JPH0881062A - Depalletizing method and depalletizer - Google Patents

Abstract

PURPOSE: To enhance the capacity of taking out loads each having a special external shape by inclining loads on a pallet at a predetermined angle, and by subjecting the loads to vertical oscillation while raising the pallet so as to release the prevention of cargo-slide of only the topmost loads, and then by delivering the topmost loads. CONSTITUTION: When an introduction pallet 9 on which loads 7,... having been carried by an introduction conveyer 5 are stacked one upon another in several tiers is introduced into a pallet loading conveyer 45, loads 7b below the topmost loads 7a are held by a fall-out stopper 31. Then, an inclining device 15 is actuated so as to incline the pallet 9 toward a delivery conveyer 11 to a predetermined angle, and a vibrator 48 is vibrated vertically so that the topmost loads 7a are released from the loaded condition, and accordingly, the topmost loads 7a slide down on a discharge conveyer 33 so as to be shifted onto the delivery conveyer 11. The underneath loads 7b are successively released from the held condition by the cargo-slide stopper 31, and accordingly, they are taken out, similar to the topmost loads 7a.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a depalletizing method and a depalletizer for sequentially carrying out a plurality of stacked items loaded on a pallet to an unloading position.

[0002]

2. Description of the Related Art As a conventional device for transferring a plurality of stacked items on a pallet to, for example, an unloading position at a high place, a clamp device clamps and transfers the uppermost item at a time. Surface clamping method, pickup roller method that sequentially transfers the uppermost load by a pickup roller, suction lifting method that sucks and transfers the uppermost load at once with a suction pad, and further, loads the load by a grip hand. 2. Description of the Related Art A depalletizer such as a handling system in which each piece is nipped and transferred is known.

[0003] These plural-type depalletizers reliably and automatically transfer the load to the carry-out position when the load is a box-shaped load or the load is completely covered in a box-shape. It is possible to greatly improve the processing capacity as compared with the manual transfer work up to.

[0004]

By the way, in recent years, FIG.
Special canisters such as cans 2 ... Only the lower part of which is accommodated in the half tray 1 as shown in FIG. 6 and cans 2 that are sheathed by a shrink film 3 as shown in FIG. It has become possible to load and transport a plurality of stages on a pallet.

However, in the above-mentioned several types of systems, FIG.
Also, it is not easy to reliably pinch or suck the special exterior load shown in FIG. 6 to move it to a high-level carry-out position, and it is necessary to develop a device provided with a handling part having a complicated mechanism. As described above, at the present time, when the special exterior load is transferred, the work must be manually performed, and the depalletizing method capable of improving the processing capacity and the automatic transfer can be performed by a simple mechanism. A depalletizer is desired.

The present invention has been made in view of the above circumstances, and a depalletizing method for improving the processing capacity even for a load having a special exterior shape and an automatic transfer by a simple mechanism for improving the processing capacity. The purpose is to provide a depalletizer capable of doing.

[0007]

In the depalletizing method according to the first aspect of the present invention, the carried-in means carries out the carried-in objects which are carried in while being stacked on the pallet in a plurality of stages by the carrying-in means, and carried out at a position higher than the carrying-in means. This is a depalletizing method in which the uppermost loaded items are sequentially transferred to the position. In this method, while preventing the collapse of the load other than the uppermost stage of the loaded items loaded on the pallet, the pallet is loaded on the unloading position side to raise the loading means side. A tilting process that tilts the object to a predetermined angle, a vibration applying process that applies vertical vibration to the load, and a pallet raising process that gradually lifts the pallet and releases the load collapse prevention of only the top load. I have it. Then, by performing the tilting process and the vibration applying process, the uppermost load is transferred to the carry-out position while tilting the pallet. Further, while continuing the tilting process, the pallet raising process and the vibration imparting process are repeated for the next and subsequent loaded items to release the collapse prevention of only the loaded item at the uppermost stage and sequentially transfer the loaded items to the unloading position. Is the way to go.

According to a second aspect of the present invention, in the depalletizer, a plurality of tiers of loaded articles loaded by the loading means and loaded into the pallet are placed at a unloading position higher than the loading means. It is a device to automatically carry out from the loaded items. This device is installed between the carry-in means and the carry-out position, and receives a pallet loaded with a plurality of stages of load carried in from the carry-in means, and a pallet mount which is capable of moving up and down. An elevating device for supporting, a tilting device for inclining the elevating device by elevating the carrying-in means side with the unloading position side of the elevating device as a fulcrum, and a vertical vibration with respect to a load placed on the pallet mounting table. And a load collapse stopper that prevents the load collapse of the load of other stages except the top load when the load of multiple stages is tilted by the operation of the tilting device. I have it.

The depalletizer according to a third aspect of the present invention is the apparatus according to the second aspect, wherein a vibration damping member for preventing vibration transmission to the lifting device is interposed between the pallet mounting table and the lifting device. Device. Further, in the depalletizer according to claim 4, in the device according to claim 2 or 3, a discharge conveyor that forms a discharge path of a downward slope toward the carry-out position is connected to the upper end portion of the load collapse stopper. It is a device characterized by. Palletizer.

Further, the depalletizer according to claim 5 is
The apparatus according to claim 2 or 3, wherein at the carry-out position,
When the load collapse stopper tilts due to the operation of the tilting device,
The device is characterized in that a discharge conveyor section is provided which is connected to the upper end of the load collapse stopper and forms a downward slope toward the unloading position.

[0011]

According to the depalletizing method according to the first aspect of the present invention, the tilting step and the vibration imparting step are performed, so that the uppermost load among the tilted loads is vertically vibrated. The loading state is automatically collapsed by the addition of, and the sheets are sequentially transferred to the unloading position. Then, by repeating the pallet raising process, the loaded state of the next stage and subsequent stages is automatically collapsed due to the application of vertical vibration, and is sequentially transferred to the carry-out position. As described above, the method of the present invention can handle not only a normal box-shaped load but also a load having a special exterior shape without pinching or suction-holding the load unlike the conventional device. Since the load is tilted and vibration is applied, the load is reliably transferred to the carry-out position, so that the processing capability is significantly improved.

According to the depalletizer according to claim 2, the operation according to claim 1 can be obtained, and
The load collapse stopper supports the load, the loader is tilted by the operation of the tilting device, and only the uppermost load is released from the load collapse stopper support state by the lifting operation of the lifting device.
By operating the vibration device, the transfer operation is performed simply by vertically vibrating the uppermost load and breaking the loaded state.
A simple device configuration does not require a complicated mechanism.

According to the depalletizer according to claim 3, the operation according to claim 2 can be obtained, and
The vertical vibration generated by the operation of the vibrating device is not transmitted to the lifting device and the tilting device and does not adversely affect the operation of these devices. Further, according to the depalletizer of the fourth aspect, the operation of the second or third aspect can be obtained, and the operation of transferring the load from the depalletizer to the carry-out position is performed more smoothly.

Furthermore, according to the depalletizer of the fifth aspect, the operation of the second or third aspect can be obtained, and the operation of transferring the load from the depalletizer to the unloading position is performed more smoothly, and at the same time It is possible to provide a depalletizer having a simple structure.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 5 denotes a carry-in conveyor (carry-in means), and the pallet 9 having a plurality of stacked loads 7 ... Is moved in the carry-in conveyor 5 in the direction of the arrow and carried in. Further, reference numeral 11 in FIG. 1 denotes a carry-out conveyor (carry-out position) which is arranged at a position higher than the carry-in conveyor 5 and which should carry out the loads 7 ...

A depalletizer 13 according to the present invention is installed at an intermediate point between the end point of the carry-in conveyor 5 and the start point of the carry-out conveyor 11. This depalletizer 13
Is a tilting device 15 installed on the work floor, an elevating device 17 arranged on the tilting device 15, and the elevating device 1.
The pallet mounting table 19 disposed on the pallet 7 and a drive control unit 21 that controls the drive of each device are roughly configured.

In the tilting device 15, a fixed plate 23 is fixed to a work floor, a hinge member 25 is arranged on the fixed plate 23 on the carry-out conveyor 11 side, and a lower end portion is rotatable on the carry-in conveyor 5 side. A hydraulic cylinder 27 connected to is disposed. The bottom plate 29 of the tilting device 15 is connected to the hinge member 25 and the open end of the hydraulic cylinder 27 that is tilted on the discharge conveyor 11 side.
When the cylinder rod of the hydraulic cylinder 27 extends to a predetermined length, the hinge plate 25 is used as a fulcrum to raise the bottom board 29 side to the predetermined height. The tilting device 15 includes the above-described bottom board 29 and a load collapse stopper 31 that rises vertically from the side of the carry-out conveyor 11 of the bottom board 29.
The height of the top 31a of the pallet is set slightly lower than that of the top 7a of the load 7 loaded on the pallet 9. Then, the uppermost portion 31a of the load collapse stopper 31 is provided with a downward inclination toward the carry-out conveyor 11 and the discharge conveyor 3
3 is rotatably connected. This discharge conveyor 33
A drive motor 33a is provided at a connection portion between the load collapse stopper 31 and the load collapse stopper 31.
Is provided. Then, as the load collapse stopper 31 tilts, the angle θ with the load collapse stopper 31 is formed.
The drive motor 33a drives the discharge conveyor 33 to rotate so as to gradually expand.

In the lifting device 17, a lower plate 35 is integrally fixed on the bottom plate 29, and link members 37b are rotatably connected to each other on the lower plate 35 with a connecting point 37a as a fulcrum. The lower end of 37c is arranged. The upper ends of the link members 37b and 37c are rotatably connected to the lower surface of the upper board 39 on which the pallet mounting table 19 is arranged. A hydraulic cylinder 41 that raises the upper plate 39 by supplying hydraulic pressure is disposed between the lower plate 35 and the upper plate 39 so as to extend in the vertical direction. Then, when the cylinder rod of the hydraulic cylinder 33 extends to a predetermined length, the upper plate 39 rises to a predetermined height while being supported by the link members 37b and 37c whose upper and lower ends are close to or apart from each other and have a predetermined height. It is considered as a structure.

The pallet mounting table 19 is the upper plate 3
A plurality of vibration damping members 43 are fixed at predetermined positions on the frame 9, and a frame member 47 that supports the pallet mounting conveyor 45 is integrally mounted on these vibration damping members 43. The frame member 47 includes a pallet mounting conveyor 45.
A vibrator (vibrating device) 48 that applies vertical vibration of a predetermined frequency is installed.

The drive control section 21 is connected to the hydraulic pressure supply section 4
9, the hydraulic pressure supply signal S ₁ is transmitted to the hydraulic pressure supply unit 49 to control the supply of a predetermined hydraulic pressure P ₁ to the hydraulic cylinder 27, whereby the cylinder rod of the hydraulic cylinder 27 expands and contracts. Further, by transmitting a hydraulic pressure supply signal S ₂ to the hydraulic pressure supply unit 51 and controlling the supply of a predetermined hydraulic pressure P ₂ from the hydraulic pressure supply unit 51 to the hydraulic cylinder 41, the cylinder rod of the hydraulic cylinder 41 expands and contracts. I do. Further, by transmitting the operation signal S ₃ to the vibrator 48, the vibration device 48 vibrates at a predetermined frequency. Further, when the load collapse stopper 31 is tilted, an operation signal S ₄ is transmitted to the drive motor 33a arranged at the connecting portion between the discharge conveyor 33 and the load collapse stopper 31, and a gentle slope is formed. The discharge conveyor 33 is rotated so that

Next, the depalletizer 13 having the above structure is used.
Then, the unloading conveyor that is located at a high position from the end of the carry-in conveyor 5
A depalletizer that sequentially transfers loads 7 ...
The aging method will be described with reference to FIGS. 1 and 2.
It In addition, the drive control unit 21 is configured to load the depalletizer 13
In order that the transfer operation for objects 7 ...
Hydraulic pressure supply signal according to the specified sequence process set for
No. S₁, S₂, S₃, S _FourTo control each device
I shall. Also, the hydraulic pressure supply signal S₂By sending hydraulic
Cylinder rod of hydraulic cylinder 41 via supply unit 51
The 1-slot talk, which extends, corresponds to the height of the one-step load 7.
Only the corresponding height (if the uppermost stage is the load 7a,
The upper board 39 shall be raised only by the height of the load 7a.
It

First, the pallets 9 loaded with the stacked objects 7 ... In eight layers and carried in by the carry-in conveyor 5 pass through the end point and move to the pallet mounting conveyor 45. When the pallet 9 is located on the pallet loading conveyor 45, the other loads 7b, 7c, ... Excluding the uppermost load 7a on the unloading conveyor 11 side contact the load collapse stopper 31.

Next, from the drive control unit 21 to the hydraulic pressure supply unit 4
9 and the drive motor 33a, the hydraulic pressure supply signal S ₁ and the operation signal S ₄ are transmitted. As a result, the hydraulic pressure supply unit 4
9 supplies a predetermined hydraulic pressure P ₁ to the hydraulic cylinder 27 to extend the cylinder rod of the hydraulic cylinder 27 to a predetermined length. Then, as the cylinder rod extends, the bottom plate 29 of the tilting device 15, as shown in FIG.
With the fulcrum as a fulcrum, the carry-in conveyor 5 side rises to a predetermined height, and the lifting device 17, the pallet mounting table 19, and the pallet 9 on the pallet mounting table 19 are all tilted toward the carry-out conveyor 11 side. Here, the loaded items 7 on the pallet 9 are held by the load collapsing stopper 31 except for the uppermost steps 7a. On the other hand, the drive motor 3 to which the operation signal S ₄ is transmitted
In 3a, the discharge conveyor 33 is rotated to form a gently inclined surface.

Next, the drive control section 21 transmits an operation signal S ₃ to the vibrator 48. This allows
The vibrator 48 that vibrates at a predetermined frequency continues to give vertical vibrations to all the loads 7 ... Through the frame member 47 and the pallet 9. Due to this vertical vibration, the loaded state of the uppermost loaded objects 7a ... Is destroyed, and as shown in FIG. 3, the uppermost loaded objects 7a slide on the discharge conveyor 33 sequentially from the lowermost loaded object 7a on the unloading conveyor 11 side. Iki, carry-out conveyor 1
Transferred to 1.

[0025] The topmost load 7a is entirely carried out by the conveyor 1.
1 is transferred to the hydraulic pressure supply unit 5 from the drive control unit 21.
The hydraulic pressure control signal S ₂ is transmitted to 1. As a result, the hydraulic pressure supply unit 51 supplies the predetermined hydraulic pressure P ₂ to the hydraulic cylinder 4
1 to extend the cylinder rod of the hydraulic cylinder 41 by one stroke. Then, the upper plate 39 is lifted by the extension of the cylinder rod for one stroke, the uppermost load 7b ... Is positioned above the topmost part 31a of the load collapse stopper 31, and vertical loading of the vibrator 48 gives a loaded state. Are demolished, and slide on the discharge conveyor 33 and are sequentially transferred to the carry-out conveyor 11.

Then, the load (7c ..., 7d) on and after the next stage
In this order), again, from the drive control unit 21 to the hydraulic pressure supply unit 51.
Hydraulic control signal S ₂ is transmitted to hydraulic cylinder 4
When the first cylinder rod further extends by one stroke, it is positioned above the topmost portion 31a of the load collapse stopper 31, the vertical vibration of the vibrator 48 is applied, and the stacked state is broken and the slide conveyor 33 slides sequentially. Then, it is transferred to the carry-out conveyor 11.

As described above, according to the depalletizing method of this embodiment, the loads other than the uppermost loads 7a to be transferred are held by the load collapse stopper 31, and the tilting device 15 operates to move the load to the discharge conveyor 11 side. After tilting to a predetermined angle, the vibrator 48 vertically vibrates to automatically break down the loaded state of the top load 7a, and slides it on the discharge conveyor 33 so that it is sequentially transferred to the carry-out conveyor 11. At the same time, the loads 7b, ..., 7c ... of the next and subsequent stages are automatically released from the loading state by the vertical vibration of the vibrator 48 after the holding by the load collapse stopper 31 is released by the elevating operation of the elevating device 17. Since it is carried out and sequentially transferred to the carry-out conveyor 11 via the discharge conveyor 33, it goes without saying that an ordinary box-shaped load is used. Even with the special exterior-shaped load shown in FIGS. 5 and 6, the load can be reliably transferred to the carry-out conveyor 11 without holding or sucking and holding the load unlike the conventional device, and the processing capability is improved. It can be greatly improved.

In the depalletizer 13 used in this embodiment, the load collapsing stopper 31 supports the loads 7, ... And the tilting device 15 operates to tilt the loads 7 ,. Thus, the supporting state of the load collapse stopper 31 of only the uppermost load 7 is released, and the vibrator 48 operates to vertically vibrate the uppermost load 7 ... Because it will be
It is possible to provide a simple device configuration.

Further, the vertical vibration generated by the operation of the vibrator 48 is not transmitted to the lifting device 17 and the tilting device 15, and does not adversely affect the operation of these devices. Further, since the discharge conveyor 33 has a gentle downward sloping surface toward the carry-out conveyor 11, the transfer operation of the loads 7 can be smoothly performed. Next, FIG.
What is shown in () is a modification of the depalletizer according to the present invention.

In the present embodiment, the carry-out conveyor 33 and the drive motor 33a are not provided on the load collapse stopper 31, and the depalletizer 13 is provided on the depalletizer 13 side of the carry-out conveyor 11.
The carry-out conveyor section 55 is provided integrally with an upward slope. According to the above-mentioned configuration, the loaded uppermost load 7a ... With its inclination is collapsed by the vertical vibration of the vibrator 48, slides on the discharge conveyor 55 and is sequentially transferred to the carry-out conveyor 11. Will be done.

As described above, in this embodiment, the discharge conveyor section 55 for sliding the load 7 from the depalletizer 13 is provided integrally with the carry-out conveyor 11, and therefore, in FIGS. It is possible to obtain the same effects as those of the embodiment shown, and further to make the depalletizer 13 a simple device structure. In the present embodiment, the carry-out conveyor 11 is set at a position higher than the carry-in conveyor 5, but the present invention is not limited to this, and the carry-out conveyor 11 may be set at the same height as the carry-in conveyor 5 or at a position lower than the carry-in conveyor 5. Can also obtain the same effect.

Further, in this embodiment, the hydraulic cylinders 27, 4 are
Although No. 1 is adopted, similar effects can be obtained even with a pneumatic cylinder. Further, in the embodiment shown in FIG. 1, the load collapse stopper 31 is provided with the drive motor 33a for rotating the discharge conveyor 33.
Even if the discharge conveyor 33 is fixed to the load collapse stopper 31 without arranging the load conveyor 7 and the load 7 slides freely on the load collapse stopper 31, the same effect as the above embodiment can be obtained.

[0033]

As described above, in the depalletizing method according to the first aspect of the present invention, the tilting step and the vibration imparting step are performed, so that the uppermost one of the tilted plurality of stacked items is loaded. The loading state of the loaded items is automatically collapsed by the application of vertical vibration, and the loaded items are sequentially transferred to the carry-out position. Since the loading state is automatically broken down and sequentially transferred to the unloading position, not only ordinary box-shaped loads but also special exterior-shaped loads can be handled like conventional devices. It is possible to reliably transfer the load to the unloading position by tilting and applying vibration without clamping or holding the load.
Processing capacity can be greatly improved.

Further, the depalletizer according to claim 2 can obtain the effect according to claim 1, and supports the load by the load collapse stopper, and tilts the load by the operation of the tilting device so that the lifting device can be operated. Only the uppermost load is lifted to release the load from the support condition of the stopper, and the vibrator is operated to vertically vibrate the uppermost load to break the load. It is possible to provide a simple device that does not require a complicated mechanism.

The depalletizer according to claim 3 can obtain the effect according to claim 2, and the vertical vibration generated by the operation of the vibrating device is not transmitted to the elevating device and the tilting device, and those devices are not operated. Does not adversely affect the operation of. In addition, the depalletizer according to claim 4 can obtain the effect according to claim 2 or 3, and can further smoothly perform the operation of transferring the load from the depalletizer to the unloading position.

Further, the depalletizer according to claim 5 is
In addition to being able to obtain the effects of the second or third aspect, it is possible to provide a depalletizer having a simpler structure in which the operation of transferring a load from the depalletizer to the carry-out position is performed more smoothly.

[Brief description of drawings]

FIG. 1 is a front view showing a depalletizer according to the present invention.

FIG. 2 is a front view showing a tilting device which is a component of the depalletizer according to the present invention.

FIG. 3 is an enlarged view of a main part showing a state in which the loaded state of the uppermost stage is collapsed and transferred.

FIG. 4 is a view showing another embodiment of the depalletizer according to the present invention.

FIG. 5 is a diagram showing a first embodiment of a load having a special exterior.

FIG. 6 is a diagram showing a second embodiment of a load having a special exterior.

[Explanation of symbols]

 5 carry-in conveyor (carrying-in means) 7, 7a, 7b load 9 pallet 11 carry-out conveyor (carry-out position) 13 depalletizer 15 tilting device 17 elevating device 19 pallet loading table 31 load collapse stopper 33 discharge conveyor 43 vibration damping member 48 vibrator Shaking device) 55 Discharge conveyor section

Claims (5)

[Claims] 1. A depalletizing method in which a load carried in while being loaded in a plurality of stages on a pallet by a carry-in means is sequentially transferred to a carry-out position higher than the carry-in means from the uppermost-stage load. It is possible to prevent the collapse of the load other than the uppermost stage of the load loaded on the pallet and to raise the load means side with the unloading position side of the pallet as a fulcrum so that the load is predetermined. It is equipped with a tilting process that tilts the product up to an angle, a vibration applying process that gives vertical vibration to the load, and a pallet raising process that gradually lifts the pallet to release the collapse prevention of only the top load. By performing the process and the vibration applying process, the uppermost load is transferred to the unloading position while the pallet is tilted, and the load of the next and subsequent loads is also continued while continuing the tilting process. A depalletizing method characterized in that by repeating the pallet raising step and the vibration applying step, the load collapse prevention of only the uppermost load is released and the load is sequentially transferred to the unloading position. 2. The loaded objects loaded and carried in a plurality of stages on the pallet by the loading means are automatically carried out sequentially from the uppermost loaded material to the unloading position higher than the loading means. A depalletizer, which is installed between the carry-in means and the carry-out position, and receives a pallet loaded with a plurality of stages of loaded goods carried in from the carry-in means, and the pallet mountable table can be raised and lowered. And a tilting device that tilts the elevating device by raising the carrying-in means side using the carry-out position side of the elevating device as a fulcrum, and a tilting device that is disposed on the pallet mounting table and is vertically movable with respect to the load. A vibrating device for applying vibration, and a load collapse stopper for preventing the collapse of the loads of other stages except the uppermost load when the loads of multiple stages are tilted by the operation of the tilting device. Deparetaiza that characterized in that it comprises. 3. The depalletizer according to claim 2, further comprising a vibration-proof member interposed between the pallet table and the lifting device to prevent vibration transmission to the lifting device. 4. The depalletizer according to claim 2, wherein a discharge conveyor that forms a discharge path having a downward slope toward the unloading position is connected to an upper end portion of the load collapse stopper. 5. A discharge conveyor section, which is connected to the upper end of the load collapse stopper when the load collapse stopper is tilted by the operation of the tilting device and forms a downward slope toward the discharge position, at the discharge position. The depalletizer according to claim 2, wherein the depalletizer is provided.