JPS5926417A - Automatic loader for vessel - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for automatically loading containers from a first spoon container arranged in a row into an empty case placed at a second station.

- In this drawing machine, from the first station to Q2
When transferring containers to Sudaycinon, we use a Limit 1 switch or tie to control the g feed, but the former easily causes a time lag between when it is activated and when the transfer is stopped. If a voltage change occurs during transfer, the rotational speed of the motor changes and the stiffness makes it impossible to cope with the change, making it difficult to control the transfer accurately.
There was a drawback in that it was practically impossible to automatically load containers into the case placed in the suspension.

This discharge method eliminates the drawbacks of the above-mentioned conventional method, and provides a method for producing bean paste that can reliably control the transfer of the container from the first stage to the second stage, thereby enabling easy automatic loading. What is the purpose of something?

This invention is also developed with reference to the actual performance figures shown in the drawings.

This embodiment is applied to flavored stainless steel draft beer barrels. Figures 1-3 indicate draft beer barrel 2.2'
(In the drawing, the 10# barrels 2 are shown by solid lines, and the 19l barrels 2' are shown by chain lines). The barrels 2, 2' are arranged projectably on the conveyor 1, and are arranged in a line and fed by the barrels 2, 2' to be controlled every 5+. Reference numeral 3 designates a collar which is disposed on one side of the conveyor 1 and stops the transfer of the barrels 2, 2'.

A conveyor 5 is disposed at a predetermined interval in the lateral direction of the conveyor 1, and is disposed parallel to the conveyor 1 so as to be movable in the same direction. The empty case 7 for loading barrels is placed in the same direction as the above-mentioned = Npe Y.
It is set to be sent to 5.

Between the transfer end of the conveyor 1 and the transfer start of the conveyor 5 is a frame 1 having water rails 11 on both sides of the upper part.
2 is installed, and a trolley 13 is disposed on the rail 11 so as to be able to reciprocate.

A chuck rod 15 having a plurality of head chucks 14 at its lower end is arranged on the upper end 13 so that it can be raised and lowered by a motor 16, and a chuck rod 15 is positioned along the stopped chuck rod 5.
The positioning rod 17 is provided with several proximal suits for detecting the amount of elevation of the f-yuck 14 by means of a detecting section 18 sunk in the chuck rod 15. That is, in this embodiment, the contact switch 19a determines the upper limit position of the chuck 14, and the proximity switch 19b determines the upper limit position of the chuck 14.
10l+2 1st stage part 2n is chucked at the lower limit position ↓, the proximity switch/19c detects the loading lower limit position (l stage) in case 7 of 10l+2, and the proximity switch 191, 19C is Turn <lower limit position (2.

3 steps) projection, close proximity 1 piece 19f x 19l $2
The chuck 14 detects the downward eye position of the chuck +, and 19g, 1! + is provided to detect the loading position and lowering time limit position (1st and 2nd stage) in the turning barrel 2'.

In addition, a motor 21 is installed on each of the 13 carts, and a forward/reverse clutch 23 is attached to the drive shaft 22 of the motor toward the tip.
, a sprocket 29 is attached to the transmission shaft for the running roller 28 of the ginsei 13, to which the brake 24, the pulse generator 25, the reducer 26, and the sprocket 27 are attached.
A chain 30 is suspended between the sprocket 29 and the sprocket 27, and the pulse generator 2
5 is a rotating body 3 with a plurality of through holes 31 formed at equal intervals on the periphery.
2. A pulse count sensor 3 is provided adjacent to this hole and generates a pulse signal by passing through the transparent layer 31.
3, and generates a pulse signal proportional to the amount of drive of the driver 21, that is, the amount of movement in the force direction of the chuck 14Q. When the power is turned on, the motor 21! The rotating body 32, which rotates due to the motion, generates PALNU signals as many times as the number of through holes 31 extending along the circumferential edge of the rotating body 32 as the drive shaft 22 rotates. The front + sensor 33 is connected to the pulse counter (1-(4) mentioned above. In Fig. 2, 35 and 36% indicate the nearby switch, and the proximity switch 35 is installed on the trolley 13. The detecting section 37 announces the waiting position of the cart, and the proximity switch 3G detects the position at which the detected section 37 starts counting the pulse signals emitted from the Norse counters C1 to C4 pulse generator 25. It is.

The fourth example shows one configuration example of a block circuit diagram that controls the movement of the bogie l3 and the downward movement of the chuck rod 15.
8 barrel conveyor/8 barrels 2 are sent in 1 row above + 8 rows
．． With a counter that counts the number of 2', Azusa2*2' is 5.
When it becomes hard, it outputs a signal and projects it to the stopper 4. 39, the number of ruses output from the valley 54 is counted, and the number of ruses is 0, 1.2. Hmm, in the case of 4.5 and 6.7, is it T/Bell's I bow from the output 4 child of t? Output 8
The counter +C1~(4 is a counter that counts the pulses output from the pulse generator 25, and the cart 13 counts the detected part 37 by 3L in the pulse counters C1~C4.
The number of pulses corresponding to the moving distance + A to D of each movement in case 7 from the position detected by the contact switch 36 is set in advance, and this set number matches the Norse number. Then, it outputs an H level signal.

42 is the output of counter 39! Proximity switches 19c to 19e, 1 count the signals output from the child 8 and detect the loading lower limit position of the goods 2, 2' in the case 7.
9g, 14h 5V1) with the counter selected by 10
In the case of loading G Gen 2, when the count number is 0, 19C (
In the case of 19-barrel 2+, 19g) is 1 to 1 sd (1
Select 19h) in case of gl, and select 19e in case of 2.

Reference numeral 43 denotes a control circuit which outputs signals for controlling operations such as the movement of the turret 13 and the lowering of the chuck rod 15 by human power.

S is the switch that turns OFF when 11-barrel 2 and +9-barrel 2') turns on the sharpening, and when it is OFF, the proximity switch 19
c~! 10 and 19b are selected and ON Nodoki 19g
and 19h and +9f are selected. 54, 65, 7
Differential circuit designed to generate pulses only when the 3-digit signal goes up, 44-49, 53.55 to 60, 7
4 AND circuit, 50, 51.67, 69-72.75 is OR circuit, 52, 62-65.

68 is a timer.

Next, the operation of the previous embodiment will be explained.

Next, the case of loading YZ 10L barrel 2 will be explained. l01
After turning off the switch 8 to select the barrel 2, by pressing SWITCH/PB-3, the H-3 signal is output from the output terminal Q of the control circuit 43, and the counter 39 is reset.

At this point, the other counters 3B, (1-(4, 42) are also reset, and the terminal 0 becomes ready for starting. An H level signal is output from the terminal 0 of the Y counter 42, and the C proximity switch 19c are selected, switches PR-1, PB-
5. Conveyor Y1,6 is activated by pressing P3-6.
Then, the empty case 7 and barrel 2 are transferred. When the case 7 is sent to the transfer start end of the conveyor 5, the adjacent swing-1
9I detects this and outputs an H level signal (time t1 in FIG. 6).

On the other hand, the counter 38 counts the number of O2 transferred by the conveyor 1, and outputs an H level C signal when five barrels 2 have been transferred (time t1 in FIG. 5). The cylinder is actuated to project the stopper 4 as shown in FIG. 1, thereby stopping the transfer of the C6th and subsequent parts.

Further, the signal is input to the AND circuit 44, and since the H level signal which has already been output from the output terminal o of the counter 39 is input to the AND circuit 44 via the OR circuit 71, the previous H level signal is input to the AND circuit 44 via the OR circuit 71. At the same time as the input of the signal, NM of H/pel is output from the AND circuit 44 and inputted to the differentiating circuit 66 via the OR circuit 70, and from this differentiating circuit 66, the NM of H/pel is outputted and input to the control circuit 43! Input the child A/lower command L (at time h2 in Fig. 5).

At this time, the H level signal 4 output from the layer switch 35 has already been input to the fund circuit 74, so the pulse output from the differentiation circuit 66 powers the AND circuit 74 and the A circuit 75. Then, an unchuck command signal is input to the input terminal H of the control circuit 43, and if the Y-tuck 14 is in the unchucked state, it is brought into the unchucked state.

When the lowering command signal is input to the control circuit 43, a lowering signal is output from the output terminal K and the chuck rod 15 is lowered. The tipping rod 15 descends and the yak 14 lowers the mouthpiece 2a of the barrel 2.
When the chuck position is reached, that is, the lowering limit position of the V-chuck 14 is reached, the proximity switch 193 outputs an R rail signal at the skin detection section 18 (time 13 in FIG. 45).

When the Maogo Nodoki trolley 13 is located at the fixed position, the AND circuits 46, 59 . Since an L level signal is input through the inverter 61, the proximity switches 19c, d, e, g, and h are in the tenant production 1 state.

-Kasig S is turned off, but imperter 8
2, a low level signal is input to the J-nd circuit 47, and the middle right switch 13 is stopped at the standby position as shown in FIG. - It is input to the AND circuit 48.

Therefore, the H level signal output from the proximity switch 19b is output from the AND circuit 47. OR circuit 50, AND circuit 4
8 and the OR circuit 51 to the input terminal D of the indexing circuit 43 as a descending stop command No. A, thereby stopping the descending of the threaded lever 15. In addition, since the H signal output from the proximity switch 35 is also input to the AND circuit 49, the H level I signal that has passed through the OR circuit 51 passes through the AND circuit 49 to the input terminal of the control circuit 43. G as a chuck command signal, and output a chuck signal from its output terminal 0 almost at the same time as the chuck rod 15 stops descending.
Then, the compressed air solenoid valve E is opened and the #2 mouthpieces 2a, which are lined up in one row of five on the conveyor l2, are chucked by the chuck 14 (time ts in FIG. 5).

Further, the signal passing through the OR circuit 51 operates the timer +2, and after the data is completed, a rise command signal is output (time t4 in FIG. 5), and is input to the input terminal E of the control circuit 43. The rising tension is output from the output terminal L. When the jack knife 15 rises due to the output of the rising signal and reaches the upper limit position of the chuck 14, the bottom contact switch 19a is activated to move the imaged part 1
8 and outputs an H level signal (point t in Figure 5).
s) A rising stop command signal is input to the input terminal F of the control circuit 43 to stop the rising of the chuck rod 15.

On the other hand, the H/bell signal is output from the proximity switch 35 and is input to the band circuit 53 at input 17.

The H rail signal output from the proximity timer 19a is input to the differential circuit 54 through the AND circuit 53, and the second component circuit 54 generates a pulse at the rising edge of the cut H level signal, and this pulse is sent to the counter 39. is input to the input terminal ■ and counted. With this count, counter 3
The + sign of H/a is output from the output terminal 1 of 9 and input to the differentiating circuit 73 via the CA circuit 72.
The pulse I output from 3 is input to the input terminal 3 of the control circuit 43 as a forward rotation command signal. A normal rotation is outputted from the output ψtermination M (time point is in FIG. 5). ``+L lever's forward rotation signal'' causes Clatsuna 23 to start forward rotation, and -tater 2.
1 is driven and the barrel 2 of the cart is de-socketed with the chuck 14 and moves toward the empty case 7 along the rail 11, and now when the detected part 37 passes the proximity switch 36, this The proximity switch 36 brings out the detected part 37), and
- and input the signal to the AND circuit 55 at time t5 in FIG. Then, the pulses generated from the pulse generator 25 pass through the AND circuit 55 and are counted as pulse counters C,
- input to C4 and start counting). - The H bevel signal is output from the output terminal 1 of the force counter 30 and input to the AND circuit 56. That is, counter C1 is selected. Therefore, when the sound 13 moves by distance A, the counter C1 counts the Norse number corresponding to the distance A and outputs only the H level signal which passes through the AND circuit 56 and outputs the OR circuit 69 to the control circuit 43. is input as a forward rotation stop signal at C, and this stop signal activates the brake 24 to stop the movement of the truck 13 (time t1 in FIG. 5). - After the timer 41 is activated, the A run counters CI to C4 are reset. Since the H/bell signal output from the proximity switch 191 has already been input to the f-end circuit 57 due to the arrival of the empty Kusuf, the H/bell signal output from the counter 0 is Activating the timer 63 through the Anne 1 circuit 57,
After a predetermined period of time has elapsed, the timer 63 outputs an H/bell signal and inputs it to the differentiating circuit 66 via the OR circuit 70.

The differentiating circuit 66 generates the rising C pulse of the H level signal and inputs it to the input terminal A of the control circuit 43 as a falling phase command signal (at time ts in FIG. 5), and outputs the falling phase signal from its output terminal K. is output and the cheek tithe 15 is lowered to F. On the other hand, since the proximity switch 19c is selected by the know switch 42, the lowering of the -Y lever 15 is stopped at the position detected by the proximity switch 19c by the Q detector 18. That is, the proximity sensor 19o detects the detected part 18 and outputs a signal of +/bell, and this H level passes through an AND circuit 59 and an OR circuit 51 and sends a descending stop command signal to the input terminal D of the control circuit 43. Enter chuck rod 15 as
The descent of the vehicle is stopped (time point to in FIG. 5).

On the other hand, in the AND circuit 60, the proximity f border 35 is
7 is not being detected, but the inverter clock 1 is inputting an H level signal. input it and draw this,
After a predetermined period of time has elapsed, this timer outputs an unchuck command signal, which is input to the input terminal H of the control circuit 43 via the OR circuit 75, and the unchuck count is output from the output terminal P of A (Fig. 5). σ time t1o). Then, after a predetermined period of time has elapsed since the chuck rod 15 stopped descending, the solenoid valve is closed, the mouthpiece 2a is unchucked, and five barrels 2 in one row are moved to A-1 of the empty case 7 shown in FIG. The product is placed in the position of .

The H level signal that has also passed through the Yota-OR circuit 51 activates the timer 52, which outputs a rising command signal after the unchucking is completed, and connects the control circuit 43 to the human power terminal E.
Power the two people and output the rising signal from the output terminal L (
Time t11 in FIG. 5). Then, when the chuck rod 15 rises and reaches the upper limit position, the near-length frame 190 detects the skin detection section 18 and outputs a signal F of 1 lbel, and the control circuit 43
Input the rising stop command signal to input terminal F of (5th
At time tI2) in the figure, the rise of the % Nayak rod 15 is stopped.

Since the AND circuit 58 is in a state where it is inputting an H level signal by the inverter 61, the H rail signal output from the proximity switch 19a is tied to 64.
After a predetermined period of time has elapsed, a reverse rotation finger θ signal is output from the current timer, and a reverse rotation signal is output from the output terminal N of the control circuit 43 (at time ts in FIG. 5).
s). During this reverse rotation, the brake 24 is released from C at 3F, the clutch 23 enters 4-turn, and the motor 21 is driven, so that the bogie 13 is moved to the original waiting position by staying on the rail IIK. , when the trolley 13 moves beyond the original standby position, the proximity switch 5 detects the 37 exposed parts and outputs an H level signal (time t+4) in FIG. A 3 reverse rotation stop command is input to J, and the output of reverse rotation Δ output from its output terminal N is stopped, the pull lever gear 24 is activated, and the trolley 13 is stopped at the standby position. .

This completes one cycle of the first loading.

The H novel signal is output from the Y proximity switch 190 and input to the AND circuit 53. Melee Sweetsuna 3
The H level signal outputted from the AND circuit 5
3 and input to the differentiation circuit 54. Then, a pulse is output from the differentiating circuit 54 and applied to the input terminal 1 of the 1 counter 39, and an H level signal is output from the output terminal 2 of the counter 39 (time t14 in FIG. 5).

Then, in exactly the same manner as above, the chuck is lowered, and after the chuck 14 has hit the 2 caps 2s of the next 1 row of 5 barrels lined up on the ground, the Y-tsuku rod 15 reaches the upper limit position. Stop.

At this time, the N-component circuit 54 fails to output the r pulse, and the counter 39 outputs an L signal and an H level signal from its output terminal 3, and the counter C) is selected and the second loading is performed. The five digits 2 in one row are stacked at position B-2 of case 7. Similarly, Tanetsugu counter C3, (4
was selected and the 3rd and 4th round of closing was carried out, and C-3 of Kusuf was selected. Barrel 2 is loaded in position D-4. Then, when the fourth loading is completed, the output terminal 8 of the counter 39
An H level signal is output from the C counter 42 and inputted to the input terminal I of the C counter 42, and also sent to the counter 3 via the timer 65.
Rehit 9. Then, an H-level signal is output from the output terminal l of the force counter 42, and the proximity switch 19c is set to 4.
and this proximity switcher 19d is chucked to the chuck 14.
C-7, L-8) detects the child exit part 1B [Jack 14 also performs an anti-Y check, and performs C-7 and C-7 in the same manner as above.
Carry out the loading of the 5th to 8th items. When the eighth loading is completed, an H level signal is output from the output terminal 8 of the counter 39 as in 23, a human power 7 is output to the counter 42, and an H level signal is output from the output terminal 2 of the counter 42. Then, the proximity switch 19e is selected, and the third stage of the above case and the third stage (A-9, 1-1o, c-1
1, 1-12), the 9th to 12th loading is performed. When the 12th loading is completed, an H level signal is output from the terminal 8 of the counter 39 and inputted to the counter 42, and an H level signal is output from the output terminal 3 of the counter 42 and is passed through the OR circuit 67. When the timer is input on the 6th, it is output from the No. 1 Tsuyoshi X, which has completed loading.
Immediately after the timer 68 is activated, the counter 42 is reset. On the other hand, when the loading is completed, the controller Y5 is operated and the case 7 loaded with the barrel 2 is transferred.

By repeating the above operations, a total of 60 barrels of 101 barrels 2, arranged in rows of 5 in each row and 20 in 4 rows, are sequentially loaded into the case 7 over three stages.

The case of loading KK19g barrel 2' will be explained. 19
- When the switch S is turned on to select the barrel 2', the H/bell signal is output from the output terminal Q of the control circuit 43 by pressing the switch P3-3. (4 and 42 are reset, and it becomes possible to start from terminal 0.The H/bell signal inputted by the H/bell signal outputted from the output terminal 0 of the counter 42 and the N of the sweets-8) Since the AND loading 46 is manually operated, the proximity switch 19 is selected and the fourth stage is loaded in the same way as for the 10 liter barrel 2. When the loading is completed, the output terminal 6 of the counter 39 is An H level signal is output and input to the counter 42, an H level signal is output from the output terminal l of the counter 42, and then the nearby switcher 19b is selected.

Then, loading of the second stage is carried out in the same manner as above, and when the loading is completed, H is output from the output terminal 8 of the counter 39.
A level signal is output and input to the counter 42, !
An H level signal is input to the AND circuit 45 from the output terminal 2 of the upter 42 . This AND circuit 45 includes a switch S
Since the H level signal is being input by turning ON, the H level signal is output from the AND circuit 45, and the timer 68 is activated via the OR circuit 6l, and a loading completion signal is sent from the terminal X. Output and ri 1 ma 6
8, the counter 42 is reset.

In this way, in the above case, a total of 40 barrels (5 in each row, 20 in 4 rows) of 19 liter barrels (2') are automatically loaded into the Kusufu one after another.

In the above embodiment, the loading container was used as a loading container (draft beer 9 was shown, but only 1 beer was shown).

Of course, it can also be applied to various other containers, including hair.

Since this invention has been achieved as described above, it is possible to accurately control the transport of containers from the first station to the second station by using the control member, and therefore, it is possible to accurately control the transport of containers from the first station to the second station. In addition to being able to reliably load multiple rows of empty coos placed in the second station, it also allows for unmanned loading, which improves work efficiency compared to conventional methods. It has excellent effects such as being able to significantly increase

[Brief explanation of drawings]

Fig. 1 is a schematic plan view showing an embodiment of the present invention, Fig. 2 is a 1θ front view, Fig. 3 is a plan view of the main part showing the drive system of the bogie c, Fig. 4 is the bogie, the V-tsuku rod, etc. FIG. 5 is a block circuit diagram showing the control system of FIG. 5, and a timing chart. 1, 5.6... Conveyor 2, 2'... Draft beer barrels 3, 4... Stopper 7... Case 11... Rail 12... Frame 1
3...Dolly 14...Head chuck 15...Chuck rod 16, 21...Motor 17...Positioning rod 18, 17...Detected parts 19a to 19i, 35, 36...Proximity Switch 25...Pulse generator 31...Through hole 32...
・Rotating body 38, 42...Counter 39
... Octal counter C1-C4 ... Pulse counter 43 ... Control circuit patent applicant Asahi Beer Co., Ltd. agent Patent attorney Shigeru Tsukimura

Claims (1)

[Claims] 1. A first station for arranging containers in a plurality of rows, and an empty case located at a position away from the first station in the negative direction for loading containers. A second station to be placed, a bogie disposed in a reciprocating manner by an I-movement motor located above the first station and the second station, and a standby position N of this platform M at the first station.
The first output section for detecting the
a second detection section for detecting the limit position and the lower limit position at the first and second stations; A control member for controlling the rotation speed by a predetermined number of revolutions; - Move to the limit 'Front = 1' Lower the hook part 4 to 451 - 14th alarm and front] 1st stage E
When the first container in the 1st row and 1st row reaches the 0 position, a signal is sent out. , to the above-mentioned Ginshin by means of the control section H on one side E of the second spush f! ! ,
and a second detector moves so as to stop at the second station, and when the second station reaches the empty space, it sends out a signal to inform people of this and reaches the tenth position of the second station. A third detector that operates to lower a certain chuck section 4, and the first row at the lowering limit position of the second station! A few guests - % Anzayakku said chuck part.
When the + and start to reach the ascending limit I/, it detects this and issues an r signal, and moves to the two sides of the first station T1 and waits at the first station. a fourth detector that is activated to stop when detected by the first Kinchibugetsu in the lock;
When several rows of containers are loaded into the case, this is detected and a signal is issued, and the predetermined rotation speed of the motor is changed to move the next row of multiple containers forward and backward in the soaking direction of each type. a fifth detector for activating the control member so as to enable loading adjacent to the container; 2. A first station where containers are arranged in a plurality of rows; a second station where empty cases to be loaded are placed at a position laterally distant from the first station; A trolley disposed on the opposite side between the J1 station and the second station so as to be reciprocally movable by an H-motor, and a first detection unit for detecting a standby position of the trolley in a first direction. With profit. a second detection unit for detecting a chuck of the number of bells disposed on the cart so as to be movable up and down, and a lower limit position of the first and second stations of the chuck member; a control member for controlling the torque to rotate at a predetermined number of revolutions corresponding to the travel distance from the first suspension to the second stationary carriage of the front N truck; /number<K A first detector detects when the line is aligned, issues a signal, and operates to lower the chuck member located at the ascending position of the first cutting station. Front N in position
When the chuck part A, which has been chucked into a plurality of containers in one row, reaches the inward elevation limit ζ, it detects this and issues a signal, and controls the control part 4 in the front arrangement width. A second detector operates to move above the second station and stop; detects the empty hax as soon as it reaches the second station, and issues a C signal; The third detector operates to lower the chuck member at the upper limit position of the second stage, and the chuck member system that unchucks the plurality of containers in one row at the temporary position of the second station Once the ascent limit position is reached again, this is detected and the < sign is emitted, and the above control is started.
Under the control of the material, move with the sumo wrestler at the first station,
and a first detection device that operates so as to stop when detected by the first detection member at the waiting position E of the first station, when the chuck portion is loaded in one row with several containers into the case. This is announced and a signal is issued to change the lowering limit position of the chuck part in the second station so that the next row of multiple volumes can be loaded onto the front loading container with V-contact LC. 5th detection that activates the front N 2nd detection member! Automatic loading device for containers equipped with