JPH0610240U - Palletizer stowage controller - Google Patents

Abstract

(57) [Summary] [Purpose] It is possible to change the supply direction of the cargo. The rotation range of the holding claw 49 is set such that the opening and closing directions of the holding claw 49 differ by 90 ° at both end positions, and sensors S15 and S16 are provided at both ends of this rotation range to rotate the holding claw 49. It can be selected as the origin of. [Effect] The palletizer main body A can be supplied with the piled products from each direction, which is extremely advantageous in layout.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a palletizer that sequentially stacks a packing material such as a grain bag on a pallet.

[0002]

[Prior art]

 This type of palletizer is generally installed as a facility device, and does not change the supply direction or supply attitude of the cargo.

[0003]

[Problems to be solved by the device]

 This invention provides a small palletizer that can be mounted on a truck or the like, and also intends to configure the palletizer so that it can handle the supply of stowages from different directions.

[0004]

[Means for Solving the Problems]

 A. B. a loading control means for holding, with a holding claw 49, a product to be supplied A, which is supplied on the basis of a control signal from the CPU 44, and moving the product in a three-dimensional direction so that the pallet 9 is sequentially stacked. A holding claw 49 that can be opened and closed on both sides is configured to be rotatable left and right around a rotation shaft 29, and this rotation angle is detected by an encoder E4 and stopped at a predetermined rotation angle to control the stacking direction. Stacking direction control means, C.I. The turning range of the holding claw 49 is set so that the opening and closing directions of the holding claw 49 are different by 90 ° at both ends, and sensors S15 and S16 are provided at the ends of the turning range, and when the sensors S15 and S16 are detected. A rotation range limiting means for stopping the rotation of the holding claw 49, and D. It comprises an origin selecting means for selecting one of the left and right sensors S15, S16 as an origin and setting a work start position according to the attitude of the supplied product a. E. Palletizer stowage control device. The configuration is as follows.

[0005]

[Function of the device]

 First, the palletizer is installed, and further, the supply conveyor 35 for supplying the stowed goods a to the palletizer is installed. Depending on the building conditions and the like, the palletizer is supplied from the front, the rear, and the side. There is a case. When the arrangement of the supply conveyor 35 with respect to the palletizer is determined, the holding claw 49 is moved in the left-right direction according to the supply attitude, that is, when the product A is supplied in the vertical attitude from the front or the rear. In order to open and close and hold the long loading product a from both sides, the sensor S15 at one end of the rotation range of the holding claw 49 which is different by 90 ° is selected as the origin and the work start position is set. In addition, when the supply conveyor 35 is arranged laterally with respect to the palletizer and the product a is supplied from the side, the holding claws 49 are opened and closed in the front-rear direction so that the product a long in the front and rear can be removed from both sides. In order to hold it, the sensor S16 at the other end of the rotation range of the holding claw 49 is selected as the origin and the work start position is selected. In the case of stacking, when the holding claw 49 is selected and rotated to the origin sensor S15 or S16, the number of pulses detected by the encoder E4 and stored in the CPU 44, that is, the rotation angle. Is erased and the origin is entered. Next, the loading claws 49 are held by the holding claws 49, the holding claws 49 are moved to the positions stored in the memory, and the rotating claws 49 are further rotated to change the direction to a predetermined direction to carry out the stacking. .

[0006]

[Effect of device]

 According to this invention, as described above, the turning range of the holding claw 49 is set so that the opening and closing directions of the holding claw 49 differ by 90 ° at both end positions, and the sensors S 15 and S 16 are provided at both ends of the turning range to hold the holding claw 49. Since the pawl 49 is configured to be selectable as the origin when the pawl 49 is rotated, the supply direction of the product A to the palletizer body A can be changed according to the conditions.

[0007]

【Example】

 The palletizer will be explained based on the example shown in the figure. An automatic feeder B for the pallet 9 is provided on the rear side of the palletizer main body A, and the pallets 9 stacked in multiple stages are fed out one by one onto the lower inclined conveyor 10 to form the palletizer main body. After passing under A, it is taken over by the pallet conveyor 11 and can be conveyed to a predetermined stacking position. The pallet supply device B is formed in a box shape with pallet drop guide plates 12, 12 at four corners and connecting frames 13, 13 connecting them, and the above-described inclined conveyor 10 is mounted on the lower part thereof.

Angular shafts 14 and 14 are rotatably attached along the outer sides of the left and right connecting frames 13 and 13. Further, two upper and lower locking portions 15 and 16 are provided on the right and left sides of the angular shafts 14 and 14, respectively. The feeding bodies 17, 17 to be provided are fitted. Reference numeral 18 denotes an electric cylinder, which is driven by a motor M6 so that a piston rod 19 can be expanded and contracted. Reference numeral 20 denotes an arm, which is fixed to one end of the angular shaft 14 and extends vertically, the lower end of which is pivotally connected to the tip of the piston rod 19 and the upper end of which is downward from the other end of the angular shaft 14. The extended arm 21 is pivotally connected to the other end of the pivotal connecting rod 22.

Therefore, when the pallet 9 which is stacked in multiple stages and whose lowermost surface is supported by the feeding bodies 17 and 17 is fed, the piston rod 19 of the electric cylinder 18 is extended and the lower portion of the feeding body 17 together with the angular shaft 14 is extended. When the locking portion 16 is rotated outward, the upper locking portion 15 locks and holds the locking portion of the second pallet 9 from the bottom, and only the bottommost pallet 9 is lowered. The locking of the locking portion 16 is released, and the locking portion 16 falls on the inclined conveyor 10.

Next, the piston rod 19 of the electric cylinder 18 is shortened to rotate the feeding body 17 in the opposite direction to unlock the upper locking portion 15, and the lower locking portion 16 locks the palette 9. Lock and hold the lower surface. The palletizer main body A is provided with vertical frames 1 and 1 on the left and right sides, and the vertical frames 1 and 1 support an elevating body 2 so that the elevating body 2 can be moved up and down. The transverse body 3 to be ejected is attached, and the transverse body 3 is provided with a movable body 5 which is movable in the front-rear direction and has a holding portion 4 for luggage such as grain bags at the lower portion.

Sprockets 23, 23 are mounted on the vertical positions of the standing frames 1, 1, a chain 24 is hung between the sprockets 23, 23, and the lifting body 2 is attached to the left and right chains 24, 24. After that, the chains 24, 24 are driven by the motor M1 to raise and lower the lifting body 2. Pulleys 25, 25 are mounted on the left and right positions of the lifting body 2, a timing belt 26 is stretched between the pulleys 25, 25, the traverse body 3 is attached to the timing belt 26, and a timing is generated by a motor M2. The belt 26 is driven so that the traverse body 3 can be moved left and right.

Pulleys 27, 27 are mounted at the front and rear positions of the traverse body 3, a timing belt 28 is stretched between the pulleys 27, 27, and a movable body 5 is attached to the timing belt 28. A timing belt 28 is driven by a motor M3 mounted on the base of the traverse body 3 so that the movable body 5 can be moved back and forth. The lifting body 2, the traversing body 3, and the moving body 5 are slidably guided by guide rails (not shown).

The holding unit 4 is mounted on the lower portion of the moving body 5 via a vertical rotation shaft 29, and is rotated by the transmission of gears 30 and 30 from a motor M4 to rotate the vertical rotation shaft 29. The holding direction can be changed. The holding portion 4 is composed of holding claws 49, 49 that can be opened and closed in the left-right direction around a pivot 31 and an electric cylinder M5 that drives the guide claws 32, 32 to open and close via a link mechanism 33. Reference numeral 34 denotes a cover, which covers the upper portion of the holding portion 4. Reference numeral 35 denotes a supply conveyor, which is driven by a motor M8 and is capable of supplying grain bags one by one to the holding position of the palletizer A. Reference numeral 36 is an operation box.

Next, the control circuit will be described. 38 is a power switch, 39 is a relay contact thereof, 40 is a breaker, 41 is a manual emergency stop switch, and k1 is a relay contact of a safety stop device. Reference numeral 43 denotes a power supply circuit for supplying power to each sensor and the CPU 44, which supplies 200 V AC to 5 V and 12 V DC for supply. The CPU 44 is a central processing unit that processes each input signal and outputs a control signal to each unit.

E1 is a rotary encoder, which inputs the moving direction and moving distance of the lifting / lowering body 2 to the CPU 44 by detecting the rotational speed of the output shaft of the motor M1 to the CPU 44, and compares and calculates the command value with the command value of the motor M1. Used for stop control, etc. E2 is also a rotary encoder, which inputs the moving distance of the traverse body 3 to the CPU 44 by detecting the number of revolutions of the output shaft of the motor M2 and uses it for comparison control with the command value to control the stop of the motor M2. To do.

Similarly, the rotary encoder E3 inputs the moving distance of the moving body 5 to the CPU 44 by detecting the rotation speed of the output shaft of the motor M3 to the CPU 44, and compares it with the command value to perform stop control of the motor M3. To use. Further, the rotary encoder E4 inputs the rotation angle of the holding unit 4 to the CPU 44 by detecting the rotation speed of the output shaft of the motor M4 to the CPU 44, and compares it with the command value to perform stop control of the motor M4. To use.

X1 to X5 are relays, which are energized by a command signal from the CPU 44 through the decoder / multiplexer 45, and the relay contacts x1 to x5 can be sequentially connected in accordance with the command. Note that the decoder / multiplexer 45 processes the signals such that the relays are not connected at the same time even when an erroneous signal from the CPU 44 occurs. X6 is also a relay and receives a signal from the CPU 44 to connect the relay contact x6.

The inverter control device 6 receives a rotation direction and rotation number command signal from the CPU 44, controls the frequency, and activates the motor M2 to move the traverse body 3 left and right. Similarly, the inverter control device 7 receives a rotation direction and rotation number command signal from the CPU 44, performs frequency control, and activates the motor M3 to move the moving body 5 back and forth. Similarly, the inverter control device 8 is also controlled by the input from the CPU 44 to energize the drive circuits to the motors M1 and M4 to M7, and to successively output the relay contact points x1 to x5 by the command from the CPU 44. Each motor is selected and driven through the connected relay contacts.

B1 to B4 are electromagnetic brakes, which are attached to the output shafts of the motors M1 to M4 and apply a braking force when the motors are stopped. Next, each sensor and its control method will be described. The sensors S1 to S6 are position detecting sensors for the lifting body 2, and the sensors S1 and S2 are provided on the upper part of the standing frame 1, and the sensor S2 on the lower side is provided. When the ascending / descending movement of the lifting / lowering body 2 is detected by the above, the motor M1 is decelerated, and when the sensor S1 on the upper side is detected, the driving of the motor M1 is stopped and the electromagnetic brake B1 is operated to surely stop. Also, due to various troubles, the lifting / lowering body 2 continues to rise, and when it comes off the sensor S2 on the lower side, the signal is input to the relay K1 via the decoder / multiplexer 46 and the AND circuit 47, and the relay of the power supply circuit is relayed. The contact k1 is cut off so that the entire apparatus can be stopped. Further, sensors S5 and S6 are provided at the lower part of the standing frame 1, and when the upper sensor S5 detects the lowering of the lifting body 2, the motor M1 is decelerated similarly, and when the lower sensor S6 detects the motor, the motors S5 and S6 are detected. Stop the drive of M1 and operate the electromagnetic brake B1 to stop it surely. Also, due to various troubles, if the lifting / lowering body 2 continues to descend further and is disengaged from the upper sensor S5, the relay contact k1 which is the emergency stop device of the power supply circuit is cut off in the same manner as described above so that the entire device can be stopped. .

The upper sensors S1 and S2 and the lower sensors S5 and S6 of the vertical frame 1 are provided as a safety device, and movement detection of the lifting / lowering body 2 to the above position is detected by the rotary encoder E1. Done. The movement of the lifting / lowering body 2 to each of the other stacking stages is detected by the rotary encoder E1 described above, the motor M1 is decelerated slightly at the front position, the drive is stopped, and the electromagnetic brake B1 is used to surely stop. .

The sensors S3 and S4 detect the bag standby position of the lifting / lowering body 2. When the sensor S3 on the upper side detects the lowering of the lifting / lowering body 2, the motor M1 is decelerated, and further, the lower side. When the sensor S4 detects that the motor M1 is not driven, the electromagnetic brake B1 is activated and stopped at the bag standby position. Further, when the grain bag is conveyed to the standby position by the supply conveyor 35, the sensor S19 consisting of a limit switch detects it and stops the drive motor M8 of the supply conveyor 35, and at the same time, gives a descending command to the elevating body 2. It is controlled to descend to the grain bag holding position. The bag holding position is detected by the rotary encoder E1 and the stop control of the motor M1 is performed. This position is located slightly above the lower sensors S5 and S6.

Further, the sensors S7 to S10 are position detection sensors for the traverse body 3, and are provided in pairs on both left and right sides of the lifting body 2, and the left and right inner side sensors S8 and S9 are traversed respectively. When the movement of the body 3 is detected, the motor M2 is decelerated, and when the sensors S7, S10 on the outer side detect it, the drive of the motor M2 is stopped, and the electromagnetic brake B2 is activated to stop the traversing body 3. There is. When the traversing body 3 moves further outward due to various troubles and comes off the inner sensors S8 and S9, the signal is input to the relay K1 via the decoder / multiplexer 46 and the AND circuit 47, and the power supply circuit The relay contact k1 is cut off so that the entire device can be stopped. The movement of the traverse body 3 to each stowage position is detected by the above-mentioned rotary encoder E2, the motor M2 is decelerated before the stop position, and the drive is cut off. Let

The sensors S11 to S14 are position detection sensors for the moving body 5 and are provided in pairs at the front and rear ends of the transverse body 3 to perform the same control as the movement detecting means of the transverse body 3 described above. Further, the position detection sensor S4 of the ascending / descending body 2, the position detection sensor S6 of the traverse body 3, and the position detection sensor S11 of the moving body 5 are detected by the rotary encoders E1, E2, E3, respectively, and are stored in the CPU 44. It is also used as a sensor to erase the travel distance signal and return to the origin.

The sensors S15 and S16 regulate the rotation range of the holding portion 4, and include a rotation start position and a maximum rotation position (specifically, 270 degrees from the rotation start position. The opening and closing directions of the holding claw 49 are different by 90 ° between the both ends of the range. In order to stop the driving of the motor M4 by the detection of the sensors S15 and S16 in addition to the rotation stop control by the rotary encoder E4. Configured. Further, the sensor S15 or S16 at the rotation start position is configured to be capable of erasing the number of pulses detected by the rotary encoder E4 and stored in the CPU 44, that is, the rotation angle, and returning to the origin when the sensor is detected.

The sensors S17 and S18 detect opening / closing of the holding claw 35 of the holding portion 4. The sensor S20 is a limit switch, which is provided at the end of the conveyor 11 and detects the loading of the pallet 9 into a predetermined position, and uses it as a grain bag loading start signal. The sensor S21 detects the discharge of the pallet 9 that has been loaded, and uses it as a supply start signal for the next pallet 9. The sensors S22 and S23 detect the feeding of the pallet 8 from the pallet feeder B, and activate the motor M7 to drive the conveyor 11.

Reference numeral 48 denotes an installation switch, which cancels the output to the relay K1 which is a safety stop device and stops the function of the safety device. The operation box 36 is provided with the following operation switches and a display device 73. Reference numeral 50 denotes a start switch, which drives each unit in accordance with a stowage pattern stored in a memory (not shown) by a start input signal to the CPU 44 to perform a normal stowage operation. Reference numeral 51 is a stop switch for stopping the loading work.

Reference numeral 52 denotes a display changeover switch, which changes the display target on the display device 73. Reference numeral 53 is an adjustment switch, 54 is a shift switch, and 55 and 56 are selection switches for stowage patterns and the like, which are used to select a plurality of patterns stored in the memory, that is, stowed postures, stowage steps, etc. Further, the height of the pallet 9 and the height of the stowage are input, and the setting is made by the setting switch 57.

Reference numeral 58 denotes a manual operation switch, which is switched to a manual standby mode by operating the manual operation switch 58 when the stop switch 51 is operated, and further, by operating an origin return switch 59, the elevator 2 Is moved to the origin, that is, to the bag standby position detected by the sensors S3 and S4. Reference numeral 60 is a manual switch for the supply conveyor 35, 61 and 62 are manual vertical movement operation switches for the lifting body 2, 63 and 64 are manual horizontal movement operation switches for the traverse body 3, and 65 and 66 are manual forward and backward movement operation for the moving body 5. Switches 67, 68 are manual opening / closing switches of the holding unit 4, 69 and 70 are manual left / right rotation switches of the holding unit 4, 71 is a manual pallet feeding switch, and 72 is a manual pallet discharging switch.

FIG. 11 to FIG. 16 are layout diagrams showing the feeding direction of the agglomerate a (grain bag in the illustrated example) to the palletizer, in which the bag mouth of the grain bag a is directed in the direction indicated by the arrow. Transport to the direction. 11 is supplied from the right front side to the palletizer main body A, FIG. 12 is from the right side front, FIG. 13 is from the right rear side, and FIG. 14 is from the left front side to the palletizer main body A, and FIG. 15 is left side. FIG. 16 is supplied from the left rear side. In the figure, the numbers (1) to (4) attached to the arrows indicate the carry-in direction data: D, and <1> to <4> attached to the product a are the loading position data: R. Next, to explain with reference to the flowchart shown in FIG. 17, first, the display changeover switch 52 of the operation box 36 is pressed to cause the display device 73 to display the in-machine feed direction as shown in FIGS. The switches 55 and 56 are used to select the drawing corresponding to the layout of the apparatus, and the setting switch 57 is used to register.

When this registration is carried out, first, if the feed direction data: D is (0) or (2), since the product A is fed from the front or the rear, the sensor S15 is used as the origin. When selected, the motor M4 is driven to rotate to the left and stopped by the detection of the sensor S15. Next, the holding claw 49 opens and closes in the left-right direction, and holds the product A supplied from the front or the rear from both sides.

When the work for holding the product A is completed, it is judged again whether the supply direction data: D is (0) or (2), and it is judged whether the product A is supplied from the front or the rear. And the rotation direction: r is set. This judgment is to judge the front-back direction of the stowed goods a. Further, it is judged which position of the stowed position data R is <0> to <4>, and the rightward direction is determined according to the data. The rotation angle = θ is determined. This θ is determined with 90 ° as 1.

Next, according to the equation of θ = θ × C (C is the number of output pulses of the rotary encoder at 90 ° rotation), the rotation angle θ is replaced by the number of output pulses of the rotary encoder (E4), Confirm that the angle sensor (S15) is ON, delete the measurement pulse: h of the rotary encoder (E4), and set the origin. Subsequently, the holding claw 49 is rotated to the right, and if the measurement pulse: h matches the command pulse: θ, the rotation is stopped. With the change of the stowage direction or before this, the elevating body 2, the traversing body 3, and the moving body 5 are driven in the three-dimensional direction to move to the stowage position based on a command from the CPU 44. When the movement of is completed, the holding claw 49 is opened to discharge the product a to be stacked.

Similarly, if the supply direction data D of the product A is (1) or (3), the product A is supplied from the side, and the sensor S16 is selected as the origin. , The motor M4 is driven to the right to be stopped by the detection of the sensor S16, and the holding claw 49 is opened and closed back and forth to hold both sides of the product a.

When the holding of the stowed goods a is finished, it is judged again whether the feeding direction data: D is (1) or (3), that is, from which side, the stowed goods is being fed, and the stowed position data: It is determined which position of R is from <0> to <4>, the turning angle θ is determined in the same manner as described above, and the sensor S16 is turned on again to erase the measurement pulse of the rotary encoder (E4). Then set the origin. Then, the holding claw 49 is rotated counterclockwise to stop the drive when the measurement pulse: h and the command pulse: θ coincide.

[Brief description of drawings]

FIG. 1 is an overall perspective view.

FIG. 2 is a side view.

FIG. 3 is a plan view.

FIG. 4 is a front view of a moving body 5.

FIG. 5 is a control circuit diagram.

FIG. 6 is a control circuit diagram.

FIG. 7 is a control circuit diagram of a sensor unit.

FIG. 8 is a side view showing each sensor position.

FIG. 9 is a plan view showing each sensor position.

FIG. 10 is a layout view of each operation switch.

FIG. 11 is a layout diagram.

FIG. 12 is a layout diagram.

FIG. 13 is a layout diagram.

FIG. 14 is a layout diagram.

FIG. 15 is a layout diagram.

FIG. 16 is a layout diagram.

FIG. 17 is a flowchart diagram.

[Explanation of symbols]

 9 Pallet 29 Rotation axis 44 CPU 49 Holding claw E4 Encoder S15 sensor S16 sensor

Claims (1)

[Scope of utility model registration request] 1. A. Stow control means for holding the stowage (a) supplied on the basis of the control signal from the CPU (44) by the holding claw (49), moving it in the three-dimensional direction, and sequentially stowing on the pallet (9). And B. A holding claw (49) that can be opened and closed on both sides is attached to the rotary shaft (2
9) A stacking direction control means which is configured to be rotatable left and right around a center, detects the rotation angle by an encoder (E4), and stops at a predetermined rotation angle to control the stacking direction. The turning range of the holding claw (49) is set so that the opening and closing directions of the holding claw (49) differ by 90 ° at both ends, and sensors (S15) and (S16) are provided at the ends of the turning range.
Holding claw (49) when the sensor (S15), (S16) detects
Rotation range restricting means for stopping the rotation of D. It comprises an origin selecting means for selecting one of the left and right sensors (S15), (S16) as an origin and setting the work start position according to the attitude of the supplied product (a). E. Palletizer stowage control device.