JPH11322059A - Direction changing device for article and palletizer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent an article or its content from being damaged even when the article is conveyed at a high speed during its direction change. SOLUTION: This direction changing device 11 is provided with two lines of conveyance conveyors arranged in parallel so that a box 9 can be mounted astride them. Each conveyance conveyor is arranged with individually speed- controllable multiple (five) conveyors 42 in tandem in the conveying direction, and the conveyance path is divided into five in the conveying direction by five conveyor lines 54-58 each formed with a pair of conveyors 42 in the width direction. The right and left conveyors 42 are normally driven at the same standard speed V. When a box 9a to be changed in direction is carried in, the right and left conveyors 42 mounted with the box 9a among the conveyor lines 54-58 are driven at the speed of V-α and the speed of V+α with a speed difference.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direction changing apparatus and a palletizer for changing the direction of an article such as a box so as to be oriented in accordance with an arrangement pattern when the articles are stacked on a pallet, for example.

[0002]

2. Description of the Related Art Boxes (cartons) packed with products in factories
Are stacked on a pallet so that they can be conveniently transported by a forklift or the like. In this case, in order to make it difficult for the cargo to collapse, the upper box is placed on the boundary between the two boxes, and the boxes are stacked one by one by forming an array pattern in a different direction of the boxes. Often. However, since the boxes are conveyed on the conveyor in the same direction, it is necessary to change the direction of the boxes before pattern formation.

In recent years, as devices for automatically stacking boxes on pallets, palletizers using industrial robots,
2. Description of the Related Art A mechanical palletizer that forms a loading pattern for one stage by combining a box introduction conveyor and a pusher device is known. In a palletizer using an industrial robot, one or a plurality of boxes are grasped by a hand, and the boxes are moved while rotating the hand to form a pattern for one stage. on the other hand,
In the mechanical palletizer, as shown in FIG. 17, the direction of the box 202 is changed by inserting and removing a stopper 203 for regulating the direction of the box 202 on the introduction conveyor 201 in advance, for example, in the direction of the arrow in FIG. Then, every time a predetermined number of boxes oriented in the pattern are accumulated on the downstream side of the introduction conveyer 201, one row of the boxes is extruded by the pusher device, and this is repeated a plurality of times to form a one-stage pattern.

[0004]

In recent years, as the production line speeds up, the direction of the box is reliably changed at a high speed (rotation).
The necessity of the device which makes it come out. In a palletizer using an industrial robot, it was limited to load 30 boxes per minute. On the other hand, in the mechanical palletizer, the introduction conveyors 201 having the stoppers 203 for changing the direction of the boxes are installed in multiple rows, and the transport speed of the boxes in each of the introduction conveyors 201 is increased.
The processing speed has been increased to about 70 units per minute.

However, since the transport speed of the box is increased, the box 202 having a high speed is required when changing directions.
However, since this collides with the stopper 203 of zero speed, there is a problem that a product (for example, a paper pack product) in the box is deformed or the box itself is damaged. In addition, in recent years, with the speeding up of production lines, palletizers have been required to have higher processing capacity. Was.

Further, the direction changing device provided with the stopper 203 can change the direction of the box 202 from the horizontal direction to the vertical direction as shown in FIG. It was difficult to rotate. That is, since the stopper 201 hits relatively near the rotation center (center of gravity) of the box 202 in the width direction of the introduction conveyor 201, the rotation moment given to the box 202 is small, and the box 202 is hard to rotate. . For this reason, it has been forced to flow the box 202 sideways.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and a first object of the present invention is to damage an article or its contents even if the conveying speed for conveying the article while changing its direction is increased. An object of the present invention is to provide an apparatus and a palletizer for turning articles, which can eliminate the fear of giving. Second
The object of the present invention is to rotate the article efficiently by minimizing useless slippage when rotating the article, and to increase the rotation speed of the article so that the rotation can be completed in a short distance.
A third object is to increase the processing capacity by shortening the interval between articles as short as possible. A fourth object is to form one stage of an array pattern suitable for an input and designated stacking method in a short time.

[0008]

According to the first aspect of the present invention, in order to achieve the first object, a plurality of rows of conveyors on which articles can be laid are arranged in parallel. A transfer path, the plurality of rows of transfer conveyors,
At least in the area where the goods to be turned are placed,
Control means for controlling the speed so as to provide a speed difference at which the article can be rotated.

According to a second aspect of the present invention, in order to achieve the second object, in the first aspect of the invention, three or more rows of the transport conveyors are provided in a width direction of the transport path, and The means is arranged such that, among the conveyors, the one located on the outer side in the width direction of the transport passage with respect to the center of rotation of the article that rotates when the speed difference is applied has a relatively greater speed difference. Is set to

In order to achieve the third object, according to the invention described in claim 3, in the invention described in claim 1 or claim 2, the control means, when an article whose direction is not to be changed is conveyed, The speed of the plurality of rows of conveyors is controlled to the same standard speed without a speed difference, and when the articles to be changed in direction are transported, the plurality of rows of conveyors are moved in the transport direction of the rotation center of the articles. The speed is controlled so that a necessary speed difference is obtained while maintaining the speed at the standard speed.

According to a fourth aspect of the present invention, in order to achieve a third object, in the invention according to any one of the first to third aspects, the plurality of rows of the conveyors are arranged in a plurality of rows. A plurality of conveyor rows composed of small conveyors are arranged in the transport direction, and the control means controls the speed control to give a speed difference to the plurality of small conveyors constituting only the conveyor row on which the articles to be changed are placed. The main point is to do According to a fifth aspect of the present invention, in the invention of the fourth aspect, the two rows of the small conveyors are provided with a speed difference arranged on both sides of the rotation center of the article in the width direction of the transport path. A plurality of differentials, wherein each first shaft rotating in synchronization with each of the first row of small conveyors and each second axis rotating in synchronization with each of the second row of small conveyors are connected to each of the conveyor rows. And applying a rotational force to each of the first shafts through the respective differential machines, and a driving motor having at least one of the plurality of first shafts shared among the plurality of first shafts, and applying a rotational force to each of the second shafts. And a plurality of differential motors provided for each of the conveyor rows in order to provide the same.

According to a sixth aspect of the present invention, in order to achieve a fourth object, a plurality of the transport paths according to any one of the first to fifth aspects are provided, and the article is transferred to a pallet. Input means for designating a stacking method, wherein the control means adjusts the articles loaded into each of the transport paths to the stacking method based on the data of the stacking method designated by the input means. It is a gist of the present invention to control the transport conveyors for each transport path in an integrated manner so that the transport conveyors are transported in a direction in which an arrangement pattern for one stage can be formed.

According to a seventh aspect of the present invention, in the palletizer, the direction changing device according to any one of the first to sixth aspects and the article group unloaded from the transport path are arranged in an array pattern. Dense means for densely holding while maintaining
Stacking means for stacking the group of articles brought into a compact state by the crowding means on a pallet. (Operation) Therefore, according to the first aspect of the present invention, the articles conveyed into the conveyance path are conveyed by the conveyance conveyer in a state of being laid across a plurality of rows of conveyance conveyers. The speed is controlled by the control means, and the speed of the plurality of rows of conveyors is controlled at a speed difference at which the articles can be rotated at least in a region where the articles to be changed in direction are placed. The article is rotated and turned by the speed difference. Since the articles rotate due to the speed difference of the conveyor, there is no fear that the articles or their contents will be impacted even if the conveying speed is increased. In addition, the direction can be changed even when a vertically long article is carried in a portrait orientation.

According to the second aspect of the present invention, the articles conveyed in the conveying path are conveyed on three or more rows of conveying conveyors. When the articles are turned, each of the conveying conveyors rotates. The speed is controlled by the control means so that a speed difference is greater at a position outside the center in the width direction of the transport passage. For this reason, the article is smoothly rotated, and the maximum speed of the transport conveyor within the range in which the article can be surely rotated is further easily increased.

According to the third aspect of the present invention, when a plurality of rows of conveyors are transported, the speed is controlled to the same standard speed without making a speed difference when articles not to be changed in direction are transported.
When the article whose direction is to be changed is conveyed, the speed is controlled so as to make a speed difference, and at this time, the moving speed of the rotation center of the article in the conveying direction is maintained at the standard speed. Therefore, before and after passing through the transport path, the distance between the centers of the articles to be turned and the articles not to be turned is kept the same. Therefore, it is possible to further reduce the interval between the articles that need to be secured to the minimum, so that it is possible to shorten the interval between the articles and further increase the processing capacity.

According to the fourth aspect of the present invention, among the conveyor rows that divide the transport path into a plurality of sections, for a conveyor row on which articles to be changed in direction are loaded, a speed difference is generated between a plurality of rows of small conveyors constituting the row. Is controlled by the control means. Therefore, it is possible to simultaneously convey an article to be turned and an article not to be turned on the conveyance path. Therefore, it is possible to shorten the interval between the articles to be carried into the transport path, and to further increase the processing ability for changing the direction of the articles.

According to the fifth aspect of the present invention, the speed of the differential motor is controlled while the driving motor is driven at a constant speed, so that the conveyor row corresponding to the differential motor is controlled. The speed of two pairs of small conveyors is controlled between the same speed and a speed difference. For example, if the speed of the differential motor is shifted and the rotation speed of the second shaft is reduced, the first shaft is accelerated via the differential. Conversely, if the second shaft is accelerated, the first shaft is accelerated via the differential. One axis is decelerated. Accordingly, the first row of small conveyors that rotate synchronously with the first axis and the second row of small conveyors that rotate synchronously with the second axis have a speed difference while keeping the moving speed of the center of rotation of the article at the standard speed. The speed is controlled to the attached transport speed. Since a plurality of the small conveyors in the first row that rotate synchronously with the first shaft share at least one driving motor, the number of motors is reduced by that amount. Therefore, the number of motors required for dividing the number of small conveyors is reduced.

According to the sixth aspect of the present invention, the transport conveyors in each transport path are controlled by the control means based on the data of the stacking method specified by the input means, and are conveyed into the plurality of transport paths. The conveyed articles are unloaded from the respective conveying paths in a direction in which a one-stage arrangement pattern suitable for the stacking method can be formed. The articles carried out from the plurality of transport passages form, on the downstream side, an arrangement pattern of one stage suitable for the stacking method. Therefore, the cycle time for forming one stage to be stacked on the pallet is shortened.

According to the invention of claim 7, according to claim 1,
Articles that have been turned by the turning device according to any one of claims to 5, are arranged in a predetermined arrangement pattern on the downstream side. These article groups are kept in a seed state by the consolidating means while maintaining the arrangement pattern. And
The group of articles in the dense state is stacked on the pallet by the stacking means. Since a turning device having a high turning capability is used, the processing capability of the palletizer is enhanced.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) A first embodiment of the present invention will be described below with reference to the drawings.

FIG. 9 is a schematic plan view of a palletizer 1 for automatically stacking boxes on a pallet. Palletizer 1
It includes a channelizer 2, a carry-in conveyor 3, a direction change system 4 as a direction change device, a work conveyor 5, a pusher device 6, a transfer table 7, a lift 8 and the like. The channelizer 2 is a known device that sorts the boxes 9 as articles loaded in a line from the upstream, and in this embodiment, sorts the boxes 9 in three rows. The boxes 9 sorted by the channelizer 2 flow through the carry-in conveyor 3 and are carried into the direction changing device 4. The direction change system 4 includes the pallet 1
This is a device for changing the direction of the boxes 9 as necessary according to the arrangement pattern of the boxes 9 when the boxes 9 are stacked. In the present embodiment, the direction change system 4 includes three direction change devices 1.
1 in parallel. The detailed structure of the direction changing unit 4 will be described later.

Each direction change device 11 of the direction change system 4
The boxes 9 passing through the work conveyor 5 are arranged so as to form an arrangement pattern (see FIGS. 6 and 9) corresponding to one stage to be stacked on the pallet 10 in a downstream region thereof.
In the downstream area of the work conveyor 5, a plurality of stoppers 12
a, 12b, 12c, 12d (see FIG. 6) are provided so as to be able to protrude and retract, and the boxes 9 are divided into plural pieces having the same direction by stoppers 12a to 12d, and are blocked at predetermined positions. The box 9 blocked by the stoppers 12a to 12c is
A pressing bar 13 (see FIG. 6) that presses and concentrates in the direction is provided movably in the X direction across the work conveyor 5.

The pusher device 6 is a device for pushing out a box group 14 as a group of articles arranged in a predetermined arrangement pattern in a downstream area of the work conveyor 5 onto the transport table 7. And a pushing bar 15 which reciprocates across the direction. The box group 14 extruded by the pushing bar 15 is carried into the transfer table 7 which stands by at a position adjacent to the work conveyor 5. 7 to 9
As shown in the figure, the pushing bar 15 can be moved up and down by driving a pair of air cylinders 16 and is lowered when the box group 14 is pushed out, and when the box group 14 is returned after being pushed out, the subsequent box on the work conveyor 5 is returned. It is raised so as not to interfere with the group 14. As shown in FIGS. 7 and 8, the pusher device 6
Both sides are supported by two belts 18 disposed so as to extend in the longitudinal direction of the pair of erection stands 17, and the motor 19 (shown in FIGS. 8 and 9) that drives the belts 18 is driven in the forward and reverse directions to rotate in the X direction. To reciprocate.

The transport table 7 reciprocates in the X direction between a standby position shown in FIGS. 7 and 9 and a loading position just above the elevator 8. As shown in FIGS. 8 and 9, the transport table 7
The box group 14 carried between the pair of guides 20 and 21 is pressed in the Y direction by moving the guide 20 forward by driving the air cylinder 22. As shown in FIGS. 7 and 8, the transfer table 7 is supported on both sides by two belts 24 arranged to extend in the longitudinal direction of a pair of erection stands 23, and the belts 24 are driven by a motor 25 (FIG. 9). ), And reciprocate in the X direction by rotating forward and reverse. Note that the pressing bar 13 and the pusher device 6 for densely packing the boxes 9 in the X direction, and the transport table 7 having a function for densely packing the boxes 9 in the Y direction, constitute a densely means.

As shown in FIG. 7, when the transport table 7 returns from the loading position to the standby position, the payout bar 26 is swingably disposed at a position where it can be engaged with the box group 14 on the transport table 7. I have. In the state where the payout bar 26 is held in the horizontal posture shown by the solid line in the figure, it does not engage with the box group 14 on the transport table 7 and when the transport table 7 returns from the loading position to the standby position, With the vertical posture shown, they are engaged with the box group 14 and are discharged from the transport table 7.

The elevator 8 has a conveyor 27 for placing the pallet 10 thereon as shown in FIGS. 7 to 9 and a chain 30 wound around a sprocket 29 mounted on two rotating shafts 28. In a state of being suspended in
One of the rotating shafts 28 moves up and down by rotating forward and backward by driving of the motor 31. The elevator 8
Elevation control such that the upper surface (the upper surface of the pallet 10 or the upper surface of the uppermost box group on the pallet 10) on which the next group of boxes 14 is to be placed is located at a set height slightly below the transfer table 7. Is done. Therefore, the boxes 14 discharged from the transfer table 7 by the discharge bar 26 are stacked on the upper surface of the pallet 10 on the elevating platform 8 or the uppermost upper surface of the group 14 on the pallet 10. Each time the box group 14 for one stage is loaded, the elevator 8 is lowered by the height of one stage. The transfer table 7 and the lift 8
Constitutes a stacking means.

A supply conveyor 32 for supplying empty pallets 10 and an unloading conveyor 33 for unloading the stacked products from the elevator 8 are provided on both sides in the front-rear direction of the elevator 8. The loading and unloading of the pallet 10 to and from the lift 8 is performed in a state where the lift 8 is at the lowest position.

Next, the direction changing device 11 will be described.
As shown in FIG. 2 to FIG. 4, the direction changing device 11 includes a roller conveyor 41 as a right and left two-row conveyance conveyor arranged in parallel in the width direction of the conveyance passage 40 through which the boxes 9 pass in one row. Each of the roller conveyors 41 includes a plurality of (in this example, five) conveyors 4 that are individually driven and controlled.
2 are arranged in tandem in the transport direction. Each of the conveyors 42 includes rollers 43 each having a set of three rollers.

As shown in FIGS. 3 and 4, a set of three rollers 43 is composed of three pulleys 44 connected to respective outer ends and a pulley 46 connected to an output shaft of a gear box 45. It is rotationally driven based on the driving force of a motor 48 via an endless belt 47 wound around the belt. The motor 48 is a variable speed motor (for example, a servo motor).
The drive shaft of the motor 48 and the input shaft of the gear box 45 are connected to two sprockets 49, 5 attached to each shaft.
The chain mounted on the chain 0 is connected by a chain 51.
The gear box 45 and the motor 48 are disposed below a support 52 supporting the rollers 43. Also,
Two rows of driven small rollers 53 are arranged between the two rows of roller conveyors 41.

The transport passage 40 is formed by a row of conveyors 54 formed by a set of small conveyors 42 arranged in the width direction.
The area is divided into five areas in the longitudinal direction (transport direction) by 55, 56, 57, and 58. That is, the transport path 40
Has five conveyor rows 54, 55, 56, 57, 58
Are arranged in tandem in the transport direction.

A sensor 59 for detecting the box 9 carried into the transport passage 40 is provided in the vicinity of the carry-in port of the direction changing device 11 so as to be supported on the upper surface of the support base 52. The sensor 59 is formed of, for example, a photoelectric tube, and detects the box 9 by blocking input of light reflected by the reflection plate 60. Note that all three direction change devices 11 have the same structure.

The direction changing device 11 is provided with a controller 61 (shown in FIG. 4) for controlling the driving of each motor 48. As shown in FIG. 5, the controller (first
The controller 61 includes a microcomputer 62 and a motor drive circuit 63. The microcomputer 62 includes a central processing unit (hereinafter, referred to as a CPU) 64, a memory 65, and a counter 66. The memory 65 stores program data for a direction change process. The CPU 64 controls the speed of each motor 48 via the motor drive circuit 63 based on the program data stored in the memory 65. The electrical configuration of the second and third controllers provided in the other two direction change devices 11 is the same as that of the first controller 61.

The three controllers 61 include the palletizer 1
Is electrically connected to a main controller 67 which controls the control of the main controller. The main controller 67 includes a central processing unit (hereinafter, referred to as a CPU) 68 and a memory 69. The memory 69 stores many types of data on the arrangement pattern of boxes stacked on the pallet 10. The arrangement pattern data can be selected from an input device 70 as input means connected to the main controller 67. The CPU 68 reads from the memory 70 the data relating to the array pattern selected from the input device 70, and based on the data of the array pattern, the direction change devices 11
Create work data that describes the work to be performed by
Each work data is transmitted to the CPU 64 in each controller 61. CPU in each controller 61
64 controls the speed of each motor 48 based on the work data received from the main controller 67 and the program data for the direction change processing stored in the memory 65. The control means is constituted by the motor 48, the sensor 59, the controller 61 and the main controller 67.

In the present embodiment, the left and right conveyors 42 on which the boxes 9 are laid are provided with a speed difference so that the direction of the boxes 9 is changed while being conveyed. When each of the conveyors 41 is not transporting the box 9 to be turned, that is, when the box 9 is not being transported, and when the box 9 is being transported and there is only one that does not need to be turned, The speed of the left and right conveyors 42 constituting the conveyor rows 54 to 58 is controlled to the same standard speed V.
As shown in FIG. 1, when the direction of the box 9 is changed, the transport speeds of the right and left conveyors 42 are V + α and V−α (where 0 <
α <V), plus or minus the standard speed V, ±
It is set to be a value obtained by adding α. This is because while keeping the moving speed of the rotation center of the box 9 at the standard speed V, the box 9
Is rotated to maintain a constant conveyance speed when the box 9 passes through the conveyance passage 40, and to maintain a center-to-center distance between the turned box 9 and the unturned boxes 9 located before and after the turned box 9. .

In order to increase the rotation speed of the box 9, it is not always possible to increase the speed difference. In the case of a light box 9, if the speed difference is excessively increased, unnecessary rotation will be caused and rotation will be smooth. Will not be performed. Therefore, the setting of the speed difference 2α is changed in consideration of the weight per unit contact area of the box 9 with respect to the conveyor 41. That is, the value of the speed difference 2α is set to be smaller as the weight per unit contact area of the box 9 is lighter, so that useless sliding is always performed regardless of the type of the box 9 (type different in size and weight). Suppressed smooth rotation is obtained. The data of the weight per unit contact area of the box 9 is
It is derived from the data of the size and weight of the box 9 determined from the data of the identification number of the box 9 (for example, product number, type number, etc.) input from the input device 70. Also, the standard speed V
Is a rotation speed (speed difference 2) determined by the size and weight of the box 9 so that the box 9 can be rotated by a set angle of about 90 ° during the transfer process of the moving distance passing through the transfer path 40.
α).

Further, of the conveyor rows 54 to 58, those which are to be subjected to the speed control having a speed difference are controlled to be sequentially moved downstream in accordance with the movement of the box 9. That is, of the conveyor rows 54 to 58, only the one on which the box 9 is directly mounted and directly involved in the conveyance is subjected to the speed control for providing a speed difference. In order to perform this control, it is necessary to recognize the position of the box 9 on the transport path 40. In the present embodiment, the elapsed time from the time when the box 9 is detected by the sensor 59 and the transport speed of the box 9 The position of the box 9, that is, the conveyor row to be subjected to speed control having a speed difference is determined from the standard speed V. When you are not involved in transporting the box 9 to be turned,
That is, when the boxes 9 are not flowing or when the boxes 9 that are not to be turned are being conveyed, the conveyor rows 54 to 58
Are controlled at the same standard speed V.

FIG. 1 illustrates the contents of speed control of the direction changing device 11. In the figure, the conveyor line shaded is to be subjected to speed control for providing a speed difference. The first conveyor row 54, the second conveyor row 55, and the third conveyor row 5 in order from the upstream to the downstream of the transport path 40.
If the sixth, fifth and fifth conveyor rows 57 and 58 are used, the direction change control is as follows.

As shown in FIG. 1 (a), when the box 9a to be changed in direction starts to be carried in, the left and right conveyors 42 of the first conveyor row 54 become the transport speeds of V + α and V-α, respectively. There is a difference, and the box 9a starts rotating while being conveyed. The loading of the box 9a is performed before the previously loaded box 9 is still unloaded from the transport path 40. Next, FIG.
As shown in (b), when the box 9a is conveyed to the second and third conveyor rows 55 and 56, the left and right conveyors 42 of the second and third conveyor rows 55 and 56 are respectively V +.
The transport speed has a speed difference between α and V−α. At this time, the left and right conveyors 4 are not connected to the first conveyor row 54 that is not involved in the conveyance in which the box 9a is not placed.
2 is returned to the standard speed V. Then, the subsequent boxes 9 are carried into the first conveyor row 54 returned to the standard speed V.
Hereinafter, as the conveyance of the box 9a further proceeds, as shown in FIG. 1C, the conveyor row to be subjected to speed control having a speed difference sequentially moves downstream, and the first row on which the box 9a is placed is moved. Only the conveyors 42 of the third and fourth conveyor rows 56 and 57 rotate with a speed difference. Then, as shown in FIG. 1D, the box 9a is unloaded from the fifth conveyor row 58 in a state where the box 9a is rotated by about 90 ° and turned. As described above, the program data capable of controlling the speed of each motor 48 is stored in the memory 65.

The length of the transport path 40 of the direction changing device 11 must be at least the length necessary to turn the box 9a by about 90 °. In the present embodiment, the transport path 4
Since the box 9a to be turned upward and the box 9 not to be turned are transported at the same time, the interval between the boxes 9 can be reduced to be as short as the conventional device.

In the palletizer 1 of this embodiment in which the boxes 9 are transported in three rows in parallel, the boxes 9 are stacked in the downstream area of the work conveyor 5 by the stacking method set from the input device 70 as shown in FIG. The main controller 67 controls the channelizer 2 and the direction change system 4 so that an array pattern necessary for stacking is formed. FIG. 6 shows a process of forming an array pattern. When this stacking method is selected, it is necessary to alternately form array patterns having different vertical directions formed in the downstream area of the work conveyor 5 in FIGS. 6A and 6D.
For this purpose, the channelizer 2 is controlled to repeat the method of sorting the boxes 9 four times in two rows and four times in three rows.

Further, the direction changing system 4 allows the boxes 9 sorted in two rows to pass through the box 9 in a horizontal direction without changing the direction, and the boxes 9 sorted in three rows by about 90 °. Change direction and make it vertical. That is, 1
Regarding the direction change devices 11 in the third and third rows, after the four boxes 9 are not turned, the next four boxes 9 are turned, and the counter 66 in the controller 61 detects the sensor 59. Is switched every time the number of boxes 9 detected is counted four times. Then, for the direction changing device 11 in the second row, all the boxes 9 are turned. These operations are performed by the main controller 67.
Is determined by the work data received by each controller 61 from.

As shown in FIG. 6A, the work conveyor 5
When a predetermined number (for example, 10) of arrangement patterns of the boxes 9 are formed in the downstream area of the box, the box group 14 is pushed out by the pushing bar 15 of the pusher device 6. This box group 14
Until the extrusion is performed, the subsequent box 9 is blocked by stoppers 12a and 12b as shown in FIG. 6B. During the waiting time during which the boxes 9 are blocked by the stoppers 12a and 12b, the pressing bar 13 is operated to cause the boxes 9 to be densely packed in the X direction. As shown in FIG. 6C, the previous box group 1
The stoppers 12a and 12b are retracted at the timing when the sheet 4 is dispensed onto the transport table 7 by the pushing bar 15, and the transport of the subsequent box group 14 to the downstream area of the work conveyor 5 is restarted.

As shown in FIG. 6 (d), when the box group 14 is formed in the downstream area of the work conveyor 5 in an arrangement pattern opposite to the direction shown in FIG. 6 (a), the pusher device 6 The box group 14 is pushed out by the pushing bar 15. Until the box group 14 is pushed out, the further succeeding boxes 9 are moved to the stoppers 12a, 12a as shown in FIG.
c, and the pressing bar 13 is
Are densely arranged in the X direction, the stoppers 12a and 12c are retracted at the same timing as shown in FIG.
Loading of the next group of boxes 14 is resumed.

As described in detail above, according to the present embodiment,
The following effects can be obtained. (1) The direction is changed by rotating the box 9 with a speed difference between the two rows of the conveyors 41 on which the box 9 is laid, so that even if the conveying speed is increased, the box itself or the products in the box are impacted. Don't worry about giving.

(2) Of the conveyor rows 54 to 58 that divide the transport path 40 in the transport direction, a box 9 for which the direction is changed
Since only the conveyor row related to the transfer (rotation) of the above is subjected to the speed control for providing a speed difference, the boxes 9 to be changed in direction and the boxes 9 not to be changed can be simultaneously transferred onto the transfer path 40. Therefore, the turning device 1
The interval between the boxes 9 to be carried into 1 can be shortened to the same extent as the conventional apparatus.

(3) The transport speed of the left and right conveyors 42 is set to a value obtained by adding the opposite value ± α to the standard speed V, and the moving speed of the center of rotation of the box 9 is maintained at the standard speed V. Thus, even when the direction of the box 9 is changed, the box 9 can be conveyed at the same speed V as when the direction is not changed. Therefore, the center distance between the turning box 9 and the preceding or following non-turning box 9 can be kept the same before and after passing through the transport path 40, so that the box to be loaded into the turning apparatus 11 can be maintained. 9 can be made as short as possible. Therefore, in combination with the effect of the above (2), the interval between the boxes 9 when the boxes 9 are carried into the direction changing device 11 can be shortened, so that the processing capability of the direction changing device 11 can be further increased.

(4) A plurality of direction change devices 1 (for example, 3
Units) installed in parallel and configured as a direction change system 4,
Since each of the direction change devices 11 is controlled in association with each other based on the data of the stacking method selected from the input device 70, a plurality of rows (for example, three rows) of box groups carried out of each direction change device 11 Can be arranged in an arrangement pattern of one stage suitable for the designated stacking method. Therefore, the cycle time in which the box group 14 for one stage is formed on the work conveyor 5 is shortened, and the capacity of the other devices such as the transfer table 7 and the lift 8 can be maximized. In addition, since a method of extruding the box group 14 onto the transfer table 7 by the pusher device 6 after completing the box group 14 for one stage is adopted,
The processing capacity can be greatly improved as compared with a configuration in which each row is completed, and one row is extruded by a pusher device.

(5) Since a method is employed in which the rotation is performed by utilizing the speed difference between the two conveyors 41 on which the box 9 is straddled, when the vertical box 9 is changed to the horizontal one, the box 9 is relatively Even if the width is short, the direction can be turned neatly sideways.

(6) Since the speed difference 2α and the standard speed V are changed according to the type (size and weight) of the box 9, any type of the box 9 can be rotated smoothly and efficiently by minimizing useless sliding. Can be done.

(7) Since the number of rows of the transport conveyors 41 per one transport path 40 is set to an even number, when the box 9 is rotated, a substantially even couple is generated on both the left and right sides with respect to the rotation center. The rotation of the box 9 can be made smooth.

(8) Since the transfer conveyors 41 are arranged in at least two rows, the structure of the direction changing device 11 can be simplified. (9) Since the direction changing device 11 is used for the palletizer 1, the processing capability of the direction changing device 11 is increased, so that the processing capacity of the palletizer 1 for stacking the boxes 9 can be improved. Therefore, even if the required number of stacking processes per unit time increases, the number of palletizers 1 can be reduced.
For example, it is not necessary to increase the number of palletizers.

(Second Embodiment) Hereinafter, a second embodiment of the present invention will be described with reference to FIGS.
In the first embodiment, the transport conveyors of the direction changing device 11 are configured in two rows, but are different from the first embodiment in that they are configured in four rows.

As shown in FIG. 10, four rows of conveyors 81 are arranged in the conveying path 80 of the direction changing device 11. Each transport conveyor 81 has a plurality (5 in this example).
Conveyor 82 as a table) small conveyor is arranged in cascade in the transport direction. Each conveyor 82 includes three rollers 83. As shown in FIGS. 10 and 11,
Three pulleys 8 connected to each end of three rollers 83
4 and pulley 8 connected to the output shaft of gear box 85
6 through a belt 87 wound around the motor 8.
8 is driven. The speed of each conveyor 82 is individually controlled by controlling the speed of each motor 88 by the controller 61 (see FIG. 5). Then, the conveyor path 80 is divided into a plurality (five in this example) by conveyor rows 89 to 93 including four conveyors 82 arranged in the width direction of the transport path 80.

As in the first embodiment, only the conveyor rows 89 to 93 on which the boxes 9 to be turned are placed are subjected to the speed control for providing a speed difference. Conveyor rows 89-9
Of the three, those that do not have a speed difference are those that constitute it.
All of the two conveyors 82 are driven at the same standard speed V. Among the conveyor rows 89 to 93, the one having a speed difference is that the four conveyors 82 constituting the conveyor rows have V-α and V + α in the center two rows and V-2α in the outer two rows.
And V + 2α. In other words, by making the speed difference larger in the conveyor 82 located further outside in the width direction of the transport passage 80 with respect to the rotation center of the box 9, the rotation (direction change) of the box is performed smoothly. 10 and 11
In FIG. 5, the sensor 59 is omitted.

According to this embodiment, the following effects can be obtained in addition to the effects (1) to (7) and (9) described in the first embodiment. (10) The speed of the conveyer 82 is set outside in the width direction of the transport passage 80 with respect to the rotation center of the box 9 in accordance with the speed at the time of rotation becoming faster as the position becomes farther from the rotation center of the box 9. Since the speed difference is made as large as possible, the box 9 can be rotated smoothly. Therefore, when the box 9 is rotated, there is less concern that the center of the box 9 is shifted, and the box 9 can be rotated more quickly.

(Third Embodiment) Hereinafter, a third embodiment of the present invention will be described with reference to FIGS.
In the first and second embodiments, the conveyor constituting the direction changing device 11 is a roller conveyor, but differs from the above embodiments in that it is a belt conveyor.

As shown in FIG. 12, a plurality of (five in this example) belt conveyors are provided as a plurality of (in this example, five) small conveyors in the width direction of the conveying passage 100 of the direction changing device 11. 102 are arranged in tandem in the transport direction. The belt conveyor 102 is, for example, as shown in FIG.
2. As shown in FIG. 13, a pulley 105 connected to one end (downstream in the transport direction) of two rollers 104 around which one endless belt 103 is wound,
Pulley 107 connected to the output shaft of gearbox 106
Motor 1 via a belt 108 wound around
09.

Each of the belt conveyors 102 has a motor 10
9 is speed-controlled by the controller 61 (see FIG. 5), so that the speed is individually controlled. Then, four rows of belt conveyors 102 arranged in the width direction of the transport path 100
, The conveying path 100 is divided into a plurality (five in this example).

As in the first embodiment, only the conveyor rows 110 to 114 on which the boxes 9 to be turned are placed are subjected to the speed control for providing a speed difference. Conveyor row 11
Among the belt conveyors 0 to 114 that do not have a speed difference, all the two belt conveyors 102 constituting the belt conveyor are driven at the same standard speed V. And the conveyor rows 110 to 11
Among the four belt conveyors having speed differences, the speeds of the two belt conveyors 102 are controlled so as to be V-α and V + α. 12 and FIG.
In 3, the support frame at one end of the sensor 59 and the roller 104 is omitted.

According to this embodiment, the following effects can be obtained in addition to the effects (1) to (9) described in the first embodiment. (11) By using the belt conveyor 102, a large contact area with the box 9 can be ensured, a large frictional resistance between them can be ensured, and slippage of the box 9 when the box 9 rotates can be reduced. Therefore, the transfer speed can be set higher and the processing capacity of the direction change device 11 can be further increased without worrying about slippage when the box 9 rotates.

(Fourth Embodiment) Hereinafter, a third embodiment of the present invention will be described with reference to FIG. This embodiment is different from the above embodiments in that the transport path is not divided into a plurality of conveyor rows.

As shown in FIG. 14, two rows of transport conveyors 12 are arranged in the transport path 120 of the direction changing device 11 in the width direction thereof.
1 is arranged. The transport conveyor 121 is composed of a belt conveyor, and one of two rollers 123 around which one endless belt 122 is wound (for example, on the downstream side).
Are driven by the driving force of the motor 125 via a belt 127 wound around a pulley 124 connected to the end of the motor 125 and a pulley 126 connected to the driving shaft of the motor 125. A support plate (not shown) for supporting the belt 122 so as not to be loosened by the weight of the box 9 is disposed on the lower surface side of the belt 122.

Each transport conveyor 121 is provided with a motor 125
Are controlled individually by the controller 61 (see FIG. 5). Transport passage 120
The boxes 9 pass one by one, and the previous box 9a
Then, the next box 9 is carried in. The two conveyors 121 are driven at the same standard speed V when there is no speed difference, and are speed-controlled to V-α and V + α when there is a speed difference. FIG.
In FIG. 5, the sensor 59 is omitted.

According to this embodiment, the following effects can be obtained in addition to the effects (1), (4) to (9) described in the first embodiment. (12) Since the two rows of the conveyors 121 are each composed of one belt conveyor, the direction changing device 11 can have a simple structure, and the contact area with the box 9 is wide even if the conveying speed is increased. As a result, the box 9 can be reliably rotated as compared with the case where the roller conveyor is used. Therefore, even if the boxes 9 can only pass one by one,
The processing capacity of the direction changing device 11 can be increased.

(Fifth Embodiment) A fifth embodiment of the present invention will be described below with reference to FIGS.
In the first to third embodiments, the speed of each of the conveyors 42, 82, and 102 constituting the direction change device 11 is controlled by an individual motor. In this embodiment, however, the number of motors used is reduced by using a differential machine. This is different from the above embodiments.

As shown in FIGS. 15 and 16, a plurality of (for example, five) conveyor rows 54 to 58
One differential machine (differential device) 130 is provided for each. One drive shaft 131 connected to each differential 130 is rotated by a driving force of a driving motor 133 via a gear train 132 attached to an end thereof. That is, the rotation of the drive shaft 131 based on the driving force of the driving motor 133 is commonly input to the differential units 130. Also,
A differential motor 134 for inputting rotation for differential is provided for each differential machine 130.

As shown in FIG. 16, the differential 130 includes a gear train 136 for transmitting the rotation of the drive shaft 131 to the large gear 135,
And a gear train 141 formed by annularly meshing the bevel gears 137 to 140. Two bevel gears 137,1
38, two rotating shafts 142, 1 that rotate integrally with each other.
43 extends horizontally on the left and right sides of the differential 130. The large gear 135 is mounted to be rotatable relative to a rotating shaft 142 that rotates integrally with the bevel gear 137.
The rotation of the differential motor 134 is controlled by the pulley 144 connected to its drive shaft and the pulley 1 attached to the rotary shaft 143.
45 is input to the rotating shaft 143 via a belt 146 wound around the rotating shaft 143.

The rotation of the rotary shaft 142 is controlled by the pulley 147 connected to the end of the rotary shaft 142 and the conveyor 42 on the left side.
The power is transmitted to the three rollers 43 on the left side via a belt 148 wound around each pulley 44 of the rollers 43. Further, the rotation of the rotating shaft 143 is controlled by the pulley 147 connected to the end of the rotating shaft 143 and the conveyor 42 on the right side.
The power is transmitted to the three rollers 43 on the right side via a belt 148 wound around each pulley 44 of the rollers 43. The left conveyor 42 constitutes a first row of small conveyors, and the right conveyor 42 constitutes a second row of small conveyors. In addition, the first
A shaft is formed, and a second shaft is formed by the rotation shaft 143.

The controller 61 (see FIG. 5) includes one motor instead of the ten motors 48 in the first embodiment.
The driving motors 133 and the five differential motors 134 are electrically connected, and the driving of the motors 133 and 134 is controlled by the controller 61. Drive motor 133
The roller 43 is always driven at a rotation speed at which the roller 43 can be driven at the standard speed V when the two rotation shafts 142 and 143 rotate at the same speed. The differential motor 134 has two rotating shafts 14
2 and 143 are driven at the same rotational speed, so that the differential motor 1
The right and left conveyors 42 belonging to the one corresponding to 34 are driven at the same standard speed V. Also, when the differential motor 134 is driven at a rotation speed with the right conveyor 42 as the conveyance speed V-α, the left rotation shaft 142 is accelerated via the differential 130 by the deceleration of the right rotation shaft 143. , The left conveyor 42 is driven at the transport speed V + α. For this reason, the differential motor 13
4 are driven with a speed difference 2α between the transport speeds V + α and V−α.

During the operation of the direction change device 11, the driving motor 133 is always driven at a constant speed, and each of the differential motors 1 is driven.
Reference numeral 34 denotes a rotation speed at which the conveyor rows 54 to 58 are decelerated when the corresponding conveyor rows 54 to 58 are involved in the conveyance of the box 9 to be turned, and otherwise drive the right roller 43 at the standard speed V. The speed is controlled so that 15 and 16, the sensor 59 is omitted.

According to this embodiment, the following effects can be obtained in addition to the effects (1) to (9) described in the first embodiment. (13) One drive motor 133 shared by each of the conveyor rows 54 to 58 that drives the left and right conveyors 42 at the same standard speed V, and each of the conveyor rows 54 for providing a difference in speed between the left and right conveyors 42 The number of motors can be reduced to a total of six motors, including five differential motors 134 provided for every ~ 58. Therefore, the content of the control by the controller 61 can be simplified, and the relatively inexpensive differential 130 can be provided to reduce the number of relatively expensive motors, so that the manufacturing cost of the direction change device 11 can be reduced. The embodiment is not limited to the above and can be changed as follows.

The direction changing device is not limited to a case in which a box to be changed in direction and a box not to change in direction are carried in. It may be a direction changing device for changing the direction of all the loaded boxes. That is, it is a direction change device in which a plurality of rows (for example, two rows or four rows) of conveyors are driven with a constant speed difference. The setting of the rotation speed (speed difference) and the transport speed (movement speed of the rotation center of the box) V are switched according to the type (size and weight) of the box as in the first embodiment. According to this configuration, the transport speed of the box can be increased without giving an unacceptable impact to the box and the products contained therein, and the processing capability of the direction changing device can be increased. Further, since it is not necessary to distinguish the boxes, no sensor is required.

The respective conveying speeds at which the speed differences between the conveying conveyors are set are not limited to the speed values obtained by adding ± α to the standard speed V. For example, a combination of V and V-β or a combination of V + β and V may be used. With such a configuration, it is sufficient to make only one of the conveyors in the width direction left and right with respect to the center of rotation of the box variable in speed, and it is not necessary to control the speed of the conveyor on the other side for each small conveyor. , 1
All you have to do is use a single motor.

The rotation direction of the box may be considered in consideration of the direction of rotation of the box. For example, the direction of rotation of the box when the direction is changed according to the stacking position of the position where the box is placed in one stage May be controlled. According to this configuration, for example, it is possible to meet a demand for stacking such that a specified side surface of the box always appears outside the load.

In each of the above embodiments, the box is set at a set angle (approximately 9
0 °), the standard speed V is varied according to the value of the speed difference. However, the standard speed V is kept constant, and the speed difference is set when the box has been rotated by the set angle. It is also possible to adopt a configuration in which the control for adding the mark is ended.

The angle of rotation when turning the article is not limited to about 90 °. An appropriate angle value can be set according to the purpose of use. For example, the setting may be such that the direction of the box is rotated by 180 °. Also, multiple types of boxes are mixed in and carried in,
The type of the box may be identified by a sensor at the entrance, and the speed of each conveyor in the transport path may be controlled so that the direction is changed at a rotation angle according to the type of the box.

The number of rows of the transport conveyor forming one transport path is not limited to two rows or even rows of four rows. Any number of rows can be used as long as a speed difference can be given to the box. For example, when handling an article with a deviated center of gravity serving as a rotation center, an odd number of rows is preferable, such as arranging two rows on one side with respect to the center of rotation of the article in the width direction of the transport path and a row of transport conveyors on the opposite side. In some cases. In the case of an odd number of rows of three or more rows, it is preferable to control the speed so that the one located outside the center of rotation has a greater speed difference in order to smoothly rotate the article.

The article is not limited to a box. Anything that needs to be turned while transporting at high speed can be targeted. Further, the shape of the article may be any shape other than a square pillar, such as a cylinder or a triangle. Even a columnar article, for example, which cannot be turned by a conventional apparatus using a stopper, can be surely turned by a direction changing apparatus utilizing a speed difference of a conveyor.

In each of the above embodiments, the standard speed V
, And the speed difference is provided to the conveyor only when the box 9 to be changed direction is carried in. On the other hand, it is also possible to adopt a method in which the conveyor is usually kept at a speed difference, and the speed is set to the same speed only when the box 9 whose direction is not changed is carried in. In this case, the object to be controlled may be moved in accordance with the transport position of the box so that only the conveyor row on which the box 9 not to change direction is loaded has the same speed.

In the fifth embodiment, when the differential motor 134 is driven at a rotational speed at which the two rotating shafts 142 and 143 are at the same speed, the left and right conveyors 42 have a speed difference 2α, and the state is as follows. When the differential motor 134 is shifted (accelerated or decelerated), the left and right conveyors 42 may have the same speed. For example, a gear train for speed change is interposed between one of the two rotation shafts 142 and 143 and the roller 43 to which the rotation force is transmitted, and the differential motor 134 connects the two rotation shafts 142 and 143 to each other. Two conveyors 42 when driven at the same rotational speed
Are different from each other in rotation ratio.

In the above embodiments, examples of the roller conveyor and the belt conveyor have been described. However, the present invention may be applied to a conveyor other than these. For example, a chain conveyor can be employed.

The direction changing device is not limited to a palletizer. It may be used for the purpose of changing the direction of the article other than the palletizer. The technical idea grasped from the above embodiments and other examples and not described in the claims,
The effects are described below.

(1) In any one of claims 1 to 5, the direction change device is for a palletizer for changing the direction of the box as the article to be stacked on a pallet. According to this configuration, when turning the direction of the boxes to stack them on the pallet, the same effect as the invention of any one of the first to fifth aspects can be obtained.

(2) Claims 1 to 7 and (1)
In any one of the above, the moving speed of the rotation center of the article in the conveying direction when the speed difference is provided between the plurality of conveying conveyors is positive. According to this configuration, it is possible to rotate for changing the direction while conveying the article.

(3) In any one of claims 1 to 7 and (1) or (2), the plurality of rows of conveyors are provided at least when the articles whose direction is not to be changed are being conveyed. The area where the article is placed is set at the same speed. According to this configuration, even when the article to be changed and the article that cannot be changed coexist, only the article to be changed can be selectively changed in direction.

(4) Claims 1 to 7 and (1)
In any one of (1) to (3), the control means includes:
The speed difference is set so as to take a smaller value as the weight per contact area of the article with the conveyor is smaller, and the article is set during a moving distance of moving on the conveyor by the speed difference. A standard speed when the speed difference of the conveyor is not made so as to rotate by an angle is set to a value corresponding to the speed difference. According to this configuration, regardless of the type of the weight per contact area of the article with the transport conveyor, the article can be efficiently rotated while suppressing unnecessary sliding as much as possible.

(5) Claims 1 to 7 and (1) to
In any one of (4), the transport conveyor is an even-numbered row. Since it is an even-numbered row, when rotating an article, a couple can be generated almost equally on both the left and right sides with respect to the center of rotation, and the rotation becomes smooth.

(6) In claim 3 and (5),
Each transport speed when the speed difference of the transport conveyors of the plurality of rows is given, for those positioned symmetrically with respect to the center of rotation of the article, plus and minus the standard speed plus an opposite value. Speed value is set. According to this configuration, the same effect as the third aspect can be obtained.

(7) In claim 3 and (6),
The conveyors are arranged in even rows, and are set such that a greater speed difference is generated between the conveyors located outside the center of the width of the conveying passage. According to this configuration, the same effect as the third aspect can be obtained.

(8) Claims 1 to 7 and (1)
In any one of (1) to (7), the control means determines whether or not the article conveyed into the conveyance path is to be turned, and determines the position of the conveyed article on the conveyance conveyor. And speed control so that the area on which the articles not to be turned on the plurality of rows of the conveyors are placed at the same speed, and the articles to be turned on the plurality of rows of the conveyors are Speed control is performed so that a speed difference capable of selectively rotating the article can be provided in the region where the object is placed. According to this configuration, only the area where the article to be turned is placed can be the target of speed control with a speed difference, and the article to be turned on the transport conveyor and the article not to be turned at the same time Can be transported.

(9) Claims 4 to 7 and (8)
In any one of the above, the control means includes a detector for detecting the article to be carried into the transport path, the elapsed time from the loading time of the article detected by the detecting means, The position of the article is determined from the article conveying speed and the conveyor row to be subjected to speed control for providing a speed difference is selected from the conveyor row. According to this configuration, the speed control content for each conveyor row can be easily determined from the position of the article only by providing the detector.

(10) The differential motor according to claim 5, wherein, when the driving motor is driven, the differential motor corresponding to the conveyer row is used for a conveyer row that drives the small conveyors at the same speed. Is controlled so that the first axis and the second axis have the same speed, and for a conveyor row that gives a speed difference to each of the small conveyors, the differential motor corresponding to the conveyor row includes the first axis and the first axis. Speed control is performed so that the second shaft is shifted from the same speed. According to this configuration, the speed control for switching each of the small conveyors of the plurality of conveyor rows to the same speed state and the state with the speed difference is sufficient only by the speed control of the differential motor for each conveyor row, Easy to control.

(11) In any one of claims 2 to 7, the transport conveyor is a roller conveyor. Since it is a roller conveyor, it can be easily divided into many small conveyors in the transport direction.

(12) In any one of claims 1 to 7, the transport conveyor is a belt conveyor. Since the belt conveyor is used, a large contact area with the article can be secured, and the article can be surely rotated even at a high conveying speed. Therefore, higher speed processing can be realized.

[0095]

According to the first aspect of the present invention, the direction of an article is changed by providing a speed difference between a plurality of rows of conveyors. It is possible to increase the processing ability of turning the article without worrying about giving.

According to the second aspect of the present invention, three or more rows of conveyors are arranged in the width direction of the conveying path, and three or more rows of conveyors are arranged on the left and right sides with respect to the center of rotation of the article. Since the speed difference is made greater for the outer one of the doors, it is possible to smoothly change the direction of the article,
Moreover, since the rotation speed of the article can be increased as much as possible within a range in which the article does not slip between the conveyor and the article, the rotation can be completed in a short distance, which contributes to, for example, downsizing of the direction change device.

According to the third aspect of the present invention, when a speed difference is given to the conveyor, the moving speed of the rotation center of the article in the conveying direction is maintained at the standard speed. Even if articles that do not change direction coexist, the processing capacity can be further enhanced by reducing the spacing between the articles as much as possible.

According to the fourth aspect of the present invention, only the conveyor row on which the articles to be turned are placed is subjected to speed control for providing a speed difference, so that the articles to be turned on the transport path and the articles to be turned are changed. The articles that are not to be transported can be transported at the same time, and by shortening the interval between articles that are carried into the transport path, it is possible to further increase the processing ability of turning the articles.

According to the fifth aspect of the present invention, there is provided a driving motor for connecting a first shaft and a second shaft which rotate synchronously with each of two rows of small conveyors by a differential, and for rotating the first shaft at a constant speed. A plurality of small conveyors are shared, and a differential motor for individually shifting the second shaft is provided for each conveyor row, so that the moving speed of the center of rotation of the articles is maintained at the standard speed, and Speed control for giving a speed difference between the small conveyors can be realized with a small number of motors in proportion to the number of the small conveyors, and the structure and control contents of the direction changing device can be simplified.

According to the sixth aspect of the present invention, the respective conveyors constituting the plurality of conveying paths are controlled collectively,
Since the articles are unloaded from the respective conveying paths in a direction in which an arrangement pattern for one step conforming to the designated stacking method is formed, the cycle time for forming the articles for one step can be reduced.

According to the seventh aspect of the present invention, the palletizer is provided with a direction changing device having a high-speed processing capability which does not have a fear of giving an impact to an article or the contents thereof.

[Brief description of the drawings]

FIG. 1 is a schematic plan view illustrating the operation of a direction changing device according to a first embodiment.

FIG. 2 is a plan view of the same.

FIG. 3 is a side view of the same.

FIG. 4 is a front view of the same.

FIG. 5 is a block diagram showing an electrical configuration of the direction change system.

FIG. 6 is a schematic plan view illustrating the operation of the palletizer.

FIG. 7 is a partial front view of the palletizer.

FIG. 8 is a partial side view of the palletizer.

FIG. 9 is a schematic plan view of a palletizer.

FIG. 10 is a schematic plan view of a direction changing device according to a second embodiment.

FIG. 11 is a schematic front view of the same.

FIG. 12 is a schematic plan view of a direction changing device according to a third embodiment.

FIG. 13 is a schematic side view of the same.

FIG. 14 is a schematic plan view of a direction changing device according to a fourth embodiment.

FIG. 15 is a schematic side view of a direction changing device according to a fifth embodiment.

FIG. 16 is a schematic front view of the same.

FIG. 17 is a schematic plan view of a direction change device according to the related art.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Palletizer, 4 ... Direction change system as a direction change device, 6 ... Pusher device which constitutes a consolidation means, 7 ... Conveying table which constitutes a consolidation means and a stacking means, 8 ... Elevating stand which constitutes a stacking means, 9: Box as an article, 10: Pallet, 11: Direction changing device, 13: Press bar constituting a consolidation means, 14: Box group as an article group, 40, 80,
100, 120: conveying passage, 41, 81, 101, 12
1. Conveyor, 42, 82 ... Conveyor as small conveyor, 48, 88, 109, 125 ... Motor constituting control means, 54-58, 89-93, 110-114
... Conveyer row, 59 ... Sensor constituting control means, 61
.., A controller constituting the control means, 67, a main controller constituting the control means, 70, an input device as an input means, 102, a belt conveyor as a small conveyor, 130, a differential machine, 133, a driving motor, 134,
Differential motor, 142 ... rotating shaft as first shaft, 143
... Rotary axis as second axis, V ... Standard speed.

Claims (7)

[Claims] 1. A conveyance path configured by arranging a plurality of rows of conveyors on which articles can be laid across in parallel, and at least a region where an article to be changed in direction is placed on the plurality of rows of conveyors. Control means for controlling speed so as to make a speed difference at which the article can be rotated. 2. The apparatus according to claim 1, wherein the conveyor includes three or more rows in the width direction of the transport path, and the control unit is configured to control, among the transport conveyors, a rotational center of the article that rotates when the speed difference is applied. 2. The article direction changing apparatus according to claim 1, wherein a speed difference is set so as to be relatively larger as the transport path is located outside in the width direction of the transport path. 3. When the articles that are not to be turned are conveyed, the control means controls the speed of the plurality of conveying conveyors to the same standard speed without making a difference in speed, so that the articles to be turned are conveyed. When moving the conveyors in the plurality of rows, the moving speed in the conveying direction of the center of rotation of the articles is maintained at the standard speed, and the speed is controlled so that a necessary speed difference is obtained. The direction changing device for articles according to claim 1 or 2, wherein: 4. The plurality of rows of conveyors are configured by arranging a plurality of conveyor rows each composed of a plurality of small conveyors in the transport direction, and the control means only controls a conveyor row on which articles to be changed are placed. The direction changing apparatus for articles according to any one of claims 1 to 3, wherein speed control is performed so as to make a speed difference between a plurality of rows of small conveyors constituting the row. 5. A pair of small conveyors arranged on both sides of the rotation center of the article in the width direction of the conveyance path and having a difference in speed, and rotates synchronously with each small conveyor in the first row. A plurality of differentials in which each first axis and each second axis rotating synchronously with each of the small conveyors in the second row are connected for each of the conveyor rows; And a plurality of differential motors provided for each of the conveyor rows to apply a rotational force to each of the second shafts, while providing a rotational force through the first shaft. The article turning device according to claim 4, further comprising a moving motor. 6. The apparatus according to claim 1, further comprising: a plurality of the transport paths according to claim 1; and input means for designating a method of stacking the articles on a pallet. Based on the data of the stacking method specified by the input means, the articles carried into each of the transport paths are unloaded in a direction capable of forming an array pattern for one step according to the stacking method. A direction changing apparatus for articles, wherein the transport conveyor for each transport path is controlled as a whole. 7. The diverting device according to claim 1, wherein the diverter is configured to consolidate a group of articles unloaded from the transport path while maintaining an array pattern thereof, and A palletizer, comprising: a stacking means for stacking, on a pallet, a group of articles brought into a dense state by the crowding means.