JPH07315568A - Palletizing device - Google Patents

Abstract

PURPOSE:To simply perform palletizing by providing a computing device for controlling to move a gate type running frame, a vertical moving beam, and a hand body running/moving along the vertical moving beam and provided with a vacuum suction cup. CONSTITUTION:A gate type running frame 44 is driven by a y-axis motor. A y-origin detecting approach sensor 62 is arranged on one side on the rear end side of rails 52, and a rotating speed detecting sensor is additionally provided on the y-axis motor. A vertical moving beam 46 is driven by a z-axis motor. A z-origin detecting approach sensor 76 is arranged on one side of the upper end of the running frame 44, and the z-axis motor 72 is additionally provided with a rotating speed detecting sensor 78. A hand body 50 provided with a vacuum suction cup 48 is driven by a x-axis motor 84. A x-origin detecting approach sensor 88 is arranged on one end side of the beam 46, and a rotating speed detecting sensor is additionally provided on the x-axis motor 84. The each sensor is connected to a computation control device capably of inputting the detected signal. Loading lines, rows, steps, package box sizes, distances from the origin position to the carry-in position of package boxes are previously input to the computation control device.

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION The present invention relates to a palletizing device. In particular, the invention is suitable for automatic packaging of liquid products. Here, a case will be described as an example in which a liquid product is filled in a flexible plastic tank, boxed, and palletizing is performed after packing, but the present invention is not limited to this.

[0002]

2. Description of the Related Art Conventionally, liquid products are filled and boxed in a flexible plastic tank. After filling the liquid product in a flexible plastic tank placed in a packaging box such as an assembled packaging box, the box is adhesive taped. It was closed by, and after being banded, it was manually placed on the pallet, aligned and loaded.

[0003]

However, the conventional manual loading of the packaging box is a heavy labor because it is carried out manually. Therefore, it is considered to use an industrial robot having a suction cup holding hand, but the hand is usually a rotary bending arm, which makes control complicated and is expensive.

In view of the above, it is an object of the present invention to provide a palletizing device capable of palletizing with simple control.

[0005]

The palletizing apparatus according to the present invention solves the above problems by the following constitution.

[0006] A palletizing device for sequentially transferring and placing packing boxes on a pallet and arranging the pallets. A vertical moving beam that travels to move in the z-axis (perpendicular to the pallet surface); The moving distances in the x, y, and z axis directions from the origin position, which is the starting position of the hand body, to the packing box mounting position are sequentially calculated, and the origin position and the packing box loading position and the packing box mounting position are calculated. It is characterized by being provided with an arithmetic and control unit for controlling and moving the gate type traveling frame, the vertically movable beam and the hand body.

[0007]

EXAMPLES The present invention will be described in detail below based on examples.

A. FIG. 1 shows an overall schematic plan view of a liquid product automatic boxing apparatus to which the palletizing apparatus of the present invention is applied.

A packing box carrying conveyor 12 is arranged on the packing box carry-in side of the palletizing apparatus 10, and a packing box assembling and feeding device 14 is arranged on the carrying-in side of the packing box carry conveyor 12.

The packing box assembling and feeding device 14 comprises a box assembling station A and a box closing station B.

The box assembly station A has a pair of guide bars 16 and 16 whose width can be adjusted according to the width of the cardboard box.
And a push-out plate 20 connected to the piston rod 18, and a bottom wall assembly plate (not shown) that pushes up the bottom side wall in conjunction with the piston rod 18.

The box closing station B is arranged on the front end side with a drive feed belt 22 arranged on both sides of the pair, a ceiling wall closing guide rod 24 arranged in an eight shape in the conveyance direction closing direction. And an automatic tape applicator 26.

Between the box assembly station A and the box closing station B, for inflating with air and placing it in the packaging box 28, for weighing and filling a flexible plastic tank with a liquid product,
An air device and a metering and filling device (neither shown) are provided (see FIG. 2).

From the box-closed station B,
A packing box pushing device 36 including a cylinder 32 and an extruding plate 34 for moving the pushed packing box 28 on the packing box transport conveyor 12 is arranged on the loading side of the packing box transport conveyor 12.

Then, the packing box transporting conveyor 12 is divided into a front portion 12a and a rear portion 12b, and the automatic banding device 3 is provided at a divided position.
8 are arranged.

B. The usage mode of the liquid product automatic boxing apparatus will be described (see FIG. 2).

(1) First, a packaging box (usually a cardboard box) 28 before assembly is expanded into a tubular shape, and a box assembly station A is installed.
Inserted between the guide rods 16, 16. And the extruded plate 2
The packing box 28 is pushed out at 0. Then, the bottom wall of the packaging box 28 is rotated upward by the bottom wall assembly plate to temporarily assemble the bottom wall.

(2) Subsequently, the flexible plastic tank T is manually inflated with air and then placed in the packing box 28 in which the bottom wall is temporarily assembled, and subsequently, the nozzle 40 of the liquid product supply device.
Is inserted into the injection port of the plastic tank T, and automatic metering and supply is performed.

At this time, the liquid product is not metered and filled as in the conventional method while the flexible plastic tank T is inflated with the liquid product, so that the metering failure is quicker and less likely to occur than in the prior art.

(3) After automatic metering and supply, the lid of the plastic tank T and the ceiling wall of the packaging box 28 are partially closed manually, and the box is pushed out by the extrusion plate 20. Then, the ceiling wall of the packing box 28 is closed in the closing direction by the guide rod 24, and the upper and lower surfaces are closed by the adhesive tapes 27 by the automatic tape sticking device 26, respectively, and the front portion 12a of the packing box transport conveyor is further closed. Is pushed to.

(4) Then, the packing box 28 is pushed out by the push-out plate 34 of the packing box pushing device 36 and carried to the position of the automatic banding device 38 on the front part 12a of the packing box carrying conveyor, where the band is put. After 39 times have been carried out, the paper is further conveyed on the rear part 12b of the packing box transfer conveyor to the carry-out position of the packing box transfer conveyor 12, that is, the packing box carry-in position of the palletizing apparatus 10.

The above-mentioned operations are sequence-controlled by the arithmetic and control unit 30 which also controls the palletizing device described later.

C. Next, the palletizing apparatus 1 of the present invention
0 will be described (mainly refer to FIGS. 3 to 5).

(1) Gate-type traveling frame 44 that moves on the y-axis (front-back direction of the pallet surface), and vertical movement that moves on both columns of the gate-type traveling frame 44 and moves on the z-axis (perpendicular to the pallet surface) Running on the beam 46 and the lower surface of the vertical motion beam 46, x
The hand body 50 is provided with a vacuum suction cup 48 that moves axially (left and right of the pallet surface).

(2) The gate type traveling frame 44 has a pair of horizontal H
The carriage unit 5 provided with the sandwiching roll 54 on the V-shaped rail 52.
It is possible to travel via 6 The trolley part 56 is horizontal H
A chain 60 is driven by a y-axis motor 58 installed near one rear side of the V-shaped rail 52. A y origin detection proximity sensor (proximity switch) 62 is arranged on one side of the rear end side of the horizontal H-shaped rail 52, and a rotation speed detection sensor 64 is attached to the y-axis motor 58. . These sensors 62, 64
Is connected to the arithmetic and control unit 30 so that a detection signal can be input.

(3) The up-and-down moving beam 46 is capable of traveling in the z-axis direction on both side columns 44a of the gate type traveling frame 44 via a carriage portion 68 having a sandwiching roll 66. The carriage 68 is driven by a chain 74 by a z-axis motor 72 installed on an upper end bracket 70 of the gate type traveling frame 44. And the gate type traveling frame 44
A z origin detection proximity sensor (proximity switch) 76 is arranged on one side of the upper end of the, and a rotation speed detection sensor 78 is attached to the z-axis motor 72. These sensors 76 and 78 are connected to the arithmetic and control unit 30 so that detection signals can be input.

(4) Hand body 50 equipped with a vacuum suction cup 48
Is provided with a sandwiching roll 80 on the lower surface of the vertically movable beam x.
It is possible to run in the axial direction. The hand body 50 is adapted to be driven by a chain 86 by an x-axis motor 84 installed on a bracket 82 protruding from the upper surface of the vertically movable beam 46. Then, x is attached to one end of the vertically movable beam 46.
An origin detection proximity sensor (proximity switch) 88 is provided, and a rotation speed detection sensor 90 is attached to the x-axis motor 84. These sensors 88, 9
0 is connected to the arithmetic and control unit 30 so that a detection signal can be input.

To the hand body 50, one end of a vacuum suction bellows hose 92 is connected.

D. Next, a usage mode of the palletizing device will be described by taking a case of stacking 4 × 4 × 4 stages as an example (see mainly FIGS. 6 to 8).

(1) In advance, the arithmetic unit of the arithmetic and control unit 30 has a packaging box palletizing specification (the number of columns = 4, the number of rows =).
4 and the number of steps = 4), the distance from the origin position O to the palletizing front end position: y, the distance to the pallet surface: z,
Distance z ′ to the carry-in position surface (transport conveyor surface), and
External dimensions of the packaging box 28 (width: a, depth: b, height:
Each set value of c) is externally input.

(2) When the start button of the palletizing device is pressed, the count values of the number of columns, the number of rows, and the number of stages become NX = 0, NY = 0, NZ = 0, respectively (FIG. 8S).
1, S2, S3).

(3) Next, in response to a command signal from the arithmetic and control unit, the x, y, and z axis motors 84, 58, 72, respectively.
Until the position is detected by the x, y, z origin proximity switch 88, the hand body 50 moves in the origin direction in the x, y, z axis directions, and the hand body 50 moves the front left lower end. Located at the reference origin position (starting position) (S
4).

(4) In the arithmetic unit of the arithmetic and control unit, x, y, z
The amount of movement in the axial direction is calculated (S5). Thereafter, when a detection signal indicating that the packing box (work) is present at the carry-out position of the packing box transport conveyor 12 is input (S6), the z-axis motor 72 is activated by the command signal from the arithmetic and control unit, and the hand body 50 is operated. Is lowered (S7), the packaging box 28 is vacuum-sucked (S8), and the work 28 is raised until the position is detected by the z origin proximity switch 76 (S9).

(5) The x, y, z axis motors 84, 58, 72 are operated while detecting the number of rotations by the movement amount signal and the command signal after the calculation of the arithmetic and control unit 30, respectively,
After moving a predetermined distance in the x / y axis direction (S10), it is lowered a predetermined distance in the z axis direction (S11), vacuum suction is released (S12), and the packing box 28 is placed at the command position on the pallet P. To do. For example, the first one is NX = 0, NY = 0, N
Since X = 0, X = 0, Y = y, and Z = z.

(6) Subsequently, the hand body 50 is moved (raised) in the z-axis direction until the position is detected by the z origin proximity switch 76 (S13), and then 1 is added to NX to count up (S14). When NX ≠ 4 (S1
5) Next, the hand body 50 moves in the x and y axis directions until the positions are detected by the x and y origin proximity switches 88 and 62, respectively, and the hand body 50 returns to the origin position (S).
4).

(7) Then, the count value NX of the arithmetic unit is counted up and the above S4 to S1 are performed until NX = 4.
The operation of 5 is repeated, and the loading of the packing boxes in the first row is completed.

(8) When NX = 4 (S15), NY
Is incremented by 1 (S16). And NY
When ≠ 4 (S17), NX = 0 (S3), S
The operations of 4 to S15 and S3 to S17 are repeated, sequentially,
Load the second, third, and fourth rows.

(9) When NY = 4 (S17), N
Z is incremented by 1 (S18). And N
When Z ≠ 4 (S19), NY becomes 0 (S2),
The operations of S4 to S15, S3 to S17, and S2 to S19 are repeated, and the second, third, and fourth stacks are sequentially stacked to complete the palletizing of the packaging box.

(10) When palletizing is completed in this way, the palletizing device is switched off. Then, the pallet is transported to the storage position by a forklift. ,
Again, the empty pallet is placed between the H-shaped rails of the palletizing device. After that, the palletizing is repeated again by pressing the start button of the palletizing device.

[0040]

The palletizing device of the present invention is
With the above configuration, simply by setting and inputting the loading row / column / number of stages, the size of the packaging box, and the distance from the origin position to the packaging box loading position in the computing unit of the computing control device, the suction cup It is possible to palletize the packaging box at a predetermined position in sequence by moving the hand body provided with in the x, y, z axis directions by the amount of movement obtained by calculation. Therefore, the palletizing device of the present invention enables palletizing with simple control.

[Brief description of drawings]

FIG. 1 is an overall schematic plan view of a liquid product automatic packaging device to which a palletizing device of the present invention is applied.

FIG. 2 is an explanatory perspective view showing a packing / palletizing procedure for a liquid product of the present invention.

FIG. 3 is a partial cross-sectional front view of an example of the palletizing device of the present invention (position 3-3 in FIG. 4).

FIG. 4 is a sectional view taken along line 4-4 of FIG.

5 is a sectional view taken along line 5-5 of FIG.

FIG. 6 is a plane positional relationship diagram showing a palletizing method of the present invention.

[FIG. 7] Similarly, an elevation positional relationship diagram

[Fig. 8] Similarly flowchart

[Explanation of symbols]

 10 Palletizing Device 12 Packing Box Conveyor 28 Packing Box 30 Arithmetic Control Device 44 Gate Type Travel Frame 46 Vertical Moving Beam 48 Vacuum Sucker 50 Hand Body 58 y-axis Motor 62 y Origin Detection Proximity Sensor (proximity switch) 64 y-axis Motor Rotation detection sensor 72 z-axis motor 76 z origin detection proximity sensor (proximity switch) 78 z-axis motor rotation detection sensor 84 x-axis motor 88 x origin detection proximity sensor (proximity switch) 90 x-axis motor rotation Detection sensor O Hand origin position (reference position) P Pallet

Claims (2)

[Claims] 1. A palletizing device for sequentially loading, arranging, and loading packing boxes on a pallet, wherein the palletizing frame moves along a y-axis (front-back direction of pallet surface), and the gantry-like traveling. An up-and-down moving beam that travels on both columns of the frame to move in the z-axis (perpendicular to the pallet surface) and a vacuum suction cup that travels along the up-and-down moving beam and moves in the x-axis (horizontal direction on the pallet surface). And a moving body in the x, y, and z axis directions to the packing box mounting position with respect to the origin position, which is the starting position of the hand body, are sequentially calculated, and the origin position and the packing box carry-in position A palletizing device comprising: an arithmetic and control unit that controls and moves the gate-shaped traveling frame, the vertical moving beam, and the hand body between the packaging box mounting position. 2. A packing box carrying conveyor is disposed on the packing box carry-in side of the palletizing apparatus of claim 1, and
An automatic packing machine for liquid products, characterized in that a packing box assembling and feeding device is arranged on the carry-in side of the packing box transfer conveyor, and a banding device is arranged midway in the carrying direction of the packing box transfer conveyor. .