WO2015128930A1

WO2015128930A1 - Stowage system

Info

Publication number: WO2015128930A1
Application number: PCT/JP2014/054454
Authority: WO
Inventors: 勝平余田; 雅弘酒井
Original assignee: オークラ輸送機株式会社
Priority date: 2014-02-25
Filing date: 2014-02-25
Publication date: 2015-09-03
Also published as: JP6181285B2; JPWO2015128930A1

Abstract

Provided is a stowage system that can suppress load shifting of stowed articles. A stowage system (1) is provided with a moving body (12), a moving body driving means (13) for moving the moving body (12), and a stowing means (14) for stowing an article (W). A worker detachably sets, on the moving body (12), a string-equipped member (2) having at least an article placement section (3) and string sections (5). The stowing means (14) stows the article (W) on the article placement section (3) of the string-equipped member (2) which has been set by the worker.

Description

Loading system

The present invention relates to a loading system that can suppress the collapse of goods after loading.

Conventionally, for example, a loading system described in Patent Document 1 below is known.

This conventional loading system includes a transport conveyor that transports articles, and a pallet loading device that holds, transports, and stacks articles on the transport end of the transport conveyor.

Japanese Patent Laid-Open No. 2001-72246 (FIG. 5)

However, in the above conventional loading system, for example, when a forklift is used to lift and carry the loaded article together with the pallet, the loaded article on the pallet collapses depending on the type of the article. There is a risk.

This invention is made in view of such a point, and it aims at providing the loading system which can suppress the collapse of the article of goods after loading.

The loading system according to claim 1, wherein a stringed member having at least an article placement portion and a string portion is set to be detachable, and a moving body that moves together with the set stringed member, and the movable body that is set in the movable body Loading means for stacking articles on the article placement section of the stringed member.

A loading system according to a second aspect is the loading system according to the first aspect, further comprising moving body driving means for moving the moving body between a lifting position and a loading position.

The loading system according to claim 3 is the loading system according to claim 1 or 2, wherein the moving body stores a support portion that supports the article placement portion of the member with the string and a string portion of the member with the string. And a storage space.

The loading system according to claim 4 is the loading system according to claim 3, wherein the movable body is erected on a box-shaped member having a top opening and a bottomed cylindrical shape, and a bottom plate portion of the box-shaped member. A box-shaped member and a plate-shaped member supported by the column-shaped member, and an upper surface portion of the plate-shaped member serves as a support portion for supporting an article placement portion of a stringed member, and the box-shaped member The inner space portion is a storage space portion in which the string portion of the member with the string is stored.

A loading system according to a fifth aspect is the loading system according to any one of the first to fourth aspects, further comprising detecting means for detecting whether or not the member with the string is set on the moving body.

According to the present invention, the loading means suppresses the load collapse of the article after loading by using the stringed member for stacking the article on the article mounting portion of the stringed member set on the moving body. it can.

1 is an overall side view of a loading system according to an embodiment of the present invention. It is a whole top view of a loading system same as the above. It is a top view of the mobile body and mobile body drive means of a loading system same as the above. It is a side view of a mobile body same as the above and a mobile body drive means. It is a top view of a moving body same as the above. It is side view sectional drawing of a moving body same as the above. It is a fragmentary sectional view of a moving body drive means same as the above. (A) thru | or (f) is an effect | action explanatory drawing (1) of the same loading system. (A) thru | or (f) are the operation explanatory views (2) of the same loading system.

An embodiment of a loading system according to the present invention will be described with reference to the drawings.

1 in the figure is a loading system. This loading system 1 is for sequentially stacking articles W such as bags in a predetermined loading pattern on a stringed member 2 instead of a pallet.

The stringed member 2 is, for example, a bag-like member 2a having a flexible top surface and a bottomed cylindrical shape. The flexible bag-like member 2a includes an article placement portion 3 that is a rectangular bottom plate portion, a square cylindrical peripheral wall portion 4, and a plurality of lifting string portions 5 sewn on the peripheral wall portion 4. (See FIG. 8).

The stringed member 2 may be, for example, a flexible sheet-like member 2b. The flexible sheet-like member 2b has an article placement portion 3 that is a rectangular sheet main body portion, and a plurality of lifting string portions 5 sewn on the article placement portion 3. (See FIG. 9).

As shown in FIG. 1 to FIG. 7 and the like, the loading system 1 is provided on a conveying means 11 that conveys articles W that are sequentially supplied, and on both sides of the conveying means 11, and a stringed member 2 (2a , 2b) is set so as to be removable, and the movable body 12 that moves between the lifting position and the loading position together with the set corded member 2 and the movable body 12 is moved between the lifting position and the loading position. Mobile body drive means 13 is provided.

Further, the loading system 1 transports the articles W, which are transported by the transport means 11 and located at the transport terminal end of the transport means 11, for example, one by one in a releasable manner, and the articles W are transported. And a loading means 14 such as a robot palletizer for loading the article mounting portion 3 of the stringed member 2 set in the movable body 12 in a plurality of stages.

The one loading means 14 can correspond to a plurality of, for example, two moving bodies 12 that are spaced apart from each other, and its operation range A is shown in FIG.

The transport means 11 includes a horizontal first transport conveyor 16 that transports the article W, an upwardly inclined second transport conveyor 17 that transports the article W from the first transport conveyor 16, and the first transport conveyor 16. And a horizontal third transport conveyor 18 that transports the articles W from the second transport conveyor 17.

The loading means 14 includes a support base 21 with legs positioned across the transport means 11, and a load robot 23 is provided on the support plate portion 22 of the support base 21 with legs.

The loading robot 23 includes a rotating body 24 that can be horizontally rotated, an articulated robot arm 25 provided on the rotating body 24, and a tip of the arm 25 so that the article W can be released. And a robot hand 26 which is an article holding unit for holding the product. The robot hand 26 moves within an operation range A shown in FIG. 2 based on the operations of the rotating body 24 and the articulated robot arm 25.

As shown in FIGS. 3 to 6 and the like, the moving body 12 has a box-shaped member 31 having a rectangular shape in a top surface and a bottomed rectangular tube shape having a top surface opening portion 30 having a rectangular shape in plan view. The box-shaped member 31 has a rectangular bottom plate portion 32 that is positioned horizontally, and a rectangular tubular peripheral wall portion 33 that is erected on the peripheral end portion of the bottom plate portion 32. Note that the bottom plate portion 32 includes, for example, a bottom plate 32a and a base plate 32b fixed to the lower surface of the bottom plate 32a.

The bottom plate portion 32 of the box-shaped member 31 is provided with a plurality of, for example, five prismatic columnar members 35 that are spaced apart from each other, and the plurality of columnar members 35 are rectangular in shape. A plate-like member (loading stand) 36 that is a top plate is supported horizontally. That is, the lower end portions of the plurality of columnar members 35 are fixed to the bottom plate portion 32 of the box-shaped member 31, and the plate-like member 36 that is a stringed member set plate is fixed to the upper end portions of the plurality of columnar members 35. .

The plate-like member 36 is formed in a rectangular shape that is slightly smaller than the bottom plate portion 32 of the box-like member 31, and is located horizontally at a position higher than the upper surface opening 30 of the box-like member 31. . The plate member 36 is formed in a rectangular shape having a longitudinal direction in the horizontal direction orthogonal to the moving direction of the moving body 12, for example.

Further, the plate-like member 36 is positioned slightly shifted from the box-like member 31 on the side opposite to the conveying means 11 side, and the end of the plate-like member 36 on the side opposite to the conveying means 11 and the box in plan view The end of the member 31 on the side opposite to the conveying means 11 is coincident with each other. The end portions of the remaining three sides of the plate-like member 36 are located inward of the peripheral wall portion 33 of the box-like member 31 in plan view (see FIG. 5).

Furthermore, the end side of the plate-like member 36 on the side opposite to the conveying means 11 is supported from below by an adjusting bolt 38 which is a droop preventing means whose length can be adjusted. That is, a plurality of, for example, two adjustment bolts 38 that are extendable elastic bodies are inserted and attached between the bottom plate portion 32 and the plate member 36 of the box-like member 31 so as to be detachable by retrofitting. The adjustment bolt 38 is positioned so as to overlap the columnar member 35 in a side view (see FIG. 6).

Note that the plurality of columnar members 36 are all of the same fixed length, and the lower portion of each columnar member 36 is disposed in a space in the box-shaped member 31.

The entire upper surface portion of the plate-like member 36 of the moving body 12 is a support portion 39 that supports the article placement portion 3 of the corded member 2 from below, and the inside of the box-like member 31 of the moving body 12 The space portion is a storage space portion 40 in which at least the string portion 5 of the stringed member 2 is stored through the upper surface opening 30 so as to be able to be taken in and out.

When the bag-like member 2 a is used as the corded member 2, the peripheral wall portion 4 is also taken in and out of the storage space portion 40 of the movable body 12 through the upper surface opening 30 in addition to the string portion 5 of the bag-like member 2 a. Store as possible.

The moving body drive means 13 is composed of, for example, a chain conveyor or the like. As shown in FIGS. 3 to 7, etc., a plurality of longitudinal guides, for example, four guides arranged in parallel with the transport means 11 are used. Each of the guide frames 41 has

chain guide portions

42 and 43 at the upper and lower portions. Note that the plurality of guide frames 41 are disposed at a distance from each other, and can withstand, for example, a load of 2 t.

The moving body drive means 13 includes a chain 45 that is an endless body that rotates while being guided by the

chain guide portions

42 and 43 of each guide frame 41, and a drive motor 46 that is a drive source that rotates the chain 45. And have.

A plate-shaped mounting member 47 having a pair of L-shaped cross sections is attached to a predetermined portion of the forward path portion of each chain 45, and the box-shaped member 31 of the moving body 12 is connected to the chain 45 via the mounting member 47. It is attached to the forward path part.

The mounting member 47 has a vertical plate portion 48 and a horizontal plate portion 49 provided integrally with the upper end portion of the vertical plate portion 48. The vertical plate portion 48 is attached to the chain 45, and the horizontal plate portion 49 is The base plate 32 b of the bottom plate portion 32 of the box-shaped member 31 is attached with bolts 50.

Thus, the moving body 12 is attached to the plurality of chains 45 of the moving body driving means 13, and the moving body 12 is moved between the lifting position and the loading position based on the synchronous rotation of the plurality of chains 45. Moving. That is, the moving body 12 moves from the lifting position to the loading position by turning the chain 45 in one direction by the power from the drive motor 46, and the chain 45 is turned in the other direction by the power from the drive motor 46. As a result, the moving body 12 moves from the loading position to the lifting position.

The lifting position (dispensing position) is a position for lifting the articles W (packing completed articles group) W stacked in a predetermined loading pattern together with the stringed member 2 by the forklift 6 that is a transport work vehicle. There is also a position for the operator to manually set the stringed member 2 on the moving body 12. The loading position is a position for directly stacking the article W on the stringed member 2 by the loading robot 23.

The loading position is a position in the vicinity of the side of the transport unit 11, but the lifting position is a position on the front side in the transport direction with respect to the transport end portion of the transport unit 11 (see FIG. 2).

Further, as shown in FIG. 7, the upper portion of the guide frame 41 is displaced to both sides of the chain 45 by the engagement with the pin 45a of the chain 45 when the moving body 12 is in the lifting position. Displacement preventing means 51 for preventing is provided. Note that the slip prevention means 51 is provided only in the portion of each guide frame 41 corresponding to the lifting position.

The slip prevention means 51 includes, for example, a plate-shaped slip prevention member 52 that forms a pair having an L-shaped cross section. The slip prevention member 52 includes a horizontal plate portion 53 and a vertical plate portion 54 provided integrally with an inner end portion of the horizontal plate portion 53, and the horizontal plate portion 53 is located above the guide frame 41 via a bracket 55. It is attached to the side surface, and its vertical plate portion 54 is in close proximity to the pin 45a of the chain 45.

The shift prevention means 51 may prevent the shift of the chain 45 to both sides by the engagement of the mounting member 47 with the vertical plate portion 48 when the moving body 12 is located at the lifting position. .

Further, as shown in FIG. 4, the loading frame side portion of the guide frame 41 includes a moving body deceleration proximity switch 56 on the loading position side, a moving body stop proximity switch 57 on the loading position side, A safety limit switch 58 on the attachment position side and detection means 60 for detecting the presence / absence of a stringed member are provided.

This detection means 60 is an optical system detection sensor comprising, for example, a photoelectric switch or the like, and detects whether or not the corded member 2 is set on the moving body 12 using detection light. Long hole-

like holes

61 and 62 through which detection light passes are formed in the substantially central part of the bottom plate part 32 of the box-like member 31 and the substantially central part of the plate-like member 36 (see FIG. 3).

And, for example, when the stringed member 2 is not set on the moving body 12, the loading means 14 does not operate based on the detection of the detection means 60.

Further, the lifting position side moving body deceleration proximity switch 66, the lifting position side moving body stop proximity switch 67, and the lifting position side safety limit switch 68 are provided on the lifting position side portion of the guide frame 41. And the fork detection sensor 70 which detects the presence or absence of the fork 6a of the forklift 6 is provided.

For example, when the fork 6a of the forklift 6 is positioned at the lifting position during the lifting work by the forklift 6, the drive motor 46 does not operate based on the detection of the fork detection sensor 70.

Further, as shown in FIG. 2, an operator's scaffolding platform 71 is provided in the vicinity of the lifting position of both moving body drive means 13. That is, for example, the scaffold base 71 is provided so as to be positioned in the vicinity of three sides excluding one side on the forklift 6 side among the four sides of the moving body 12 having a rectangular shape in plan view located at the lifting position.

Further, in the vicinity of the loading position of the moving body driving means 13 on one side (for example, the lower side in FIG. 2), an article W determined to be an abnormal product (reject product) by weight detection, metal detection, or the like is placed. A mounting table 72 such as a pallet is placed.

Next, the operation of the loading system 1 will be described.

A case where a bag-shaped bag-shaped member 2a is used as the stringed member 2 will be described with reference to FIG.

First, as shown in FIGS. 8 (a) and 8 (b), an operator who rides on the scaffold base 71 manually holds the stringed member 2 as the bag-like member 2a against the moving body 12 located at the lifting position. Attach and set in a removable manner.

At this time, the operator places and exposes the article placement portion 3, which is the bottom plate portion of the corded member 2, so as to overlap the support portion 39 of the plate-like member 36, and uses the exposed article placement portion 3. The entire support portion 39 (the entire upper surface of the plate-like member 36) is covered and the peripheral wall portion 4 and the string portion 5 of the stringed member 2 are lowered and stored in the storage space 40 in the box-shaped member 31.

The moving body 12 on which the corded member 2 is set automatically moves from the lifting position to the loading position based on the power from the drive motor 46.

Next, as shown in FIG. 8 (c), the loading robot 23 of the loading means 14 starts the loading operation for the moving body 12 located at the loading position.

In other words, the loading robot 23 of the loading means 14 temporarily holds the article W on the conveyance end portion of the conveyance means 11 and the string attached to the movable body 12 positioned at the loading position. The members 2 (bag-like members 2a) are sequentially stacked on the article placement portion 3.

And as shown in FIG.8 (d), several articles | goods W are made into the predetermined loading pattern on the articles | goods mounting part 3 of the member 2 with a string set to the mobile body 12 located in the loading position. When loaded, the moving body 12 automatically moves from the loading position to the lifting position based on the power from the drive motor 46.

Next, as shown in FIG. 8 (e), an operator riding on the scaffold base 71 lifts up the peripheral wall portion 4 and the cord portion 5 of the corded member 2 set on the movable body 12 positioned at the lifting position. Taking out from the storage space 40 in the box-shaped member 31, the taken-out peripheral wall 4 is used to cover the article W after loading, that is, the entire side surface of the loading completed article group so as not to collapse. That is, the worker stores the loaded article W in the bag-like member 2a.

Thereafter, as shown in FIG. 8 (f), for example, the fork 6 a of the forklift 6 is hooked on the string portion 5 of the stringed member 2, and the article W after loading is stored in the stringed member 2 together with the stringed member 2. Lift and transport (handle) to the designated place.

The case where a sheet-like sheet-like member 2b is used as the stringed member 2 will be described with reference to FIG.

First, as shown in FIGS. 9 (a) and 9 (b), an operator who rides on the scaffold base 71 manually holds the corded member 2 as the sheet-like member 2b against the moving body 12 located at the lifting position. Attach and set in a removable manner.

At this time, the operator places the article placement portion 3 of the stringed member 2 so as to overlap the support portion 39 of the plate-like member 36, and the entire article (plate-like member 36) of the support portion 39 is placed on the article placement portion 3. And the cord portion 5 of the corded member 2 is folded down and stored in the storage space portion 40 in the box-shaped member 31.

Next, as shown in FIG. 9C, the loading robot 23 of the loading means 14 starts the loading operation for the moving body 12 located at the loading position.

In other words, the loading robot 23 of the loading means 14 temporarily holds the article W on the conveyance end portion of the conveyance means 11 and the string attached to the movable body 12 positioned at the loading position. The members 2 (sheet-like members 2b) are sequentially stacked on the article placement portion 3.

And as shown in FIG.9 (d), several articles | goods W become a predetermined | prescribed loading pattern on the articles | goods mounting part 3 of the member 2 with a string set to the mobile body 12 located in the loading position. When loaded, the moving body 12 automatically moves from the loading position to the lifting position based on the power from the drive motor 46.

Next, as shown in FIG. 9 (e), an operator who rides on the scaffold base 71 lifts up the string portion 5 of the string-attached member 2 set on the movable body 12 positioned at the lifting position, and the box-shaped member The article W is taken out from the storage space 40 in the 31 and the article W after loading, that is, the group of articles completed loading is bound so as not to collapse using the string 5 thus taken out. That is, the operator bundles the string portion 5 on the upper surface of the article W after loading.

9F, for example, the fork 6a of the forklift 6 is hooked on the string part 5 of the stringed member 2, and the article W after loading is lifted while being tied together with the stringed member 2 together with the string part 5. To the designated place.

According to the loading system 1, the loading means 14 loads the article W on the article placement portion 3 of the stringed member 2 set on the moving body 12, so that the stringed member 2, for example, a bag shape is used. By using the member 2a and the sheet-like member 2b, it is possible to suppress the collapse of the article W after loading, and thus the article W after loading can be easily transported in an appropriate state by the forklift 6, for example.

In addition, since the moving body drive means 13 for moving the moving body 12 between the lifting position and the loading position is provided, it is not necessary for the operator to move the moving body 12 manually, and the work efficiency can be improved. .

Further, since the moving body 12 includes a support portion 39 that supports the article placement portion 3 of the corded member 2 and a storage space portion 40 in which the cord portion 5 of the corded member 2 is detachably stored, the support portion 39 is provided. Accordingly, the article placing portion 3 of the member with string 2 can be appropriately supported, and the string portion 5 of the member with string 2 is stored in the storage space 40, so that the string portion 5 of the member with string 2 can be moved when the movable body 12 is moved. Interference with other members can be prevented.

Further, the moving body 12 includes a box-shaped member 31, a columnar member 35, and a plate-shaped member 36, the upper surface portion of the plate-shaped member 36 is a support portion 39, and the space portion in the box-shaped member 31 is Since the storage space portion 40 is configured, the configuration of the moving body 12 is extremely simple, and manufacturing, maintenance, and the like are easy.

Further, since the detecting means 60 for detecting whether or not the corded member 2 is set on the moving body 12 is provided, the article W is directly stacked on the plate-like member 36 of the moving body 12 on which the corded member 2 is not set. Can be prevented.

In addition, the member 2 with a string is not limited to the bag-like member (bag with sling) 2a or the sheet-like member (sheet with sling) 2b, and may be any member having at least an article placement portion and a string portion.

For example, a sheet having an article placement section made of a metal plate, a wooden board, and the like and a string portion attached to the article placement section, or a sheet having a size capable of covering the entire loaded article group, for example And a string portion attached to the article placement section. The number of flexible string portions is arbitrary, and may be one or more. Moreover, it is preferable that a string part has a U-shaped part which can hook the fork 6a of the forklift 6 easily.

Further, the present invention is not limited to the configuration provided with the moving body driving means 13 for moving the moving body 12, and for example, a configuration in which a traveling wheel or the like is provided at the bottom of the moving body and the operator moves the moving body 12 manually.

Further, the robot hand 26 of the loading means 14 may be, for example, one that holds a plurality of articles W at the same time, or may be one that holds the articles W by suction, for example.

Further, the moving body 12 may be composed of, for example, only a box-shaped member, or may be provided with a hook-shaped string hooking part for hooking the string part, for example.

Further, the plate-like member 36 of the moving body 12 may be positioned at the same height (including substantially the same height) as the upper surface opening 30 of the box-shaped member 31, for example. It may be located at a position lower than the portion 30. Note that, for example, the height of the plate-like member 36 may be adjustable.

Further, the plate-like member 36 of the moving body 12 may be, for example, long in the direction along the moving direction of the moving body 12, or may have a shape other than a rectangular shape, for example.

The present invention is used in a loading system including at least a moving body and loading means.

DESCRIPTION OF SYMBOLS 1 Loading system 2 Member with string 3 Article placement part 5 String part 12 Moving body 13 Moving body drive means 14 Loading means 31 Box-shaped member 32 Bottom plate part 35 Columnar member 36 Plate-shaped member 39 Support part 40 Storage space part 60 Detection Means W Goods

Claims

A movable body in which at least an article placement section and a stringed member having a string part are detachably set, and moves together with the set stringed member,
A loading system comprising: loading means for loading an article on an article placement portion of the stringed member set in the movable body.
The loading system according to claim 1, further comprising moving body driving means for moving the moving body between a lifting position and a loading position.
The moving body
A support portion for supporting the article placement portion of the stringed member;
The loading system according to claim 1, further comprising a storage space portion in which the string portion of the stringed member is stored.
The moving body
A box-shaped member having a top opening and a bottomed cylindrical shape;
A columnar member erected on the bottom plate of the box-shaped member;
It has a plate-like member supported by this columnar member,
The upper surface portion of the plate-like member serves as a support portion that supports the article placement portion of the stringed member,
The loading system according to claim 3, wherein the space portion in the box-shaped member is a storage space portion in which the string portion of the stringed member is stored.
The loading system according to any one of claims 1 to 4, further comprising detection means for detecting whether or not the member with the string is set on the moving body.