させる浮上装置を設
け、台車本体の両側には、該台車本体に跨座し、前後方
向に移動可能なトラバーサを設け、該トラバーサには左
右方向に移動可能な横送り装置を上下方向に移動可能に
設け、該横送り装置にはハンドトラバーサを介して積付
ハンドを設け、該ハンドの内部にはプッシャーを設けた
ことを特徴とする自動荷物積み込み装置。(1) A cart body with running wheels is provided, an elevating conveyor is provided at the rear of the cart body, a centering conveyor is provided in the middle to bring the workpiece to the center of the conveyor, and the workpiece is slightly floated upward on the conveyor. A levitation device is provided on both sides of the truck body, and a traverser is provided on both sides of the truck body and is movable in the front and rear directions, and a traverser that is movable in the left and right direction is installed on the traverser and can be moved in the vertical direction. 1. An automatic baggage loading device, characterized in that the traversing device is provided with a loading hand via a hand traverser, and a pusher is provided inside the hand.
後部には昇降コンベアを設け、中部にはワークをコンベ
アの中央部に寄せるセンタリングコンベアを設けると共
に、ワークの重心を検知する重心検知装置を設け、該台
車本体の前部には、ワークの方向を転換する方向転換機
を備えたコンベアを設けると共に、ワークをやや上方に
浮上させる浮上装置を設け、台車本体の両側には台車本
体に跨座し、前後方向に移動可能なトラバーサを設け、
該トラバーサには左右方向に移動可能な横送り装置を上
下方向に移動可能に設け、該横送り装置にはハンドトラ
バーサを介して積付ハンドを設け、該ハンドの内部には
プッシャーを設けたことを特徴とする自動荷物積み込み
装置。(2) A trolley body with running wheels is provided, an elevating conveyor is provided at the rear of the trolley body, a centering conveyor is provided in the middle to move the work toward the center of the conveyor, and a center of gravity detection device detects the center of gravity of the work. A conveyor equipped with a direction changer for changing the direction of the workpiece is installed at the front part of the trolley body, as well as a flotation device that levitates the workpiece slightly upward. A traverser is provided that can sit astride and move forward and backward.
The traverser is provided with a horizontally movable cross-feeding device movable in the vertical direction, a stowage hand is provided on the cross-feeding device via a hand traverser, and a pusher is provided inside the hand. An automatic luggage loading device featuring:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2149113A JP2577650B2 (en) | 1990-06-06 | 1990-06-06 | Automatic luggage loading device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2149113A JP2577650B2 (en) | 1990-06-06 | 1990-06-06 | Automatic luggage loading device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0441334A true JPH0441334A (en) | 1992-02-12 |
| JP2577650B2 JP2577650B2 (en) | 1997-02-05 |
Family
ID=15467998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2149113A Expired - Fee Related JP2577650B2 (en) | 1990-06-06 | 1990-06-06 | Automatic luggage loading device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2577650B2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8348133B2 (en) | 2008-04-03 | 2013-01-08 | Hyundai Motor Company | Vehicle floor production system |
| CN104787083A (en) * | 2015-04-24 | 2015-07-22 | 大唐太原第二热电厂 | Empty car shunting machine stroke limiting control system and method |
| CN113060568A (en) * | 2021-03-22 | 2021-07-02 | 苏州澳昆智能机器人技术有限公司 | Automatic arrangement device for loading equipment |
| CN113830580A (en) * | 2021-10-15 | 2021-12-24 | 山东哈工卓越智能有限公司 | Full-automatic loading system for bagged grains |
| CN114955598A (en) * | 2022-08-01 | 2022-08-30 | 江苏拓扬智能装备有限公司 | Finished product material lifting and transporting integrated machine for stacking and loading trucks |
| CN116730043A (en) * | 2023-08-11 | 2023-09-12 | 安徽擎天智能科技有限公司 | Intelligent loading robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57195033A (en) * | 1981-05-23 | 1982-11-30 | Okura Yusoki Co Ltd | Pallet loading apparatus |
| JPS62157139A (en) * | 1985-12-27 | 1987-07-13 | Shin Meiwa Ind Co Ltd | Loading device for cargo |
-
1990
- 1990-06-06 JP JP2149113A patent/JP2577650B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57195033A (en) * | 1981-05-23 | 1982-11-30 | Okura Yusoki Co Ltd | Pallet loading apparatus |
| JPS62157139A (en) * | 1985-12-27 | 1987-07-13 | Shin Meiwa Ind Co Ltd | Loading device for cargo |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8348133B2 (en) | 2008-04-03 | 2013-01-08 | Hyundai Motor Company | Vehicle floor production system |
| US8701965B2 (en) | 2008-04-03 | 2014-04-22 | Hyundai Motor Company | Vehicle floor production system |
| CN104787083A (en) * | 2015-04-24 | 2015-07-22 | 大唐太原第二热电厂 | Empty car shunting machine stroke limiting control system and method |
| CN113060568A (en) * | 2021-03-22 | 2021-07-02 | 苏州澳昆智能机器人技术有限公司 | Automatic arrangement device for loading equipment |
| CN113060568B (en) * | 2021-03-22 | 2021-11-30 | 苏州澳昆智能机器人技术有限公司 | Automatic arrangement device for loading equipment |
| CN113830580A (en) * | 2021-10-15 | 2021-12-24 | 山东哈工卓越智能有限公司 | Full-automatic loading system for bagged grains |
| CN114955598A (en) * | 2022-08-01 | 2022-08-30 | 江苏拓扬智能装备有限公司 | Finished product material lifting and transporting integrated machine for stacking and loading trucks |
| CN116730043A (en) * | 2023-08-11 | 2023-09-12 | 安徽擎天智能科技有限公司 | Intelligent loading robot |
| CN116730043B (en) * | 2023-08-11 | 2023-11-07 | 安徽擎天智能科技有限公司 | Intelligent loading robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2577650B2 (en) | 1997-02-05 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |