WO1985002830A1

WO1985002830A1 - Apparatus for automatically loading articles

Info

Publication number: WO1985002830A1
Application number: PCT/JP1984/000610
Authority: WO
Inventors: Toyohisa Tokumaru; Koji Higashioka; Teruyuki Nakanishi; Kiyohiro Ueno; Shuitsu Uesugi; Yodo; Kajiwara; Kenji Ando; Naomi Horiuchi; Hirokatsu Kamata
Original assignee: Kawasaki Steel Corporation
Priority date: 1983-12-21
Filing date: 1984-12-21
Publication date: 1985-07-04
Also published as: JPS60132804A

Abstract

Apparatus for automatically loading on and unloading from multi-stage receiver arms of a rack, articles which are conveyed being suspended by, for example, a crane, through a lifting device. The rack is composed of a base, supports vertically provided on the base, and a plurality of multi-stage receiver arms provided such as to be able to project sidewardly from the supports when supporting articles, the receiver arms being adapted to be housed in the supports in a normal state and emerge therefrom according to need. The receiver arms are interlocked with each other in such a manner that, as the receiver arms which in combination constitute each of the stages adjacent to each other in the vertical direction, move from stand-by positions to receiving positions, the receiver arms which in combination constitute an upper stage, move from inoperative positions to stand-by positions in response to the actions of the first-mentioned receiver arms. It is possible for this apparatus to operate fully automatically without any manual operation and to load and unload articles reliably, speedily and safely. Further, since the lifting device is provided with a stopping component which limits the range of movement of the lifting device, particularly the lowering movement, there is no danger of articles or the floor being damaged.

Description

Akira glue

Mouth

The present invention relates to an apparatus used for organizing and storing long articles, for example, a large number of bars, and the technical contents disclosed in this specification are as follows. The work of stacking a large number of steel bars, which are transported through hanging devices by means of lanes, etc., in a predetermined rack in a multi-stage manner, or conversely, taking out from the rack. It relates to an automatic article loading device used for spontaneous operation. 2. Description of the Related Art Conventionally, long articles such as steel round bars and shapes manufactured at steel mills and the like have been stored by an article loading device as shown in FIG. This known device will be described with reference to the drawings.

In the drawings, reference numerals (a) and (b) denote a base, (b) a pair of columns standing upright at predetermined intervals, and (c) a shaft supported at one end by the column and the other end. A pair of receiving arms which are mounted in a plurality of stages with axes (d) in the vertical direction of each column so that the free ends of the columns meet and form one shelf. , The horizontal position between the two columns (b) and (b) And can be moved to an open position, which is turned upward and retracts.

(e) is a stopper for stopping each receiving arm between the closed position and the open position, (f) is a rotary scanning handle provided at the base end of each receiving arm, (G) is a round bar, which is an item to be loaded on the rack.

Using such a conventional device (rack), in order to stack the dedication material (g) suspended and transported on a hanger (not shown) in a multi-stage form, first, the crest of the receiving arm (c) must be used. Operate the handle (f) so that all the receiving arms (c) are in the open position, guide the hanger to the position immediately above both struts (b) and (b), and then Release the tool and leave the transport bar (g) on the space (a). After that, only the lifting gear is pulled out from between the two columns (b) and (b), and the lower left and right receiving arms (c) are first protruded by the operation of the handle (f) so that the shelves are removed. Then, the second offering (g) is conveyed as described above and placed on a newly set shelf (left and right receiving arms). Each time the dedicated material (g) was placed on the), the upper receiving arm (c) was set to the closed position, and the bars (g) were sequentially stacked in multiple stages.

However, in such a conventional article loading device, the mutual movement between the open position and the closed position of the receiving arm (c) must be performed manually by the handle (f). Therefore, it is not possible to fully automate the loading operation of articles, and the more racks there are, the more difficult it is because the above-mentioned handle operation is performed at a high place, which is dangerous. There were problems such as. The present invention has been made in view of the above-mentioned problems of the conventional article loading apparatus, and firstly, an automatic article loading apparatus capable of performing all operations automatically without any manual operation. The purpose is to provide.

Further, another object of the present invention is to provide an automatic article loading apparatus capable of securely, quickly and safely performing article loading and unloading operations. DISCLOSURE OF THE INVENTION In order to achieve the object aimed at by the present invention as described above, the present invention relates to a rack having a multi-staged receiving arm for an article suspended and transported by a hanging tool. We propose an automatic article loading device that automatically loads items on the receiving arm and can automatically remove the items from the rack.

This device is characterized in that the rack has a base, a column erected on the base, a receiving position protruding to the side of the column to support an article, and a slightly higher position than the receiving position. The support that is movable to a standby position and an inoperative position that does not hinder the lifting and hanging of the article is urged toward a constantly inoperative position provided in a multi-stage shape. The upper receiving arm is moved from the standby position to the receiving position by moving the lower receiving arm from the standby position to the receiving position of the upper and lower adjacent receiving positions. Are provided with connecting means that are connected to each other so as to be driven and protruded from the inoperative position to the standby position. Further, according to the present invention, in the above apparatus, when an article is placed on an appropriate receiving arm of the rack, a stopper for restricting the movement of the upper receiving arm that comes out to the standby position is suspended. Provided on the side of the equipment, the stopper comes in contact with the upper receiving arm, which prevents the extra hanging equipment from descending and allows the hanging equipment to descend to the article, floor, etc. below. Over-operation is prevented to improve safety.

In short, with the device having such a configuration, it is possible to automate the work of loading and unloading articles on the rack, and to provide an automatic loading device that operates reliably and smoothly. it can.

In particular, when an article is placed on the lower receiving arm, the upper receiving arm comes out to the standby position and is convenient for storing the next article, which is convenient for moving each receiving arm. It is convenient because there is no need to provide additional driving means such as a motor and the like.

In addition, by providing a stopper on the side of the hanger, there is a danger that the hanger will descend unnecessarily and hit the floor or lower-level items, etc., and may damage the hanger itself or the floor or lower-level items. Another advantage is that it can be prevented. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a longitudinal side view showing an example of a rack in a conventional article loading apparatus,

2 to 8 show an embodiment of the present invention. FIG. 2 is a schematic side view of the whole,

Fig. 3 is a schematic front view,

Fig. 4 is an enlarged side view of the part A in Fig. 2, and Fig. 5 is a view showing the state when the hanging tool that suspends and supports the bar just above the empty rack is lowered. Enlarged vertical sectional front view of a part of

Fig. 6 is a longitudinal sectional front view showing a state where the suspension is lowered from the state shown in Fig. 5 until it is restrained by the receiving arm at the middle stage of the stopper,-

Fig. 7 is a vertical cross-sectional front view showing the state where the storage of the bar at the bottom is completed.

FIG. 8 is a longitudinal sectional front view showing a modification of the rack. BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described based on an embodiment shown in FIGS. 2 to 7.

Fig. 2 and Fig. 3 show the entirety of the automatic article loading device. (1) is a horizontal beam suspended on a crane (2) and moving up and down and in the horizontal direction. , (3) are horizontal beams It is a hanging tool suspended from both front and rear ends of (1).

The horizontal arms (5b) are rotated near each other by the actuators (6) and (6) near the opposite ends of the left and right base rods of the hanger (3). The vertical arm (5a) and the horizontal arm connected to the lower end of the vertical arm (5a) move from a closed state facing inward to an open state in which each horizontal arm (5b) is rotated 90 ° horizontally from that state. (5b) A pair of L-shaped holding arms (5) and (5) are provided.

As shown in FIGS. 4 and 5, a horizontal 扳 -shaped stopper (7) protrudes from the center of the front-rear outer surface of each base rod (4). It is.

The position of the stopper (7) in each hanging device (3), the distance between the left and right holding arms (5) and (5), and the front (left side in Fig. 1) hanging device. The distance between the entire surface of 扦 (4) and the rear surface of the base rod (4) in the rear hanging device (3) is determined as described later in relation to the rack (8).

The rack (8) is based on a pair of bases (10) fixed on the floor (9), and a plurality of struts (11) are erected at equal intervals on each pace (10). I have.

As shown in FIGS. 5 to 7, each pair of adjacent struts (11) and (11) has a plurality of pairs of receiving arms (12) and (12), each having a shaft (13). Therefore, it is mounted so as to form a multi-stage shape at equal intervals in the vertical direction.

Except for the lowermost receiving arm (12 '), each other receiving arm (12) protrudes so as to face inward between the two columns (11) and (11). The receiving position (the position of the middle receiving arm (12) in Fig. 6) between the two supports (11) and (11) where a large number of round bars (14) to be loaded can be received, and the receiving position The standby position (the upper part in Fig. 6 and the middle receiving arm (12> in Fig. 7) where the tip turned slightly upward, and the tip turned right above. (11) An inoperative position that completely separates from the space between (11) and does not hinder the lifting and lowering of the round support (14) between the two struts (11) and (11). When it reaches the receiving position and the non-operation position, it can rotate to the middle and upper parts of the figure, and the position of each receiving arm (12) in the upper part of FIG. Stops at the stopper (15) protruding from 11), and further rotation is prevented.

In addition, each receiving arm (12) is provided with a fin (16) protruding from the front (or rear) and a front (or rear) of the support (11) below the pin (16). A tension spring (18) is stretched between the pin (17) and the pin (17), which is always urged toward the inoperative position.

In this embodiment, the lowermost receiving arm (12 ') is shown in FIGS. 6 and 7 corresponding to the receiving position and the standby position of the other receiving arm (12) described above. It can move only to the receiving position shown and the standby position shown in FIG. 5. When the standby position is reached, the stopper fixed to the space (10) or the support (11) is reached. It stops in contact with (19).

On the front (or back) of the receiving arm (12), loose fit on each axis (13) The wound winding ring (20) is fixed.

One end of each of the upper and lower adjacent receiving arms (12) and (12) and the opposing receiving arm (12) and the receiving arm (12 ') are fixed at appropriate positions on the outer periphery of the winding ring (20). After winding the take-up ring (20) slightly, it is guided by the guide roller (21) attached to the support (11) or an appropriate guide member, and hangs down. The arm (12) or (12 ') is connected to each other by a wire (22) as a connecting means fixed to a point around the axis (13) in the lower arm (12'). ) Or (12 ') is moved from the waiting position to the receiving position, so that the upper receiving arm (12) is driven from the inoperative position to the standby position.

As such a linking means, a chain, a rod, a link, a gear, or the like may be used instead of the wire (22).

The shape of the upper edge of each receiving arm (12) (12 ') is such that when the receiving arm (12) (12') reaches the receiving position, the upper edge of the free end is substantially horizontal, and By forming the shape so that it gradually slopes upward according to the direction of the branch, it is possible to use the left and right rain receiving arms (12) (12) or (12) (12 ') facing each other to make round 814 ), The shape of the receiving part is almost V-shaped as a whole.

In addition, an inclined plate (23) having an upper edge inclined upward and outward is fixed to the rain side of the space (10) between the two struts (11) and (11). According to page (10) The shape of the portion for receiving the round bar (14) is also substantially V-shaped, with the central portion being low and gradually inclining upward toward each side.

In this way, the receiving arm (12) of the part receiving the round offering (14)

By making the shape of (12 ') and the base (10) substantially V-shaped, it is possible to stably support the round bar (14). In addition, the round bar (14) is removed from the rack (8) side by removing the adverse effects caused by friction between the round bar (14) and the wall of the column (11). ) It is also easy to narrow the width when shifting to the side.

In this embodiment, when the lowermost receiving arm (12 ′) is moved to the receiving position, the upper surface of the tip is made to coincide with the upper surface of the base (10). In the lowermost stage, the round bar (14) is supported on the base (10) side, and the receiving arm (12 ') simply pulls the upper receiving arm (12) to the standby position. The receiving arm (12 ') can be made weaker in strength than other receiving arms (12) because it is designed to act only for lowering. It can be formed by

The relational dimensions between the above-mentioned hanging members (3) and racks (8) are determined as follows.

That is, the distance between the front surface of the base (4) in the front suspension (3) and the rear surface of the base (4) in the rear suspension (3) is defined by the rack (8). The distance between the front and rear struts (11) and (11) should be approximately equal to or slightly smaller than the distance between the struts (11) and (11). So that you can go up and down In addition, the distance between the vertical portions (5a) and (5a) of the left and right holding arms (5) and (5) in each of the hanging members (3) is adjusted to the right and left columns of the rack (89). (11) The distance between the (11) and (11) should be almost equal, and the position of the stopper (15) in each hanging device (3) should be grasped by the left and right holding arms (5) When the round bar (14) is placed on one of the receiving arms (12) (12 ') of the rack (8), the receiving arm (12) (12') at that time is placed. The upper arm (12) of the above-mentioned receiving arm (12) can be rotated to the standby position by rotating from the standby position to the receiving position. They are on the beach. ·

Next, the operation of this embodiment will be described together with the article loading operation procedure.

As shown in Fig. 5, when the rack (8) is empty, each receiving arm (12) is located at the inoperative position by the biasing force of the tension spring (18). The lower receiving arm (12 ') has a biasing force of the tension spring (18) acting on the upper receiving arm (12), and the upper receiving arm (12) and the pinion (22) ), It is raised to the standby position, and comes into contact with the stop (19) and stops.

In this state, the hanging tool (3) holding the round dedication material (14) is lowered as shown by the arrow in Fig. 5, and the round dedication material (14) is lowered to the lowermost receiving arm (12) (12). ), The receiving arm (12) (12 ') is rotated to the receiving position by the weight of the round bar (14). The wires (22) and (22) are pulled by the rotation of the receiving arms (12) and (12 '), and the middle receiving arms (12) and (12) are pulled by the tension springs (18). ) Rotates to the standby position against the biasing force of (18).

When the receiving arm (12) (12 ') reaches the receiving position, the round bar (14 is in contact with the pace (10) and is also fixed to the base (10) and its upper surface. It is supported stably by the inclined plates (23) and (23).

After the round bar (14) is transferred from the hanging device (3) side to the pace (10) side, when the hanging device (3) further descends, the stopper (7) is moved. , Contact the middle receiving arm (12) (12) that has come out to the standby position, rotate the receiving arm (12) (12) to the further receiving position, and rotate the receiving arm. When the arm (12) (12) reaches the receiving position and comes into contact with the stopper (15) (15), the hanger (3) is prevented from descending further and the hanger (3) is stopped. ) Can be prevented from contacting the floor (9). Figure 6 shows this state.

At this time, the upper receiving arm (12) (12) is rotated by the middle receiving arm (12) (12) from the standby position to the receiving position, as shown in FIG. Thus, it is rotated to the standby position.

Thereafter, the slack of the wire (2a) of the crane (2) for suspending the hanger (3) is detected, or the stop of the hanger (3) is detected. (7) and the operation of a sensor (not shown) such as a limit switch mounted on the lower receiving arm (12) or the stopper (19). Therefore, after the crane (2) is stopped, the actuator (6) is operated, and the horizontal arm of the arm (5) held by the hanger 83) is held. Rotate (5a) 90 'around the vertical axis, and pull up the plain wood, and then only the crane (2) and the lifting device (3). Then, by the urging force of the tension spring (18), the middle receiving arm (12) (12) returns to the standby position and rotates, and the upper receiving arm (12) (12) It returns to the inoperative position and turns to the state shown in FIG.

The empty hanger (3) is returned by the crane (2) to the flooding position of the round bar (14) (not shown), where it grips the new round bar (14). After being lifted and lifted, it is again moved by the crane (2) to just above the two struts (11) and (11) shown in Fig. 7 <S> o

Then, when the lifting gear (3) is lowered by the crane (2), the operation of the second hundred round dedication (14) is performed in almost the same manner as described above, and the middle receiving arm (12) While being placed on (12), the uppermost receiving arm (12) (12) is rotated to the standby position in preparation for the third loading of the round bar (14).

Also, the stopper (7) of the hanging tool (3) comes into contact with the uppermost receiving arm (12) (12), and the receiving arm (12) (12) is rotated to the receiving position. At that time, the lowering of the hanger (3) thereafter is prevented, and the lower end of the hanger (3) comes into contact with the lowermost membrane bar (14) placed on the base (10), and the lowering is carried out. There is no danger of injury.

In this embodiment, the receiving arms (12) and (12 ') have only three steps, upper, middle and lower. However, when four or more steps are used, the receiving arm in the middle step is According to the same operation as the middle receiving arm (12) (12) of this embodiment, every time the membrane bar (14) is placed on the lower receiving arm (12), the upper receiving arm (12) is sequentially turned on. 12) (12) is rotated to the standby position to prepare for loading the next round bar (14). When the round piece (14) is placed on the uppermost receiving arm (12) (12), there is no driven arm above it, so the uppermost receiving arm (12) ( 12) alone pivots from the standby position to the receiving position.

Detecting the pivoting movement of the uppermost receiving arm (12) (12) from the standby position to the receiving position, the upper part between both struts (11) and (11) is covered with a cover material (illustration shown). (Not shown), or by operating appropriate alarm means to prevent a new round bar (14) from being placed on it by mistake, It may be sent to the control device to prohibit the descent of the hanging tool (3) holding the round bar (14) at that position.

As described above, the round bar (14) is placed on the uppermost receiving arm (12) (12), and then from the rack (8) to the round bar (14). To remove it, lower the empty hanger (3) with its holding arms (5) (5) open and lower it from above between the two struts (11) and (11). It is only necessary to remove the round bar (14) one step at a time from the upper step by the reverse operation.

In this case, except for removing the uppermost round bar (14), the upper receiving arm (12) (12) of the stage to be removed is always located at the standby position. When the stopper (3) is brought into contact with the stopper (3) in (3) to stop the hanging member (3), the hanging member (3) is positioned vertically when it is removed. There are advantages.

In the above-described embodiment, the left and right One pair of receiving arms (12) (12) or (12) (12 ') and base

(10) is used to receive articles such as round dedication materials (14). As shown in Fig. 8, each stage has one receiving arm (24) (24 ' ) May be used to receive an article such as a round bar (14) in a cantilever form.

In this case, as shown in Fig. 8, when receiving the lowermost round bar (14) with each receiving arm (24) (24 ', upper surface and base (25)), the base is (25) The shape of the part for receiving articles, such as the upper edge, is preferably a substantially V-shape in which the central part is low and gradually inclines upward toward each side.

As in the embodiment shown in FIGS. 2 to 7, when goods are received using a pair of left and right receiving arms (12) (12) and left and right supports (11) (11), Good support for the goods, and both struts (11)

According to (11), there is an advantage that the lifting and the lifting of the article by the hanging tool (3) can be guided, but as shown in Fig. 8, one receiving arm (24) (24) When the cantilever is used to support the article only with the '), there is an advantage that the article can be loaded and unloaded not only from directly above, but also from the side.

Other configurations and operations of the modification shown in FIG. 8 are the same as those of the embodiment shown in FIGS. 2 to 7, and the same reference numerals are given to members common to them. It is shown.

In addition, the present invention can be variously modified and modified in addition to the above-described embodiments and modified examples. Industrial Use Fields The examples described above are for wood, especially solid wood, in the steelmaking industry, but in other fields, for example, wood, synthetic resin, concrete It is also used as an automatic receipt and payment storage device for long rods and pipes.

Claims

Scope of the request Articles to be suspended and conveyed by a crane or the like via a hanging device are automatically loaded on a rack having a multi-stage receiving arm, or are automatically loaded on the receiving arm. A device used to automatically remove

The rack is

Pace and

A support erected on the base;

It can be moved to a receiving position protruding to the side of the column and capable of supporting the article, a standby position slightly higher than the receiving position, and an inoperative position which does not hinder the lifting and hanging of the article. A plurality of receiving arms in a state of being constantly biased toward the inoperative position, provided in a multi-stage manner with respect to the support,

As the lower receiving arm moves from the standby position to the receiving position, the upper receiving arm follows each other from the inoperative position to the standby position as the lower receiving arm moves from the standby position to the receiving position. Connecting means to link,

An automatic article loading device, comprising:

2. The method according to claim 1, wherein when the lowermost receiving arm reaches the receiving position, the upper surface of the receiving arm is aligned with the upper surface of the space. apparatus.

3. Claims characterized in that the shape of the receiving arm of the part for supporting the article is substantially V-shaped such that the central part is low and gradually inclines upward toward each side. The device according to paragraph 1 or 2.

4. The base of the part supporting the article is substantially V-shaped such that the central part is low and is gradually inclined upward toward each side. The apparatus of paragraph 2 above.

5. The connecting means according to any one of claims 1 to 4, wherein the connecting means comprises a wire having one end fixed to the upper receiving arm and the other end fixed to the lower receiving arm. Equipment.

6. An article to be suspended and conveyed by a crane or the like via a hanger was automatically loaded on the rack of a multi-stage rack, or the rack was mounted on the rack. Device that is used to automatically remove

Ιϋ Words rack,

Base and

A column erected on the space;

A receiving position that can protrude to the side of the column to support the article, a standby position slightly higher than the receiving position, and an inoperative state that does not hinder the lifting and hanging of the article. It is provided in a multi-stage shape with respect to the column, which is movable to and from A plurality of receiving arms constantly biased toward the inoperative position;

By moving the lower receiving arm from the standby position to the receiving position between the upper and lower receiving arms of each stage, the upper receiving arm follows each other from the inoperative position to the standby position. Connecting means to link,

With and with

When the suspended article is placed on any of the receiving arms, the hanging piece is provided with a stud that comes into contact with the upper receiving arm of the receiving arm and prevents the hanging piece from descending. Automatic loading equipment that uses special molds.