JPS62105820A - Article loading device - Google Patents

Abstract

PURPOSE:To shorten a loading time and to prevent damage of an article, by a method wherein an unloader conveys an article to a relay position, and after it transfers it to a relay loader, it is returned to an initial position, and the relay loader loads the articles, in order, to a track until the number of article loaded is increased to a given value. CONSTITUTION:An article 3 conveyed to a given position 2 by a conveyor 1 is grapsed by a grapsing part 11 of an unloader 6 to raise it at 13, and after it is moved horizontally at 12, it is lowered at 13 through a route shown by a dotted line 10. The article 3 is released in a first position 5 from grapsing at 11, and is transferred to a relay loader 7. The unloader 6 is returned to its initial position through a reverse route. In a relay loader 7, a support table 14 is moved to the first position 5 to receive the article 3, the articles 3 repeatedly delivered from the unloader 6 are orderly piled up, and in a second position 8, they are lowered at 15, in order, through 8-1, 8-2...n. When a sensor 16 detects a given quantity, the support table 14 is lowered at 15 down to an article loading level 17. This shortens a loading time, and enables complete prevention of damage of the article due to impack caused during lowering of the article.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an article loading device for loading articles carried out from a predetermined location onto a trolley, and in particular, the present invention relates to an article loading device for loading articles carried out from a predetermined location onto a trolley, and in particular, to The present invention relates to an article loading device that can perform loading operations efficiently.

(Prior Art) Generally, an unloader is used to load articles onto a trolley. For example, when loading powder molded products molded by a powder press, the molded products are transported out of the powder press using a belt conveyor, and then the transported molded products are sequentially stacked into a cart by an unloader. Here, the unloader consists of an article gripping section that moves vertically and horizontally, and operates to grip the molded article carried out by the conveyor, transport it to the trolley, and load it therein. In this way, the gripping section reciprocates between the conveyor and the truck, and a predetermined number of molded products are loaded into the truck.

(Problems to be Solved by the Invention) In such an unloader, in order to increase the loading speed of molded products, it is necessary to increase the moving speed of the gripping portion, that is, the electric transfer speed of the molded products. however,
Particularly when transporting molded products that are sensitive to impact, such as powder molded products, the withdrawal speed should not be increased too much in order to minimize the impact applied to the molded product during electric transport and prevent damage to the product. It's impossible. For this reason, the conventional unloader has a problem in that it is not possible to increase the loading speed of molded products.

(Means for solving problems) The configuration of the present invention will be explained with reference to FIG.

The article loading device of the present invention includes an unloader 6 that conveys articles 3 carried out to a predetermined site 2 by a conveyor 1 or the like to a first position (an article release position) 5 above a trolley 4, and It has a relay loader 7 for loading articles 3 onto a cart 4, and a position defining means 9 for defining a second position (article receiving position) 8 of the relay loader.

The above unloader 6 has a gripping part 11 that grips the article 3, and this gripping part 11 is moved by a moving means consisting of, for example, a horizontal moving part 12 and an elevating part 13, drawing a trajectory shown by a broken line 10, and holding the article 3. From the above part 2 to position 5 to 1
Repeat the general sending operation. Further, the relay loader 7 has a support part 14 that supports the article 3, and this support part 1
4 is movable between the second position (article receiving position) 8 and the article loading surface 17 of the trolley 4 by means of a moving means including a lifting section 15. In addition, after the support part 14 receives the article 3 from the grip part, the lifting part 15 moves the support part 14 at a predetermined distance from the receiving position 8.
For example, it is lowered by a certain distance and then raised again to a second position (receiving position) 8 determined by the position regulating means 9 described above. Here, this second position consists of, for example, a sensor that detects the upper surface of the article on the support, and the position of the support is defined by the output of this sensor. With this configuration, each time an article is stacked on the support part, the second position becomes a position lower than the previous second position by the thickness of the article. on the other hand,
The relay loader has a detection means 16 that detects that a predetermined number of articles 3 are loaded on the support section 14. Based on the output of the detection means, the elevating section lowers the support section 14 to the article loading surface 17, and the loaded articles can be transferred onto the loading surface 17 all at once.

In the apparatus of the present invention configured as described above, in the initial state, the unloader 6 and the relay loader 7 are at the positions indicated by solid lines in the figure. When the article 3 is carried out to the predetermined site 2 by the conveyor 1 in this state, (1) the gripping section 11 of the unloader grips the article 3; Further, the support part 14 of the relay loader moves from its initial position to a position 18 between the position 8 and the loading surface 17 of the truck. (2) The gripping section 11 that grips the next 1st article 3 moves along the trajectory 10 and conveys the article 3 to the first position (delivery position) 5. (3
) Thereafter, the support part 14 at the position 18 rises and moves to the second position (first article receiving position) 8-1 determined by the position defining means 9. (4) Next, the article 3 is released from the gripping part 11, falls naturally, and is transferred onto the support part 14. (5) When this transition is completed, the grip portion 11 is retracted to its initial position.

Further, the support portion 14 descends a certain distance and then stops.

Through the operations (1) to (5) described above, one article is loaded on the support section 14. A loading cycle consisting of such operations is repeated n times, and n articles are loaded on the support section 14. Here, in the second and subsequent loading cycles, the article light positions 8-2 to 3-n defined by the position regulating means 9 are set to the second positions in the previous cycle by an amount corresponding to the thickness of the article. (receiving position), and will descend by a certain distance from each position. (6) Next, after receiving the last article 3-n, the support part 14 descends from the receiving position 8-n to the loading surface 17 of the cart and stops there. Thereafter, the articles 3-1 to 3-n stacked in n stages are transferred onto this stacking surface 17. In this way, the operation of loading the articles 3 onto the trolley 4 is completed.

(Effects of the Invention) According to the present invention configured as described above, since the article transport area is divided by the unloader and the relay loader,
After the unloader delivers the article to the intermediate loader, it can immediately return to the place where it receives the next article, thereby shortening the time required for loading the article. In addition, the relay loader receives a certain number of items from the unloader and then transfers them all at once to the trolley, so when the items are sequentially received from the unloader and transported one by one into the trolley. In comparison, the reciprocating distance of the relay loader can be shortened. Therefore, there is an advantage that the loading time of articles is not restricted by the reciprocating time of the medium-g loader. Furthermore, in the present invention, each time an article is delivered to a relay loader, the intermediate loader is lowered by a predetermined distance and then raised again to determine the position where the article light of the relay loader is taken. Therefore, unlike when the relay loader is lowered and stopped at its receiving position, a large inertial gravity is not generated on the relay loader during positioning. Therefore, it is possible to accurately position the relay loader, and when the article is transferred from the unloader to the relay loader by natural falling, the distance between the two is always maintained constant, so the falling distance of the article is permissible. This prevents the item from being damaged by impact when dropped.

(Embodiment) Hereinafter, a preferred embodiment of the present invention will be described with reference to FIGS. 2 to 9.

In FIG. 2, reference numeral 21 denotes an article loading device according to the present invention, and a belt conveyor 23 is connected to the article loading side of this device 21, and a press 25 is connected to the article withdrawal side of this conveyor 23. A work shooter 29 for carrying out the press-formed product 27 is connected. The press-formed product 27 has an annular shape with a constant thickness. On the other hand, a work cart 31 is located on the article unloading side of the loading device 21, and this cart 31 is moved to the article loading position of the loading device 21 by a truck moving device 33.

The article loading device 21 includes an unloader 213 having a work gripping part 211, an intermediate loader 217 having a work support part 215, and a sensor (position determining hand It) 219 disposed on the work gripping part 211. . Unloader 2
13 is a column 221 as shown in FIGS. 2 to 4.
It has a horizontal pedestal 223 that is horizontally supported by a horizontal pedestal 223, and a movable pedestal 227 is supported so as to be movable between the front and rear frames 231 and 233 of the pedestal along a horizontal guide rod 225 of the pedestal. This movement stage 227 is performed by an actuator (horizontal movement section) 230. In addition, this moving table 22
An actuator (elevating aR) 229 having a vertically movable actuating rod is fixed to 7, and the lower end of the actuating rod protrudes downward via a horizontal frame 223, and supports the grip part 211 there. As particularly shown in detail in FIG. 3, the gripping section 211 includes a pair of workpiece gripping claws 235 and 237 arranged opposite to each other, and actuators 239 and 241 that horizontally move these workpiece gripping claws in a left-right direction. The workpiece (press molded product) 27 is held in a horizontal state between these gripping claws. On the workpiece contact surfaces of these claws 235 and 237,
Claw adapter 235a.

237a is the attachment. Further, at a position outside and below these claws, an optical sensor 219 consisting of a light emitting element 219a and a light receiving element 219b is mounted on a bracket) 24.
1a, 241b.

On the other hand, as shown in FIGS. 2, 5, and 6, the relay loader 217 of the article loading device 21 is connected to the horizontal mount 217, as shown in FIGS.
Horizontal frame 2 arranged horizontally at a position below 23
43, this horizontal pedestal 243 can be raised and lowered along a vertical guide rod 245 arranged on the front side, and this vertical movement is performed by a belt transmission drive type actuator (elevating and lowering) connected to the rear end side. Department) 248. This horizontal frame 243 has a horizontal guide rod 24.
7 is arranged, and a moving table 249 is supported by this rod so as to be horizontally movable between the front and rear frames 251 and 253,
Its horizontal movement is performed by actuator 255. A work support portion 215 that extends horizontally toward the front is fixed to the lower surface of the distal end side of the horizontal pedestal 243 . As shown in FIG. 6, this support portion 215 includes arm portions 215a and 21 extending in parallel at an interval wider than the outer diameter of the workpiece 27.
5b, and their tip portions 215C1215d protrude inward so that the workpiece 27 can be supported thereon. A sensor 257 detects the lower surface of the support portion 215, and is attached to the lower side of the guide rod 245.
As will be described later, it is detected that a predetermined number of articles are loaded on this support section 215.

Next, the trolley 31 will be explained with reference to FIGS. 2, 3, 7, and 8. As shown in the figure, the cart 31 has an octagonal rotary plate 313 mounted on a rectangular horizontal pedestal 311 so as to be rotatable around the center thereof. Further, two horizontal receiving plates 315 extending in parallel are attached to the upper surface of this rotary plate 313.

Two upright work magazines 317 are mounted on these receiving plates 315. Each work magazine 3
17 consists of four rod-like members 319 that can be inscribed in the inner peripheral surface of the workpiece 27, and the tips of these four rod-like members 319 are bent inward to form a tapered tip 321.
is formed. On the other hand, the pedestal 311 is supported by wheels 323.

To explain further, as shown in FIG.
1 is installed. Receiving plate 315 and rotating plate 313
A magazine guide bushing 337 is disposed through the guide bushing 337, and a spring 32
9 are arranged coaxially, and the receiving plate is held at a predetermined height position on the rotary plate 313 by this spring.

Further, a rolling prevention pin 331 is fixed to the rotary plate 313 to prevent the receiving plate 315 from shaking. Furthermore, a buffer member 333 made of rubber or the like is attached to the upper surface of the receiving plate 315. On the other hand, the magazine 317 has a pin 335 at the center of its base end, and can be attached to the receiving plate 315 by fitting this pin 335 into the bushing 337. The proximal ends of the two are designed to fit into the insertion holes drilled in the cradle at the same time.

In the apparatus of this embodiment configured as described above, a predetermined number n of articles are stored in each of the four-wood magazines 317 on the cart 31, which are transported to a predetermined position by the cart moving device 33 in the following manner. 27 is loaded.

Step 1: Retraction of the article 27 by the belt conveyor 23 is started. In addition, actuators 247 and 2
55, the support portion 215 of the relay loader is moved to the position 215-0 shown by the solid line in FIG. FIG. 6 shows the positional relationship between the support portion 215 and the magazine 317 in this position. Note that the grip portion 211 of the unloader is located at a position 211-1 on the article protruding side of the conveyor 23.

Step 2: Articles 27 conveyed by conveyor 23
When the article 27 reaches a position below the grip portion 211, the sensor 219 detects the article 27.

As a result, the driving of the conveyor 23 is temporarily stopped. In this way, the sensor 219 also functions as article detection means.

Step 3: Drive the actuators 239 and 241 to grip the article 27 with the gripping claws 235 and 237.

After gripping the article, the actuator 230.229 is driven to move the gripping part 211 to the first position directly above the magazine 317 of the cart, the article release position @>211-2.

Step 4: Drive the actuator 247 to support B
215 from position 215-0.

As shown in FIG. 9, this support portion 215
When the sensor 219 attached to the gripping claws 235 and 237 reaches the second position 215-1 immediately below the
The upper surface of the support portion is detected by the sensor, and the drive of the actuator 247 is stopped based on the detection output of this sensor.

In this way, the support 215 stops at the position defined by the sensor 219.

Step 5: The gripping claws 235 and 237 are opened by the actuators 239 and 241, and the article 27 is allowed to fall naturally and is loaded on the upper surface of the support section 215.

Step 6: The actuator 247 lowers the support portion 215 supporting the article 27 by a predetermined distance #lL from the position 215-1. This causes the support portion 215 to reach the position 215-1'. Meanwhile, simultaneously with this operation, the gripping part 211 is moved again to the position 211-1 on the conveyor 23 side.

Step 7: By the time the gripping part 211 reaches the position 211-1, the conveyor 23 has started withdrawing the next article 27, this article 27 is detected by the sensor 219, and the steps 2 and 3 described above are performed. are executed sequentially to position the grip portion 211 at the first position 211-2.

Step 8: Perform the same operation as step 4 above.

However, since the support portion 215 is at the position 215-1', it is raised from there. In this rise, sensor 21
9 detects the upper surface of the article 27 supported on the support portion 215, thereby stopping the upward movement. As a result, the support portion 215 is located at a position 215-2 that is lower than the position 215-1 by the thickness t of the article 27. In this way, a constant distance is always maintained between the support surface of the article (in this case, the top surface of the article 27) and the first position (article release position) 211-2.

Step 9: Perform the same operation as step 5 above.

Step 10: Perform the same operation as step 6 above. In this case, the support part 215 is lowered by a distance from the position 215-2, so that it is lowered to a position ff1215-2' which is lower than the position B215-bi by the thickness t of the article.

Step 11: After that, each of the above steps is repeated n times, and n articles 27-1 to 27-n are placed on the support part 215.
is loaded. In the state where n pieces are loaded, the lower surface of the support part touches the sensor 25 arranged on the guide rod 245.
Detected by 7.

Step 12: In this way, after being detected by the sensor 257, the actuator 247
15 is lowered from position 2215-n to below the support plate 315 of the truck. By this lowering and lowering, the group of n articles is transferred onto the receiving plate 315.

In this way, n articles 2 are stored in one magazine 317.
7-1 to 27-n are loaded. By performing this operation for the other three magazines, one truck 3
Loading of goods to 1 is completed. Thereafter, another truck is moved to the loading position by the truck moving device 33, and articles are loaded onto this truck in the same manner. In addition, in this example, since the receiving plate 315 of the trolley 31 is supported by the rotary plate 313, each magazine can be rotated to a position suitable for loading and unloading in the work of unloading loaded articles from the trolley. . Furthermore, since the magazine has a removable structure, the magazine can be pulled out when loading and unloading articles.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram showing the configuration of the present invention. FIG. 2 is an overall configuration diagram showing a preferred embodiment of the present invention. FIG. 3 is a configuration diagram showing a side view seen from the direction of arrow 2 in FIG. 2, and shows the initial positions of each part. FIG. 4 is a top view showing the unloader as seen from the direction of the arrow ■ in FIG. 2. FIG. Fifth
This figure is a top view of the relay loader seen from the direction of arrow V in FIG. 2. FIG. 6 is a top view showing the support portion of the relay loader as viewed from the direction of the arrow ■ in FIG. 2. FIG. Figures 7 and fB] are a plan view and a side view showing the cart. FIG. 8 is a partial sectional view showing the structure of the truck. Figure 9 is the same as Figure 3.
FIG. 3 is a configuration diagram showing a side surface viewed from the direction of arrow ■ in the figure, and shows a state in which the grip portion and the support portion are located at the first position and the second position, respectively. 3... Goods, 4... Trolley, 5... First position, 6...
Unloader, 7... Relay loader, 8.
...Second position, 9...Position specifying means,
11... Gripping part, 12.13... Moving means, 14... Supporting part, 15... Moving means, 16. Old... Detecting means.

Claims (1)

[Scope of Claims] An article loading device for loading articles carried out to a predetermined region onto a trolley, comprising: gripping the article at the predetermined region and gripping the article at a first position above the trolley; an unloader having a gripping part for releasing an article, and a moving means for reciprocating the gripping part between the predetermined part and the first position; a second position between the first position and the cart; a support section for receiving the article released by the gripping section;
moving means for moving the article to the second position and lowering the support part by a predetermined distance each time the article is received, and raising the support part again toward the second position; a relay loader for transferring a predetermined number of articles loaded on a support part onto the trolley at once, and the articles supported on the support part; An article characterized by comprising: a position regulating means for controlling a moving means of the support part so that the second position of the support part is a position lowered at a constant rate as the number of the support parts increases. Loading equipment.