JPS5852117A - Equipment for stacking containers on pallet - Google Patents

Abstract

PURPOSE:To efficiently stack containers, by mounting an expansible and contractible unit on a swing arm movable vertically and rotatable horizontally, so that the unit can be moved along the arm and by fitting the expansible and contractible unit with a rotary head having a grasping means. CONSTITUTION:When a container 1 such as a fish box brought by a roller conveyor 2 is grabbed by a grasping means on a rotary head 8, a column 5 is moved up by a vertical drive means 11 including a hydraulic cylinder 25 and is rotated by a horizontal turning means 10 including a motor 19, so that a swing arm 6 is elevated and turned simultaneously. At that time, an expansible and contractible unit 7 is moved along the arm 6 to carry the container 1 to a prescribed position over a pallet 3. The arm 6 is then moved down to put the container 1 on the pallet 3. After that, the grasping means releases the container 1. The swing arm 6 is thereafter elevated and turned again to a position over the conveyor 2 to handle another container 1.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a loading device used primarily for stacking stipples for freezing on pallets -1.

(!,) Prior Art - It is extremely labor-intensive to stack heavy dots containing fish high on pallets. Currently there are 5-6 on the pallet.
Individual dot paintings are lined up and stacked in about 10 layers for transportation. In actual work, when pallets are stacked in 10 layers, the height reaches approximately 1.4 meters, making it difficult to lift, so the number of stacked pallets is unavoidably lowered somewhat.

Although it is possible to perform Sta using overhead lanes, etc., as shown in Figure 1, it is difficult to stack containers by rotating the container 90 degrees, and even if the direction of the container cannot be rotated. Even so, overhead running lanes have pillars to support the running rails, making workability extremely difficult.
Some methods of suspending containers from wire rope do not allow for rapid stacking of containers in a fixed position.

Purpose The present invention has been developed to obviate these conventional drawbacks.An important object of the present invention is that containers can be quickly and accurately brought into position and stacked high; To provide a loading device for stacking containers on a pallet, which allows good workability at a pallet loading position and a container carry-in location without having many supports that impair workability around the pallet.

■ Configuration Hereinafter, embodiments of this invention will be described with reference to the drawings.

The loading device for stacking containers on pallets shown in FIGS. 2 to 4 is located near a roller conveyor 2 that transports containers 1 to a fixed position and a belt conveyor 4 that transports pallets 3 one by one. The vertical supports 5 and 1. A rotating arm 6 is attached to the support column 5 so as to be rotatable in a horizontal plane, and a telescoping table 7 is attached to the pillar 5 so as to be movable in the axial direction along this rotating arm 6. T
A rotary table 8 is attached to the rotary table 8 so as to be rotatable within the water surface, and a container chucking means 9 is attached to the rotary table 8.
, a horizontal rotation means 10 for rotating the rotation arm 6 in a horizontal plane, a vertical drive means 11 for moving the rotation arm 6 downward L, and a horizontal rotation means 10 for rotating the rotation arm 6 in a horizontal plane, and a vertical drive means 11 for moving the rotation arm 6 downward in the L direction. A telescopic driving means 12 for moving in the direction and a telescopic table T for rotating f3B.
direction alignment means 13 for rotating within a horizontal plane relative to
, a handling drive means 14 for driving the gripping movement of the container 1 by the chucking means 9 of the rotary table 8 , a horizontal rotation means 10 , and +
-F' A control means 15 for controlling the driving means 11, the telescopic driving means 12, the direction alignment means 13, and the grasping driving means 14 are provided.

The support column 5 consists of a cylindrical rotating support column 5a and a telescopic support column 5b inserted into the rotation support column 5a.The rotation support column 5a has a cylindrical outer shape and is vertically attached to a base 17 via a bearing 16. The telescoping strut 5b is inserted into the rotary strut so as to be freely movable in the L direction. It is movable but connected in a non-rotating manner.

The horizontal rotation means 10 rotates the rotation arm 6 in a horizontal plane via the support column 5. This horizontal rotation means 10 includes a worm wheel 18 fixed to the lower end of the rotation support 5a, a reversible motor 19 having a worm 20 that meshes with the worm wheel 18 fixed to the output shaft, the rotation support, and the support 5a.
and a rotation angle sensor 21 for detecting the rotation angle of a.
Ru.

The rotation angle sensor 2 H-t consists of an insulating disk 22 fixed to the rotation support 5a, and two brushes 23 that slide on the lower surface of the disk 22. As shown in FIG. 5 of the daily income 22IIi, two resistance rings 24 are bonded to the bottom surface 2, and two brushes slide on the surface of the resistance rings.

The resistance ring is cut at one point, and one end of the cut point is connected to each other.

When the rotating support 5a rotates, the contact point between the resistance ring 24 and the brush 23 changes, and the change in rotation angle is converted into a change in resistance to detect the rotation angle.

The vertical drive means 11 for moving the rotating arm 6 downward by 1-1 degrees is composed of a hydraulic cylinder 25 and a vertical position sensor 26 built inside the telescopic column 5b and the rotating column 5a. Its upper end is connected to part 11 of the telescopic support 5b, and its lower end is connected to the rotating support 5a.

The L position sensor 26Fi is composed of two IIt gauze 27 and a brush 28, and the resistance wires 27 are arranged parallel to the hydraulic cylinder 25 and insulated from the hydraulic cylinder and parallel to each other. The brush 28 moves along.

The resistance wires 27 are sheeted together at one end, and the two brushes 2
The vertical position of the telescopic column 5b is detected based on the resistance change between 8 and 8.

As shown in FIG. 6, the rotating arm 6 has a 1-shaped cross section so that the telescopic table 7 runs along it.
This is horizontally extended and fixed to the upper end of the telescopic column 5b.

The telescoping table T is attached to the rotating arm 6 via four wheels 29 that run along the rotating arm 6.

The telescoping drive means 12 includes a reversible motor 30 connected to the wheels 29 via a chain, and a telescoping sensor 31. The motor 30 rotates the wheels 29, thereby causing the telescoping. The table 7 is made to run along the rotating arm 6. The telescopic sensor 31Fi is for detecting the position of the telescopic table 7, and has two resistance wires 32 arranged parallel to the lower surface of the rotating arms, and a wire 2 that slides in contact with the resistance wires 32 separately. One end of the resistance wire 32 is short-circuited to each other.

When the telescopic table 7 moves and the location where the brush 33 contacts the resistance wire 32 changes, the resistance between the two brushes 33 changes, and the position of the telescopic table 7 is detected by the resistance value.

The rotary table 8Fi is suspended below the telescopic table T via the shaft 34. A shaft 34 fixed to the rotary table 8 is rotatably connected to the telescopic table 7, and the rotary table 8 is connected to the rotary table 8 via this shaft 34.
tj It is connected to the telescopic table T so as to be rotatable within the horizontal plane.

A direction adjusting means 13Fi for rotating the rotary table 8 in a horizontal plane to align the direction of the gripped container 1, a worm wheel 35 fixed to the shaft 34, and a worm that chimes with the worm wheel 35 is fixed to the output shaft. reversible motor 43
and a rotational position sensor 36 that detects the rotational position.

The rotational position sensor 36, like the column 50 rotation angle sensor 1, includes two resistance rings 3T fixed to the shaft 34 and two brushes 38 that slide along the resistance rings 3T.

The resistance ring 37, like the disk 22 in FIG. 5, is cut at one point in the middle and the cut ends are shorted together. Two brushes 3 slide along this resistance ring 37
The resistance between 8 and 80 varies depending on the rotation position of the rotary table.

Therefore, 1. The rotational position of the rotary table 80 can be detected by detecting the resistance between the brushes 38.

The chucking means 9 has seven hooks 39 for hooking the top end of the container 1, and the top end of the hook 39 is attached to the turntable 8 through the bottle so that the hook 39 is rotatable in a vertical plane. It is pivoted on the bottom.

The grip drive means 14 for moving the hook 39 to grip the container is composed of a link 40 connected to the hook 39, a crankshaft 41, and a deceleration motor 42. Hunrod and
The rear end of the rotor is connected to one end with a pin, and the middle part is connected to the rotary table via a pin, and the lower rod connects one end of this L bracket to the crank pin. When the crankshaft 41 is rotated by the crankshaft 42, the seven claws 39 move to grip or release the melter 1.

The loading device for stacking containers on the pallet configured in this way uses the chucking means 9 to grasp the container W1, which has been transported to a certain location by the roller conveyor 2, and then loads it αL times. As the movable arm 6 rises, it rotates in the horizontal plane L1 At the same time, the telescopic table T moves along the rotary arm 6, and the rotary table 8 is rotated to rotate L1! ! 1 is carried to a predetermined position on the pallet 3), the rotating arm 6 descends to place the container 1 on the pallet 3f:, after which the chuck jig means 9 removes the container i11.

After that, the rotating arm 6 rotates while rising, and
The telescopic table 7 and the rotary table 8 were returned to their original positions, and when the chucking means 9 came to the true F of the roller conveyor 2F), the rotary arm 6 descended and grabbed the container 1 again, and then grabbed it again. Container 1 is carried next to container a1 previously carried to pallet 3F and arranged, and this operation is repeated to arrange the containers in the arrangement shown in FIG. 1 and stack containers 1 in multiple stages on the IDE.

The operation is controlled by the horizontal rotation means 10', the vertical drive means 11, the telescopic drive means 12, the direction means 13, the gripping drive means 14, and the control means ISK.

That is, the second control means 15 includes a motor 19 of the horizontal rotation means 1o, an electromagnetic valve that moves the hydraulic cylinder 25 of the vertical drive means 11 up and down, a motor 30 of the telescopic drive means 12, and a motor 43 of the direction movement means 13. Then, the operation of the motor 42 of the finger driving means 14 is controlled.

As shown in FIG. 7, the control means 15 includes an operation switch 44, a CPU 45, a memory 46, an input/output interface 7A/4T, a switch circuit 48, and an A/D converter 4-9. .

The operation switch 44 is used to input a program into the memory 46 and to start or stop operation.
45. The program input from the operation switch 44 is such that the chucking means 9 is connected to the roller conveyor l.
The containers 1 and 3) are stacked on top of each other to control their respective motors and solenoid valves.

This program is stored in memory 46.

The CPU 45 sends a control signal to the switch circuit 48 while detecting the input signal from the A/D converter 49 according to the program stored in the memory 46, and the switch circuit 48 controls the motor and the electromagnetic valve.

■ Effects The loading device for lifting up *11 onto a pallet according to the present invention has the following advantages:
□As mentioned above, a support, a rotating arm attached to the support so that it can rotate freely in a horizontal plane and move up and down, and a telescoping table that is attached to be able to move freely in the axial direction along this rotating arm, A rotary table attached to the telescopic table so as to be rotatable in a horizontal plane, a means for chucking a container attached to the rotary table, a horizontal rotation means for rotating a rotary arm in a horizontal plane, and a means for chucking a container on the rotary table; Move the moving arm up and down J:,
F driving means, telescopic driving means for moving the telescoping table in the axial direction of the rotary arm, direction aligning means for rotating the rotary table in a horizontal plane relative to the telescoping table, and chucking means for the rotary table. is equipped with a grip drive means for driving the grip movement of the container, a horizontal rotation means 7 I-, F drive means, a telescopic drive means, a direction alignment means, and a control means for controlling the grip drive means. The container is grabbed by the means, the rotating arm is moved downward, the container is rotated in a horizontal plane, and the telescopic table is further moved to carry the container to a predetermined position on the pallet, and the rotary arm is rotated. Since the container is conveyed to the pallet E while aligning the direction of the container, the container is quickly and accurately conveyed onto the pallet, and there is no need for many supports that reduce work efficiency. To save labor and increase efficiency in stacking containers, and to have great efficiency in stacking containers extremely easily.

[Brief explanation of the drawing]

Figure 1 is a plan view showing containers arranged on a pallet;
Figures 2 and 3 are a plan view and a vertical sectional view of a loading device showing one embodiment of the present invention, Figure 4 is a side view showing a telescopic table, a rotating table, and a chucking means, and Figure 5 is a rotating FIG. 6 is a bottom view of the disk of the angle sensor, FIG. 6 is a sectional view of the rotary arm, and FIG. 7 is a block diagram showing an example of the control means. 1. Capacity 19.2.1 p conveyor, 3 @ pallet,
411. Belt conveyor, 5. Support, 611. Rotating arm, 7. Telescopic table, 8. Rotating table, 9. Chucking means, 10. Horizontal rotation means, 11. Vertical driving means. 12... Telescopic drive means, 13 Fist/hand direction alignment means, 14
15. Control means, 16. Bearing,
17. Base, 1811. Warmho Eel, 19.
・Motor, 20... Worm, 21@・Rotation angle sensor,
22...disk, 23 fist/brush, 24...resistance ring, 25
゜Fist・Hydraulic cylinder, 26・・Vertical position sensor, 2T・
・Resistance wire, 28 ・Brush, 29 ・Fist wheel, 30...Motor, 31...Stretch sensor, 32...Resistance wire, 33...
Brush, 3411・Shaft, 35... Worm wheel, 3
6-One rotation position sensor, 37...Resistance ring, 38...Brush, 39...7 screws, 40...Link, 41...Crankshaft, 42--Deceleration motor, 43.φ motor, 44.
・Operation switch, 45...CPU, 46...Memory, 4
7. Input/output interface, 48. Switching circuit, 49. A/C controller Fig. 1 Fig. 3 Fig. 4

Claims (5)

[Claims] (1) A loading device that transports containers to a predetermined location onto a pallet, stacks them in multiple tiers, and arranges multiple containers in one tier, and this loading device can be erected vertically. A pillar and a pillar that can be rotated in a horizontal plane,
[:'F A rotatable arm attached to the rotary arm, a telescopic stand attached to the rotary arm so as to be movable in the axial direction, and a rotary arm attached to the telescopic stand so as to be rotatable in a horizontal plane. a stand, a container chucking means attached to the rotary table, a horizontal rotation means for rotating the rotation arm in a horizontal plane, and a)'' driving means for moving the rotation arm downward. a telescoping drive means for moving the telescoping table in the axial direction of the rotary arm; a direction aligning means for rotating the rotary table in a horizontal plane relative to the telescoping table; and a chucking means for the rotary table. is equipped with a gripping drive means for driving the gripping motion of the container, a control means for controlling the horizontal rotation means, the one-piece drive means, the telescopic drive means, the direction alignment means, and the gripping drive means, and the chucking means Grab the container with
As the rotary arm moves downward L, it rotates in a horizontal plane, and the telescopic table moves to carry the containers to a predetermined position on the pallet.The rotary table rotates to align the directions of the containers. A loading device for loading containers onto a pallet (1-) configured to transport containers (1) to a pallet (1). (2) The column consists of a cylindrical rotating column and a telescopic column. The rotating column has a cylindrical outer shape and is attached vertically to the base via a bearing, and the telescopic column can be freely inserted into and out of the rotating column. The outer shape of the telescoping strut and the inner shape of the rotating strut are non-circular, and although both are movable in the axial direction, they are connected so that they do not rotate, and the rotating arm is fixed to the telescopic strut. A loading device for stacking containers on a pallet according to claim 11. (3) A pallet according to claim (2), wherein a wheel of a horizontal rotation means is fixed to the rotation support, and the gear is driven by a motor of the horizontal rotation means to rotate the rotation support. A loading device that stacks containers. (4) The pallet according to claim (2), wherein a cylinder serving as a lower driving means is disposed within the telescopic support, and one end of the cylinder is connected to the telescopic support and the end thereof is connected to the rotating support. A loading device that stacks containers on top. (5) A loading device for stacking containers onto pallets (h) according to claim (1), in which the rotating arm is a traveling rail of a telescoping table and the telescoping table runs along the rotating arm.