JPS59146386U

JPS59146386U - container handling equipment

Info

Publication number: JPS59146386U
Application number: JP1754684U
Authority: JP
Inventors: 小関篤志; 杉山謙吾; 石毛良平
Original assignee: 株式会社日立製作所
Priority date: 1984-02-13
Filing date: 1984-02-13
Publication date: 1984-09-29

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of the drawing]

図面は本考案の装置の一実施例を示すもので、第１図は
本考案の装置を備えたコンテナ荷投機械の正面図、第２
図は第１図の■−■線からのスプレッダ部分を見た図、
第３図は第１図の■−■線からセンサブロック部分を見
た図、第４図はセンサブロック部分の斜視図、第５図お
よび第６図はセンサブロック部分の回転動作を説明する
図、第７図は制御ブロック図、第８図〜第１０図はスプ
レッダの位置決め動作を説明する平面図である。１・・・コンテナ、５・・・Ｚ方向駆動装置、６・・・
スプレッダ、７・・・Ｘ方向微調駆動装置、８・・・Ｙ
方向微調駆動装置、９・・・θ方向微調駆動装置、１ｏ
・・・センサアーム、１１・・・回転機構、１２ａ〜１
２Ｃ・・・センサブロック、Ｌ１〜Ｌ８．　Ｒ，〜Ｒ，
，１１〜１８・・・Ｙ・θ方向検出用の反射形光型スイ
ッチ、ａ１〜ａ３ｓ　ｂｌ〜ｂ３・・・Ｘ方向検出用の
反射形光型スイッチ、１３・・・Ｚ１位置検出器、１４
・・・Ｚ２位置検出器、１５・・・論理制御装置、１６
・・・相対位置偏差検出回路。１ｉ　　　　　　１１”−１ｚｂＸ５国０！−〜Δχ　　　１１２（″″ 第５図を第６居ロー一−１と６笛りｍ ″（１一ビーーーーＬ七り一がジ」ユー−− ｉｚａ、Ａ　　ＩThe drawings show one embodiment of the device of the present invention, and FIG. 1 is a front view of a container loading machine equipped with the device of the present invention, and FIG.
The figure is a view of the spreader section taken from the ■-■ line in Figure 1.
Fig. 3 is a view of the sensor block section viewed from the line ■-■ in Fig. 1, Fig. 4 is a perspective view of the sensor block section, and Figs. 5 and 6 are views explaining the rotational movement of the sensor block section. , FIG. 7 is a control block diagram, and FIGS. 8 to 10 are plan views illustrating the positioning operation of the spreader. 1... Container, 5... Z direction drive device, 6...
Spreader, 7...X direction fine adjustment drive device, 8...Y
Direction fine adjustment drive device, 9...θ direction fine adjustment drive device, 1o
...Sensor arm, 11...Rotation mechanism, 12a-1
2C...sensor block, L1 to L8. R, ~R,
, 11-18... Reflective optical switch for Y/θ direction detection, a1-a3s bl-b3... Reflective optical switch for X-direction detection, 13... Z1 position detector, 14
...Z2 position detector, 15...Logic control device, 16
...Relative position deviation detection circuit. 1i 11"-1zb AI

Claims

[Scope of utility model registration request]

A fine adjustment driving device in the longitudinal direction (X direction) of the object moves in the X direction, a fine adjustment driving device in the lateral direction (Y direction) of the object in the Y direction, and a driving device in the vertical direction (Z direction) of the object in the Z direction. In a container handling device equipped with a spreader that is moved in the θ direction by a fine-adjustment drive device that rotates in two directions (θ direction), the sensor arm is extendably suspended from at least three locations at four corners of the spreader. and a sensor block provided at the lower end of the sensor arm so as to be rotatable around its axis by a rotation mechanism;
A plurality of reflective optical switches are arranged on the bottom surface of this sensor block for detecting the Y and θ directions, a plurality of reflective optical switches are arranged on the side of the sensor block for detecting the X direction, and a plurality of reflective optical switches are arranged on the side of the sensor block for detecting the Y and θ directions. A z1 position detector is installed at the end of the sensor block to detect the detection level (2+ position) in the Y and θ directions of the reflective optical switch for detection and issue a command to stop the descending operation of the sprayer, and A reflective optical switch for direction detection. A Z2 position detector attached to the end of the sensor block so as to detect the detection level (Z2 position) in the X direction and issue a command to stop the downward movement of the spreader; The system uses digital signals from a reflective optical switch for detecting the θ direction and a reflective optical switch for detecting the A relative position deviation detection circuit that issues drive commands to the fine adjustment drive devices in the Y, θ, and 1. A container handling device comprising: a logic control device including a circuit for issuing a rotation command to a rotation mechanism of a sensor block;