JPH0725424B2 - Automatic palletizer device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an automatic palletizer device, and more particularly to an automatic palletizer for automatically palletizing a stack of folding corrugated cardboard cases bound by a predetermined number according to a designated pattern. is there.

[Conventional technology]

Conventionally, a corrugated cardboard case is generally manufactured by applying a required printing or the like to a long corrugated cardboard sheet, cutting it into a predetermined size and shape, and fixing the margins to each other by bonding or stitching. The corrugated cardboard cases manufactured in this manner are usually bundled in a predetermined number in a folded state, stacked in pallets, and transported to a place of use. However, the folding cardboard case is thicker on one side with respect to the center line parallel to the fold line, that is, on the side where the margin is located, than on the opposite side due to the overlapping of the corrugated cardboard cases. In the case bundle, the left and right thicknesses of the center line are considerably different. Hereinafter, in the present application, as shown in FIG. 2, a thick solid line parallel to the fold line 2 is attached to the thicker side of the folded corrugated cardboard case 1 or the bundle thereof, that is, the side on which the margin is located.

As described above, when stacking cardboard case bundles with different thicknesses on the left and right in a pallet, each corrugated cardboard case bundle of each layer is placed underneath so that the cardboard case does not collapse even if it is stacked high and the cardboard case is not deformed. It should be stacked in a different orientation from each corrugated cardboard stack of layers, and even across at least two stacks of layers below, to balance the entire pallet load and stack it to a nearly uniform height. To put it the other way around, it is desirable to efficiently stack the cardboard case bundle on the pallet of a certain area as high as possible, but it is difficult to stack it high without causing packing collapse or deformation without the above-mentioned stacking method. is there.

Therefore, in order to palletize a corrugated cardboard case bundle, it is necessary to arrange the corrugated cardboard case bundles of each layer in accordance with a predetermined optimum pattern including the direction. Conventionally, in order to efficiently palletize the corrugated cardboard case bundle according to such a pattern. As a palletizer, a running roller palletizer is used, for example.

An example of a conventional running roller type palletizer will be briefly described. As shown in FIG.
Is a pair of running roller units 5, which can be endlessly rotationally driven around the lifting table 4 on which the pallet 3 is placed.
With 5 '. These running roller units 5,
The 5'are arranged at equal intervals from each other, and this interval and the length of each unit 5, 5'in the rotating direction are determined by the palletizer T.
Is approximately equal to or greater than the vertical width W of Therefore, while rotating the running roller unit 5, 5'in the direction of the arrow by an appropriate amount using a foot switch or the like, the direction of the corrugated cardboard case bundles 6 sequentially loaded into the patterning unit 7 from the previous step such as a binding machine is manually operated. After changing it, it is sent onto the running roller unit 5 or 5'located on the upper surface of the palletizer, the cardboard case bundle 6 for one layer is arranged in a predetermined pattern, and then the running roller unit 5,
When 5 ′ is further rotated, the cardboard case bundle 6 in the front row is prevented from advancing by the stopper 8 as shown by the alternate long and short dash line, so that the corrugated cardboard case bundle 6 in this layer is placed on the lower surface of the running roller unit 5 or With the passage of 5 ', the pallets 3 or the uppermost corrugated cardboard case bundles stacked on the pallet 3 are sequentially dropped from the corrugated cardboard case bundle 6 at the rear part thereof, and at the same time, the elevating table 4 corresponds to one layer of the corrugated cardboard case bundle. Just descend. Repeat these operations,
When the cardboard case bundle has been stacked in a predetermined number of stages, the pallet 3 is taken out from the side of the palletizer T and carried out by a forklift or the like. Reference numeral 9 in the drawing denotes a caster group that is fixed upside down in order to facilitate the work of changing the direction of the corrugated cardboard case bundle 6 in the patterning unit 7.

[Problems to be solved by the invention]

In the palletizer as described above, the patterning portion 7
The bundle 6 of cardboard cases to be carried in next is manually turned in accordance with a desired arrangement pattern and sent to the palletizer T. However, there are various types and sizes of the corrugated cardboard case, and there is a certain area. It is necessary to have considerable experience and skill to judge and pattern a pattern that can be loaded with the maximum number so as not to cause a load on the pallet of the above-mentioned case for various kinds of corrugated board cases. In addition, even if the pattern is specified in advance, the corrugated cardboard case bundle of each layer must be arranged in a different direction from the corrugated cardboard case bundle below it, and the cardboard case bundle of the previous layer must always be arranged. While paying attention to the direction and position of the case bundle and the cardboard case bundle that has been arranged in layers, it is necessary to instantaneously determine the direction and position of the corrugated cardboard case bundle at hand. Since a loading error occurs due to a decrease in attention, the loading speed of the cardboard case bundle into the patterning unit 7 cannot be made very fast, and in any case, it is not possible to rely on manpower for loading the palletizer. This is an obstacle to improving the efficiency of the process, and eventually the entire cardboard case factory.

The present invention has been made in view of the above circumstances, and an object thereof is to automatically obtain an optimum pattern capable of loading the maximum number of folding corrugated cardboard case bundles for a given size of a pallet without causing load collapse. In addition to unmanned patterning work, that is, the work of aligning the direction and position of the corrugated cardboard case bundle with the above-mentioned optimum pattern in the pallet stacking process, the high-speed operation of the palletizing process of the corrugated cardboard case bundle becomes possible. To provide an automated palletizer device.

[Means for solving problems]

In order to solve the above-mentioned problems, the present invention relates to a palletizer device in which cardboard case bundles are aligned in a predetermined plane pattern and stacked one by one on a pallet while changing the direction of the cardboard case bundle: Cardboard case size data and pallet size Compared with the data, a predetermined plane pattern of the array that maximizes the loading efficiency on the pallet from a large number of prepared alignment patterns and the stacking height due to the overlapping of the mounting allowance while maintaining the plane pattern. An arithmetic unit for selecting an optimum pattern determined by a predetermined stacking pattern for preventing uniformity; a stacking stage number setting means for setting the stacking stage number on the pallet; a sequence program and a stacking stage number setting according to the optimal pattern. And a sequence control unit that controls the operation of the entire palletizer device according to the setting data of the means. The present invention provides an automatic palletizer device including a central control device.

[Action]

In the automatic palletizer apparatus of the present invention having the above-mentioned structure, the arithmetic unit of the central control unit inputs the length x and the width y of the corrugated cardboard case bundle of the pallet to be stacked, and the maximum allowable loading range of the pallet (a little less than the pallet). , Which may be set to a large value) as A, and x x y
The maximum value of the integer n that satisfies xn ≦ A is calculated, and this n
A predetermined plane pattern of an array that is the maximum loading efficiency that does not deviate any bundle of cardboard case bundles from the above range,
When a stack of corrugated cardboard cases with that plane pattern is stacked, the optimum stacking pattern that prevents uneven stacking height due to overlapping of mounting margins and the optimum pattern to be selected is selected from a number of patterns prepared in advance. To do. For each of these patterns, a program is prepared in advance for controlling the operation of each part of the patterning device and the palletizer so that the corrugated cardboard case bundle is palletized according to each pattern. The program corresponding to the optimum pattern selected by the arithmetic unit and the data of the number of product stages of the pallet are loaded, and the sequence control operation is started. In this standby state,
When the corrugated cardboard case bundle is carried in from the previous process such as a binding machine, the patterning device, under the control of the central controller, orients the successively carried corrugated cardboard case bundles in the specified direction, and Each layer is arranged in a specified pattern and supplied to the palletizer. Under the control of the central controller, the palletizer lowers the pallet by about the thickness of each corrugated board case for one layer to prepare for the next layer. In this way, when the number of stacking stages set by the stacking stage number setting means is reached, the corrugated cardboard case bundle is taken out from the palletizer together with the pallet and carried out by a fork lift or the like.

〔Example〕

FIG. 1 shows the configuration of an embodiment of the automatic palletizer device of the present invention.

The automatic palletizer device of the illustrated embodiment is a patterning device.
10, a palletizer device 20 and a central control device 30.

The patterning device 10 includes a shaping unit 11, an alignment unit 12, and an alignment unit 13, and the alignment unit 13 includes a main alignment unit 14 and an auxiliary alignment unit 15.
It is composed of. The shaping unit 11, as shown in FIG.
It comprises a roller conveyor 111, a stopper 112 and a jig yoga device 113 arranged at appropriate positions in the feeding direction. A corrugated cardboard case bundle C is fed to the shaping unit 11 from a previous step (not shown) such as a binding machine, as shown in FIG.
When viewed in the direction, the loading margin indicated by the thick solid line is always on the right side, and is sequentially loaded by the loading conveyor Q. The corrugated cardboard case bundle C thus loaded has a rough diamond-shaped cross section as a whole, or has uneven ears, so if it is left as it is, the corrugated cardboard case will be damaged in a later step. Occurs, and it interferes with the stacking of pallets. Therefore, in the shaping unit 11, each cardboard case bundle C sent by the roller conveyor 111 is momentarily stopped by the stopper 112, and a pair of jig yoga plates 113 ₁ , 113 b driven by the cylinder pistons 113a and 113b of the jig yoga device 113, respectively. It is shaped into a substantially rectangular shape by being pinched from both sides by 113 ₂ , and is simultaneously positioned in the center of the roller conveyor 111. A first sensor PH ₁ for detecting the carry-in of the cardboard case bundle C is provided near the entrance of the shaping unit, and is in a standby state of the device (that is, the main power supply is turned on in the central control device 30 and Dimension data is entered, number of stacks is entered,
In a state where a sequence program for controlling the operation of the patterning unit 10 and the palletizer unit 20 is selected and loaded), when the first sensor PH ₁ confirms that the first cardboard case bundle C has been loaded, the roller conveyor 111 is activated. At the same time, the roller conveyors (described later) of the orienting unit 12 and the aligning unit 13 are also activated in the directions indicated by arrow A, respectively. After that, these roller conveyors continue to operate at predetermined constant speeds unless the detection of the cardboard case bundle C by the first sensor is interrupted for a predetermined time such as every 30 seconds.

The stopper 112 of the shaping unit 11 is provided between a pair of rollers of the roller conveyor 111 slightly downstream of the jig yoga device 113, in parallel with these rollers and perpendicular to the upper surface of the roller conveyor 111 (fourth). (Refer to the drawing), it is possible to promptly descend to a position slightly lower than the upper surface of the conveyor 111 and ascend to the illustrated position. Also, Stopper 112
A second sensor PH ₂ is provided at a predetermined position on the upstream side of the card, and when the second sensor PH ₂ detects the cardboard case bundle C fed by the roller conveyor 111, the jyoga plates 113 ₁ and 113 ₂ cause the cardboard plates 113 ₁ and 113 ₂ to corrugate the cardboard. Grip the case bundle C from both sides momentarily. The timing of the operation of this portion is such that at the moment when the cardboard case bundle C detected by the second sensor PH ₂ almost comes into contact with the stopper 112, the jig yoga plates 113 ₁ and 113 ₂ project from both sides and the cardboard case bundle C
At the same time as the paper is picked up and retracted, the stopper 112 is rapidly lowered to a position lower than the upper surface of the roller conveyor 111. When the stopper 112 is pulled downward, the cardboard case bundle C is sent to the next orientation section 12, but at this moment, the stopper 112 projects again from below to prepare for shaping the next cardboard case bundle. If the cardboard case bundle C is well bound and is not deformed, the shaping section 11 is not always necessary.

As shown in FIG. 5, the orientation section 12 of this embodiment includes a first conveyor section 121, a second conveyor section 122, and a first conveyor section 121.
Right roller conveyor 121 consists electromotive retractable a stop 124 provided on the rotary mechanism 123 and the downstream side is provided on the downstream portion, the first conveyor section 121 is driven together at the same speed of ₁ and the left roller conveyor 121 ₂ Similarly, the second conveyor section 122 comprises a right side roller conveyor 122 ₁ and a left side roller conveyor 122 ₂ which are driven at the same speed.
The speed of the first conveyor section 121 is set to be slightly higher than the speed of the shaping section, and the feed speed of the second conveyor section 122 is set to be slightly higher than the speed of the first conveyor section 121. A third sensor PH ₃ is provided near the entrance of the first conveyor unit 121 to detect the loading of the cardboard case bundle C into the orientation unit 12, and is provided between the rotation mechanism 123 and the upright position of the stopper 124. Is provided with a pair of fourth sensors PH ₄ A and PH ₄ B for detecting loading and unloading of the corrugated cardboard case bundle C into and from the rotating mechanism 123.

The rotating mechanism 123, the right roller conveyor 121 shall apply between ₁ and the left roller conveyor 121 _2,挾from the upper and lower surfaces of the O connexion cardboard case bundle C that respectively protrude up and down by the cylinder piston (not shown) It consists of a pair of cross rotary tables 123 ₁ and 123 ₂ to be found. The lower rotary table 123 ₁ is usually hung below the upper surface of the roller conveyors 121 ₁ and 121 ₂ to rotate the cardboard case bundle C. Only protrudes upwards. (Although the upper rotary table 123 ₂ is not shown, it is arranged above the lower rotary table 123 ₁ with its center aligned.
3 protrude downward in accordance with the _first upwardly projecting, put sandwiched the corrugated board bundle C. The retractable stopper 124 is provided between the right side roller conveyor 122 ₁ and the left side roller conveyor 122 _{2 of} the second conveyor section 122, and is in the collapsed position (roller conveyor 122 ₁ shown in FIG. 5 by a chain line. , between from 122 ₂ below) and a vertical standing position indicated by the solid line is possible raisably, its upright position, the turntable 123 ₁ the center of the cardboard case bundle C depending on the size of the cardboard case bundle C, so that it is possible to match the center of the 123 _2, is adjustable back and forth as indicated by arrows.

Rotary table 123 _1, 123 _2, the position as the reference position (0 °) indicated by triangles D of FIG. 5, selectively 0 ° the cardboard case bundle C fed sequentially, 90 °, 180 ° or -90
Rotate (rotate counterclockwise in the forward direction, and when 0 degree rotation is commanded, rotate mechanism 123 and stopper 124
Does not operate, and the cardboard case C is unloaded from the orientation section 12 in the same orientation as when it was loaded. The angle by which each corrugated cardboard bundle C is rotated in this way is determined by the third sensor, which number of corrugated corrugated cardboard bundle C has been loaded.
By counting with PH ₃ , it is sequentially designated by the instruction of the sequence program from the central controller 30. For example, if rotation of 90 degrees is specified for the corrugated cardboard case bundle C that has just been loaded, the corrugated cardboard case bundle C sent to the rotation mechanism 123 by the first conveyor unit 121 has the fourth sensors PH ₄ A, PH. ₄ B, and almost simultaneously with this, the center is aligned with the centers of the rotating tables 123 ₁ and 123 _{2 by} contacting the standing stopper 124, and the stopper 124 lays down with a slight delay while rotating. Table 123
₁ , 123 ₂ project vertically and sandwich the cardboard case bundle C, quickly rotate it 90 ° counterclockwise, and then pull it up and down respectively, so that the cardboard case bundle C is oriented at a right angle to the left when it is carried in. Alignment unit 1 by second conveyor unit 122
Delivered to 3. Cardboard case bundle C from rotating mechanism 123
Of the 4th sensor PH ₄ A, PH ₄ B
After the detection, the stopper 124 returns to the standing position with a slight delay and prepares for carrying in the next corrugated cardboard case bundle C (except when the rotation angle of the next corrugated cardboard case bundle is designated as 0 °). ) Also, the rotary tables 123 ₁ and 123 ₂ are retracted and then returned to their original angular positions. Needless to say, the angular position after one rotation operation can be set as the reference position (0 °) for the next rotation.

In this embodiment, the main alignment portion 14 and the auxiliary alignment portion 15 of the alignment portion 13 have a pair of roller conveyors 141, 142 and 151, 152, respectively, as shown in FIG. Further, the main aligning unit 14 and the auxiliary aligning unit 15 are respectively provided with floating type cross conveyor assemblies 143 and 153 in a direction perpendicular to the roller conveyors 141, 142 and 151, 152.
The floating type cross conveyor assembly 143 of the main alignment section 14 is
A pair of end rollers 144 and 145 that are vertically movable and can be rotated by a motor (not shown) provided on both outer sides of the roller conveyors 141 and 142, and several endless belts stretched between these end rollers. Each of these endless belts 146 comprises a roller conveyor 141, 142.
It is located between adjacent rollers. The upper surface of the floating type cross conveyor assembly 143, that is, the upper surface of each endless belt 146 is kept lower than the upper surface of a normal roller conveyor 141, 142, but by lifting the end rollers 144, 145 by a predetermined stroke. Roller conveyor 14
It can be floated higher than 1, 142, and further, the endless belts 146 can be rotated by the rotation of the pair of end rollers 144, 145, whereby the rollers are conveyed to the main alignment section by the roller conveyors 141, 142. The corrugated cardboard case bundle C can be moved in a direction (indicated by an arrow E) perpendicular to the carry-in direction. The floating type cross conveyor assembly 153 of the auxiliary aligning unit 15 is also configured in exactly the same manner, and can move the loaded corrugated cardboard case bundle C in a direction perpendicular to the loading direction (indicated by arrow F). A side guide 147 is provided on the leading end side of the main alignment section 14 in the carry-in direction, and the side guide 147 is a palletizer device 2.
It also serves as a side guide of the palletizer device 20 over almost the entire length of one side of the palletizer. The side guide 147 can be laterally positionally adjusted as indicated by an arrow G, depending on the pallet size or the width of the pallet load. Further, inside the side guide 147, a bushing 148 is provided so as to be centered on the center line of the roller conveyor 141 in the width direction. The pusher 148 is used to partially push back a part of the corrugated cardboard case bundle C in the direction opposite to the carrying-in direction of the roller conveyor 141 (indicated by the arrow H in FIG. 1) by the pallet stacking pattern. It is driven, and its push back amount can be arbitrarily adjusted.

Between the auxiliary alignment unit 15 and the main alignment unit 14, in order to stop the cardboard case bundle C to the auxiliary alignment unit 15, a roller cylinder 151, 152 and a roller cylinder 151, 152 are provided by a piston cylinder (not shown).
Auxiliary alignment stoppers 154 that can project upward from a position lower than the upper surface of 141, 142 to a position higher by a predetermined distance.
Are provided across the width of the roller conveyors 151, 152, and to the side of the auxiliary alignment section 15, a cross conveyor assembly 153 is used to adjust the position of the group of auxiliary aligned cardboard case bundles. An auxiliary aligning pusher 155 is provided for pushing back the corrugated cardboard case bundle C moved to the right side by an appropriate amount. The auxiliary alignment pusher 155 is driven by a drive mechanism 156 having a motor M, and its stroke is controlled by the central controller 30. A fifth sensor PH ₅ for detecting the loading of the cardboard case bundle C from the orientation section 12 is provided near the entrance of the auxiliary alignment section 15 (see FIG. 1). The auxiliary aligning unit 15 thus configured is not always used, and operates according to a command from the central control unit 30 only when palletizing in a specific pattern requiring auxiliary alignment. Whether or not such auxiliary alignment is necessary is determined in advance from the viewpoint of ease of arrangement of the cardboard case bundle C in each pattern and efficiency, and is programmed in each sequence program.

When performing auxiliary alignment, the first corrugated cardboard case bundle C that is oriented by the orientation unit 12 and is auxiliary aligned is the auxiliary alignment unit 15.
When it is carried in, it is detected by the fifth sensor PH ₅ , and the auxiliary aligning stopper 154 projects upward. Then, the corrugated cardboard case bundle C is brought into contact with the cardboard case C and stopped, and at the same time, the endless belts of the cross conveyor assembly 153 float and rotate. Therefore, the cardboard case bundle C hits the auxiliary alignment pusher 155 in the original position in order to move along the auxiliary alignment stopper 154 from the carry-in portion in the direction perpendicular to the carry-in direction (arrow F in FIG. 6). Stop in contact. Then cross conveyor assembly
Each endless belt of 153 descends and its rotation stops. Subsequently, the next cardboard case bundle C is carried in, similarly carried in the direction of the arrow F, and hit by the pusher 155 to be stopped and the first cardboard case bundle C is stopped.
Abuts, stops, and is lined up. Similarly, a predetermined number of corrugated cardboard case bundles C are stopped in the direction of arrow F in the same manner.
Once aligned, the auxiliary aligning pusher 155 is activated to adjust the position of these cardboard case bundles on the roller conveyors 151, 152 by a predetermined distance in the direction opposite to the arrow F to the stopper 154. Push back along. After that, the auxiliary alignment stopper 154 is moved to the roller conveyors 141, 142.
, 151 and 152, the group of corrugated cardboard case bundles that have been auxiliary aligned while stopped by the stopper 154 are carried out to the main alignment section 14 by the rotating roller conveyors 151 and 152, and the roller conveyors of the main alignment section. 14
By rotating 1,142, side guide 147 (and pusher 14
8) Or it is sent before it comes into contact with a group of cardboard case bundles that have been brought in and stopped.

When the auxiliary alignment section 15 is wide, it is possible to move the cardboard case bundle C to be carried in several rows in the carry-in direction and move them together in the arrow direction F by the cross conveyor assembly 153.

In the main alignment section 14, the cross conveyor assembly 143 floats up every time the corrugated cardboard bundle C for one layer or a part thereof is arranged according to the designated pattern regardless of whether or not the auxiliary alignment is performed. It is moved in the direction of E and fed into the palletizer device 20. It should be noted that the cardboard case bundle C is carried into the main alignment section 14 and the palletizer device 20 is moved from there.
The carry-out to the main aligning section 14 is detected by a sixth sensor PH ₆ and a seventh sensor PH ₇ , which are provided near the entrance and the exit of the main alignment section 14, respectively. In FIG. 1, reference numerals PH ₆ ′ and PH ₇ denote optical reflectors for the sixth sensor PH ₆ and the seventh sensor PH ₇ .

The palletizer device 20 is composed of a running roller type palletizer 21 and a slip sheet supplying device 22 having substantially the same structure as described above with reference to FIG. 3, and the running roller type palletizer 21 is designated by the patterning device 10. Each time the corrugated cardboard case bundle C for one layer arranged in a pattern is supplied, the corrugated cardboard case bundle C is dropped by the central controller 30 by dropping it onto the pallet P and lowering the pallet P one step at a time. Palletizing according to the specified number of stacks (number of layers). In the stacking process of the pallets, the interleaf paper feeding device 22 causes the central controller 30 to stack the corrugated cardboard case bundles C each having a preset number of layers.
As shown by the arrow K, it moves above the pallet P and puts the interleaving paper on the corrugated cardboard case bundle C to prevent the load from collapsing. In this way, the corrugated cardboard case bundle C stacked on the pallet P in the specified number of stacks is taken out from the side of the palletizer 21 together with the pallet P, and a new pallet is mounted. In FIGS. 1 and 6, reference numerals 211 and 212 are used.
Shows the side guide on the side opposite to the side guide 147 and the stopper of the running roller type palletizer 21, and their positions can be adjusted in the directions indicated by arrows L and M, respectively.

The central controller 30 that controls the operation of each part of the patterning device 10 and the palletizer device 20 includes a dimension data input unit 31, a stack stage number setting unit 32, a calculation unit 33, and a sequence control unit 34. The dimensional data input unit 31 and the number-of-stacks setting unit 32 are integrated in an operator console (not shown).
In addition to these, a CRT display and a power switch for displaying input data and a palette stacking pattern, a cycle start / stop switch for allowing the start of a cycle operation described later and stopping the cycle operation, and a central controller 30 Required controls such as a reset switch for resetting the setting contents and an indicator for displaying the operating state are provided.

When the dimension data of the corrugated cardboard case of the pallet to be stacked is input in the dimension data input unit 31, the calculation unit 33
As described above in the section [Operation], a predetermined operation is performed to select the optimum pattern for stacking pallets of the lot from a large number of patterns prepared in advance.

In this embodiment, the optimum pattern means a plane pattern having the maximum number of corrugated cardboard case bundles C in one layer of the pallet load obtained by the above calculation, that is, a maximum loading efficiency, and a corrugated cardboard case bundle having such a plane pattern. A pattern that is determined by a predetermined stacking pattern that prevents the stacking height from being uneven due to the overlapping of the mounting allowances when C is stacked. If there is only one such pattern for a certain number, That pattern becomes the optimum pattern. Further, if none of the patterns obtained by the above calculation capable of stacking the maximum number can be used due to conditions such as the prevention of load collapse and the designation by the customer, 1
It is also possible to select the optimum pattern from among the patterns of a small number or two or more.

The sequence control unit 34 controls the operation of each part of the patterning device 10 and the palletizer device 20 to perform the palletizing according to the optimum pattern, and the pallet P on the pallet P set by the product stage number setting unit 32. When the data of the number of stacking stages is loaded, it enters a standby state, and in this state, the shaping unit of the patterning device 10
When the first sensor PH ₁ detects that the first corrugated cardboard case bundle C has been loaded into the binding machine 11 or the like in the preceding step, the first sensor PH ₁ and the second sensor PH _{2 to} the seventh sensor
PH _7, further while input signals indicative of the operation of the driving portion such as the driving mechanism 156 of the auxiliary alignment pusher 155 performs the sequence program causes the cardboard case bundle C that are sequentially conveyed aligned in accordance with the optimum pattern , The stacking stage number setting unit, with the operation of stacking pallets as one control operation cycle
The cycle operation is repeated until the number of product stages set by 32 is reached. Of course, the contents of the control operation in one cycle can be arbitrarily changed by the program. Further, for a corrugated cardboard case bundle of a special size for which a sequence program is not prepared in advance, a new program can be created by a program or the like and loaded into the sequence control unit 34. If the first sensor PH ₁ does not detect the carry-in of the cardboard case bundle C within a predetermined time such as 30 seconds, it returns to the standby state again. In this standby state, the roller conveyors (111, 121, 122, 141, 142, 151, 15) described above are used.
2) are all stopped.

Next, in the automatic palletizer apparatus of this embodiment, the patterns shown in FIGS. 7 (a) and 7 (b) are predetermined plane patterns by the arithmetic unit 33 of the central controller 30, and the plane patterns and the stacking order thereof are Assuming that the pattern is designated as the optimum pattern based on the stacking pattern in the order of (a) and (b), the operation for performing the palette stacking of this pattern will be briefly described. Since it is not necessary to perform auxiliary alignment in this pattern, the sequence program is also programmed without the operation control of the auxiliary alignment unit 15.

In FIG. 7 (a), the first layer stacked on the pallet P is
The _three corrugated cardboard case bundles indicated by C ₁ , C ₂ and C ₃ are successively carried in this order by the carry-in conveyor Q, shaped by the shaping unit 11, respectively, and then pass through the orientation unit 12 to the main alignment unit 13. Is brought in. When the sixth sensor PH ₆ detects that the _third corrugated cardboard case bundle C ₃ is carried in, the cross conveyor assembly 143 of the main alignment section 14 floats up, and the three corrugated cardboard case bundles C ₁ , C ₂ , C ₃ at the same time forward at least by a distance that allows the next cardboard case bundle C ₄ to be loaded (palletizer device 20
Direction). During this time, when the third sensor PH ₃ detects that the fourth corrugated cardboard case bundle C ₄ of the first layer is carried into the orientation section 12, the sequence control section of the central controller 30.
34 issues a command for rotating the corrugated cardboard case bundle C ₄ left 90 ° to the rotating mechanism 123, and issues a command for rotating the corrugated cardboard case bundle C ₅ 90 ° right for the _fifth corrugated cardboard case bundle C ₅ . In this way, the C ₄ and C ₅ corrugated cardboard case bundles whose orientations are changed by the orientation unit 12 are successively carried into the main alignment unit 14, and C ₁ carried to the side,
The cross-conveyor assembly 143 floats up almost at the same time when the _fifth cardboard case bundle C ₅ is detected by the sixth sensor PH ₆ and is arranged behind the C ₂ and C ₃ cardboard case bundles. The corrugated cardboard case bundle of ₄ and C ₅ is carried out together with C ₁ , C ₂ and C ₃ which are arranged in advance onto the running roller unit (the same mechanism as in FIG. 3) of the running roller type palletizer 21. This carry-out is the 7th sensor PH
_When detected by ₇ , the running roller unit will rotate about half a turn. Meanwhile, the front cardboard case bundle C ₁ ,
C ₂ and C ₃ come into contact with the stopper 212, first the rear corrugated cardboard case bundles C ₄ and C ₅ drop onto the pallet P, and then the corrugated cardboard case bundles C ₁ , C ₂ and C ₃ drop. In this way, the first layer corrugated cardboard case bundle C ₁ , C ₂ , C ₃ , C ₄ , C ₅ is pallet P.
When placed on top, the pallet P descends by one step.

During this period, the five cardboard case bundles C ₆ , ..., C _{10 of} the second layer shown in FIG. 7 (b) are also sequentially loaded in this order, but the first cardboard case bundle C ₆ of this layer follows the sequence program. It is rotated 90 ° counterclockwise by the rotating mechanism 123, and similarly, C ₇ is rotated 90 ° rightward and carried into the main alignment section 14. Further, the corrugated cardboard case bundles indicated by C ₈ , C ₉ and C ₁₀ are all rotated 180 °. A second layer of corrugated board bundle C ₆ thereof, ..., C _10, in the main alignment section 14, as in the first layer are aligned in accordance with the pattern shown in FIG. 7 (b), the running roller type palletizer 21 , And is stacked on the first layer corrugated cardboard case bundle C ₁ , ..., C ₅ . By changing the patterns of the corrugated cardboard case bundle C for the first layer and the second layer in this way, the balance of the cargo can be maintained. The sequence controller 34 operates on the first layer and the second layer (corrugated cardboard case bundles C ₁ to C in FIG. 7).
The process up to ₁₀ ) is set as one control operation cycle, and thereafter, the cycle operation is repeated until the number of product stages set by the product stage number setting unit 32 is reached.

It should be noted that in the pattern shown in FIG. 7 (a) in which the corrugated cardboard case bundles C ₁ ... C ₅ are all attached in the opposite direction, and in the case of FIG. 7 (b), the attachment allowances are also oriented in the same manner. The patterns may be combined to form one control operation cycle.

That is, by storing it in the central controller 30, it is possible to arbitrarily combine one control operation cycle.

In addition, for example, when stacking pallets in a pattern as shown in FIG. 8, the auxiliary aligning portion 15 immediately auxiliary aligns the cardboard case bundle indicated by C ₁ C ₂ in the direction of arrow F in FIG. bundle subsequent cardboard case C _3, C _4, C ₅ and
C ₆ , C ₇ , and C ₈ are also used in accordance with a command from the central control unit 30 to immediately auxiliary-align each row in the direction of the arrow F and sequentially feed each row to the main alignment section 14. It Further, the pusher 148 of the main alignment portion 14 is indicated by C _a and C _b in the pattern as shown in FIG. 9, for example.
It is used to push back one cardboard case bundle by a distance d.

The configuration of the palletizer device 20 is not limited to the above configuration. Further, in the above embodiment,
Of course, an embodiment is possible in which part of patterning device 10 and palletizer device 20 is provided with a local control loop for controlling each part under the control of central controller 30.

〔The invention's effect〕

As described above in detail, according to the automatic palletizer device of the present invention, not only is the planar shape different for each lot like a corrugated cardboard case bundle, but also there is a mounting allowance in one bundle. Even if the thickness is not constant, pallets can be stacked efficiently and without causing the load to collapse. In addition, the palletizing work is completely unmanned, which enables high-speed operation of this work process, which can significantly improve the overall efficiency of the corrugated board factory.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing a part of the configuration and an arrangement of each part of an automatic palletizer apparatus according to the present invention as a block diagram, and FIG. 2 is a plan view for explaining the shape of a corrugated board case. FIG. 3 is a schematic side view of an example of a known running roller type palletizer, FIG. 4 is a perspective view of the shaping part of the above embodiment, FIG. 5 is a plan view of its orienting part, and FIG. 6 is its aligning part and palletizer. A schematic plan view of the apparatus, FIGS. 7 (a) and (b), FIG. 8 and FIG. 9 are plan views showing an example of the pallet stacking pattern according to the above-mentioned embodiment, respectively. 10 …… Patterning device, 12 …… Orientation part, 13 …… Alignment part, 14 …… Main alignment part, 15 …… Auxiliary alignment part, 20 …… Palletizer device, 21 …… Running roller type palletizer, 30…
… Central control unit, 31 …… Dimension data input section, 32 …… Stack stage number setting section, 33 …… Calculation section, 34 …… Sequence control section, 15
8 …… Pusher for main alignment, 155 …… Pusher for auxiliary alignment,
C: A bundle of cardboard cases.

Continuation of the front page (56) Reference JP-A-59-230922 (JP, A) JP-A-54-67977 (JP, A) JP-A-51-129077 (JP, A) Actual development Sho-53-39492 (JP , U) JP-B-44-10166 (JP, B1) JP-B-43-19135 (JP, B1) JP-B 41-24015 (JP, Y1) JP-B 55-54666 (JP-Y2)

Claims (1)

[Claims] 1. A palletizer device for stacking cardboard case bundles on a pallet one by one while aligning them in a predetermined plane pattern while changing the direction of the cardboard case bundle; prepared in advance by comparing the dimensional data of the corrugated cardboard case and the pallet. A predetermined flat pattern of an array that maximizes the loading efficiency on the pallet from among the numerous aligned patterns, and a predetermined stacking pattern that maintains the flat pattern and prevents uneven stacking height due to overlapping of mounting margins. An arithmetic unit for selecting the optimum pattern determined by the above; a stacking stage number setting means for setting the stacking stage number on the pallet; a sequence program according to the optimum pattern and setting data of the stacking stage number setting means for the entire palletizer apparatus A sequence controller for controlling the operation of the An automatic palletizer device.