JPH03192025A - Mobile palletizer - Google Patents

Abstract

PURPOSE:To provide the most suitable common use for palletizing in various production equipment by forming a mobile palletizer out of a vehicle provided with a palletizing system on a load bed, and providing a pallet transfer mechanism, a load receiving means, a transfer and loading device and a control means. CONSTITUTION:A mobile palletizer is made to travel near an equipment for carrying out prescribed loading work to connect a delivery conveyer 13 with the outside of a positioning conveyer 8. Next, power of an operation controller 12 is turned on to make a loading robot 9 (transfer and loading device) travel to a home position and select work in the equipment. First, feed of a pallet 6 is carried out from a pallet feed device 2 to stop the pallet 6 at a loading position 3, and after a load is fed on a conveyer 8 from the outside by the conveyer 13, the robot 9 places the load on the pallet 6 in a stopping condition. After the number of loads to be piled up has reached a prescribed number, they are made to travel to a pallet discharge part 4.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a self-propelled palletizer, and more specifically, a palletizer system for loading cargo onto pallets is mounted on a self-propelled trailer truck. The present invention relates to a system in which palletizing at multiple locations can be carried out using a single palletizer.

(Prior art) Conventionally, for example, in factories producing powder products, manufactured powder products are often packed into bags of appropriate capacity and loaded onto pallets in predetermined quantities for shipment and transportation. .

For the purpose of automating this process by just husking, automatic packers are often installed in the powder bagging process, and palletizers are often installed to load the bags after bagging. ing.

However, installing such backers and palletizers is economical when the production volume of powder products is considerable in terms of the equipment cost and the product unit price, but it is not suitable for relatively small-volume production. For products, the cost of palletizer equipment becomes excessive, and this point is one of the major obstacles to the actual introduction of equipment.

In addition, in such relatively small-volume production equipment, the operating time of the palletizer is extremely short, resulting in a problem that the equipment has extremely low operating efficiency.

For these reasons, in small-scale manufacturing facilities with a low production volume, bags filled with products are often loaded onto pallets by manual labor without installing an automated palletizer.

(Problems to be Solved by the Invention) The present invention has been made for the purpose of realizing cargo handling work using an automated palletizer even in such conventional small-scale production equipment.

In other words, in factories with multiple small-volume production facilities, it may be possible to share a single palletizer by arranging a large number of packers of various types that bag products relatively close together. Such a method is
This results in the restriction that the entire equipment must be designed around the palletizer, and it is generally difficult to actually design a factory or equipment for the purpose of sharing the palletizer.

Therefore, in the present invention, even if there is a plurality of relatively small-volume production facilities, the palletizer in each facility
Considering that the actual operating time is a limited part of the working hours of the day, the palletizer is attached to the relevant equipment only for the time necessary for palletizing, and at other times, The self-propelled palletizer of the present invention, which is suitable for such systems, has been developed based on the idea of providing the palletizer with mobility so that it can be used in other equipment.

That is, an object of the present invention is to provide a self-propelled palletizer that can be suitably used for palletizing products in various production facilities.

Another object of the present invention is to provide a self-propelled palletizer that can automate the palletizing of products in various production facilities.

(Means for Solving the Problems) The feature of the self-propelled palletizer of the present invention that achieves the above object is that it consists of a vehicle equipped with a palletizer system on the loading platform, and this palletizer system is used for loading cargo. A fixed position provided on the track of the pallet transfer conveyor for stopping pallets, a pallet feeding device connected to the pallet transfer conveyor so as to feed the pallets one by one to this fixed position, and a loaded pallet from the fixed position. a pallet transfer mechanism arranged in a row, connected by a pallet transfer conveyor so that the pallets can be received, and a pallet unloading section provided so that the received pallets can be conveyed to the outside of the vehicle; and a pallet transfer mechanism positioned near the pallet transfer conveyor. The conveyor belt is movable between a load receiving means which is arranged so as to be connectable with the end of the external conveyor, and the fixed position where the load is loaded onto the pallet from above the load receiving means. It has an arm provided and a hanging part provided at the tip of the arm so that the load can be attached and detached, and the load on the feeding table is sequentially transferred to the pallet at the fixed position. It has a configuration that includes a loading/unloading device, and a control means for controlling the driving of the pallet transfer mechanism and the loading/unloading device.

The vehicle used in the present invention is preferably a so-called low-floor trailer, which has outriggers to stabilize the cargo platform during loading operations. In addition, the power source for driving each mechanism and device of the palletizer may include a power supply device and an air source mounted on a self-propelled vehicle, but this self-propelled palletizer may be moved to perform work. In order to make the vehicle more compact, it is preferable to use a system in which these power supply devices and air sources are installed as part of fixed equipment at a location, and are connected to these devices.

In the above configuration, a configuration may be adopted in which a slip sheet supply device that supplies slip sheets onto the pallet is connected between the pallet supply device and the loading position (fixed position) provided on the track of the pallet transfer conveyor. preferable.

As the above-mentioned transfer/loading device, for example, an industrial robot having a multi-articulated rotating arm can be exemplified. Moreover, as a specific structure of the hanging part assembled to the tip of the swing arm, a suction cup type or a gripping claw type can be exemplified. The manner in which loads are loaded onto pallets using such a loading/unloading device is not particularly limited, and any normal loading manner may be used. Further, the load to be loaded may be in any form such as a 9-box type.

(Function) By having the above configuration, the present invention allows palletizing in small quantities at a plurality of locations using one palletizer.

Further, according to the self-propelled palletizer of the present invention, the position and height of the load sent from the outside are specified by the load receiving means, and the position of the pallet for transferring and stacking the load is also the above-mentioned fixed position. Since it is positioned specifically at the pallet loading position, when transferring the load, the arm movement distance, loading position, height, etc., which changes depending on the load type and transfer order, can be determined in advance and the industrial You can easily set the movements of robots, etc.

In addition, pallets are replenished to a pallet supply device located away from the transfer/load handling equipment, and loaded pallets are carried out from the vehicle using a forklift, etc., at a location away from the transfer/load handling equipment. Since it can be done from the beginning, it is easy to ensure the safety of the work.

(Example) The present invention will be described below based on embodiments shown in the drawings.

1 to 3 are for explaining an embodiment of the self-propelled palletizer of the present invention. In this figure, 1 is a trailer, and a loading platform 1b is connected to a vehicle main body 1a having a driver's seat etc. is now gaining traction. Also, this loading platform 1
In this example, outrigger devices 1c are installed at six locations (three symmetrical power locations each; see Fig. 3) in this example. However, in order to ensure the stability of the loading platform 1b during palletizing work, the legs can be placed on the ground.

Next, a palletizer system mounted on the loading platform of a trailer will be described as a characteristic configuration of this example.

The palletizer system of this example has one side (the second side) of the loading platform 1b.
A pallet transfer mechanism is arranged along the front-rear direction of the vehicle on the right side in the figure. This pallet transfer mechanism is connected to a rearmost pallet supply device 2 by an (empty) pallet transfer conveyor 5b, and is a loading position that provides a fixed position at which the pallet 6 is stopped when loaded. 3, and a pallet unloading section 4 which receives loaded pallets 6 from the loading position 3, these are arranged linearly, and an empty pallet 6 is transferred to the pallet supply device 2 by a drive device (not shown). The operation of transporting the pallet from the pallet to the loading position 3, carrying out cargo handling work to transfer the predetermined cargo, and then transferring the pallet to the pallet unloading section 4 is as follows:
This is done according to a predetermined sequence program.

Note that the loading position 3 in this example is a part of the pallet transfer conveyors 5a and 5b connected between the pallet supply device 2 and the pallet unloading section 4, when the pallet to be moved has reached a predetermined position. The stop position of the pallet is limited by using a detection sensor that detects the stop operation, and a stopper mechanism (none of which are shown) that has a function that can cancel the stop operation and accurately positions and stops the pallet when it reaches the above-mentioned predetermined position. However, it is not limited to this type of configuration; for example, instead of the series of pallet transfer conveyors 5a and 5b described above,
It can also be provided as an independent structure having the sensor and stopper mechanism.

Further, in the above, the pallet supply device 2 can replenish empty pallets by loading them upward from the side or rear of the loading platform, and the empty pallets stacked in multiple stages are transferred one by one from the lowest one to the pallet transfer conveyor. 5b. For example, by combining a supporting mechanism that supports the second pallet from the bottom with claws or the like in a timely manner from the side, and a feeding claw mechanism that drops the lowest pallet downward and pushes it onto the conveyor 5b using feeding claws. Can be configured.

Further, the pallet transfer conveyor 5b may be integrated with a pallet transfer conveyor directly below the pallet supply device, as illustrated in FIG.

Further, the pallet unloading section 4 in this example transfers the pallets sent by the pallet transfer conveyor 5a to the stopper 4.
It can be provided as a platform structure that can be stopped at point a and lifted and carried out by inserting the claw of a forklift from the direction of the arrow shown in FIG.

By the pallet transfer mechanism configured as described above, empty pallets 6 are sent out one by one from the pallet supply device 2 at a predetermined timing, stopped at the loading position 3, and after a predetermined loading operation is performed, the pallets are unloaded. After being sent to section 4, it becomes possible to carry it out by a forklift or the like. This intermittent driving of pallet transport is performed according to a predetermined sequence by a control device, which will be described later.

This example is also characterized in that a safety shelf 7 can be provided on the side of the loading platform at the pallet loading position, as shown in the figure. This is because the safety fence 7 is installed in order to ensure the safety of surrounding workers when the loading/unloading equipment described later loads the pallets in this area. For this purpose, it is preferable to provide an assembly section for assembling the safety fence to the loading platform at the end thereof.

In contrast to the pallet transfer mechanism described above, on the left side of the loading platform in FIG. A loading/unloading device 9 that transfers and loads the cargo onto the container 6 is arranged as shown in the figure.

Here, the positioning conveyor 8 is the second conveyor in this example.
As shown in the figure, a connecting part (not shown) to which an external feed conveyor 13 can be connected is provided, and loads such as bags (not shown) sent from the outside by this feed conveyor 13 can be connected to the connection part (not shown). It can be supported in a predetermined position on a table. For this purpose, for example, a stopper mechanism that stops the fed bag at a predetermined position and a guide plate that opens in an inverted shape toward the upstream side of the feeding bag are provided to adjust the forward and backward position of the bag. It is also preferable. In addition, in order to make it suitable for carrying out the work of suspending the transported bags, etc., on the suspension section of the transfer and cargo handling device, which will be described later, a carrier roller is provided with a gap for the gripping claw of the suspension section to enter. The configuration is also preferably adopted.

In this example, the loading/unloading device 9 is constituted by an industrial robot having a multi-articulated rotating arm. As an industrial robot for such a transfer/loading device 9, for example, MATE (MATE) I to N ROBOT manufactured by Fuji Yusoki Kogyo Co., Ltd.
Fuji Ace can be exemplified, and specifically, this loading/unloading device (hereinafter referred to as "cargo handling robot 9") consists of a robot body 9a, an arm 9b, a hand section consisting of an arm 9b and a hanging section 9C at its tip, and a control device (Fig. (not shown), rotation and movement of the hand part about each spatial three-dimensional axis, and a hanging part 9.
C can be opened and closed using a servo motor or an air drive system. Then, the loads on the positioning conveyor 8, which is spatially positioned as a loading/feeding position, are placed on the pallet 6 of the loading section in a predetermined order, for example, 5 loads.
When loading items in rows of 8, etc., the spatial positions of the objects are determined according to the loading order, so the spatial coordinates of the positioning conveyor 8 and the spatial coordinates of the loading according to the loading order are determined in advance by the control device. By setting this program, you can perform automated cargo handling work.

Reference numeral 10 in FIGS. 1 and 2 is a safety fence erected to cover the area around the cargo handling device on the loading platform, and the portion for connecting the external feed conveyor 13 to the positioning conveyor 8 is an opening. 11 are provided.

Reference numeral 12 denotes an operation control device provided at the front of the loading platform, and is used to drive and control the pallet transport mechanism and each driving section of the cargo handling robot 9 in accordance with a predetermined order and timing. This control device is configured to operate each part based on a predetermined sequence using a computer in order to automate the series of operations described above. An example of a control procedure using such a computer program is explained as follows.

That is, first, the self-propelled palletizer is moved near the equipment that performs the predetermined load loading operation, and the outrigger device 1c is
The loading platform is stabilized by driving it, and then the power source, power source, etc. are connected.

Further, an external feed conveyor 13 is connected to the positioning conveyor 8. In this example, this conveyor is shown as a roller conveyor, but it goes without saying that other belt conveyors or the like may be used.

In this state, turn on the power to the control device and start the device.

Upon startup, the control device is first initialized and moves the cargo handling robot's arm to its home position. Next, select the work to be performed on that equipment.

This selection is made according to the type of cargo to be loaded, the number of cargoes to be loaded, and the amount of cargo, in accordance with the multiple types of work that have been determined in advance to be performed by this self-propelled palletizer, for example.
The lifting part 9c of the cargo handling robot 9 sets the spatial position m of the transfer light of the load to be transferred (this is fixed by the positioning conveyor 8) and the spatial coordinates of the transfer destination (multiple points equal to the number of loads according to the transfer order). A selection task can be given by storing in advance in a ROM or the like of a computer and reading it out.

The preparation for operation of the apparatus is completed through the above steps, and then the apparatus is operated based on signals from sensors provided in each part as necessary.

That is, in step 1, the pallet 6 is supplied from the pallet supply device 2 and placed at the loading position 3.
When it is detected by a signal from a sensor (not shown) disposed in the opening that the pallet has moved into the opening, the pallet is stopped at the loading position 3.

In step 2, when the feed conveyor 13 detects that a load has been sent from the outside onto the positioning conveyor 8, the cargo handling robot 9 moves the load to the first position of the stopped pallet. Load. At this time, the operation of the cargo handling robot 9 and the position at which the cargo is loaded are carried out as a task read from the ROM etc. by selecting the preset task as described above. This is the loading position set as the first spatial coordinate.

Thereafter, this operation is repeated until the predetermined number of loads n is reached, and the loads in each order are sequentially loaded at the loading positions given by the corresponding spatial coordinates.

In step 3, the number of loaded items is determined to be the predetermined number of loaded items n.
The loaded pallet whose loading has been completed by reaching this point is moved to the pallet unloading unit 4 after it is confirmed by a predetermined sensor output that the pallet unloading unit 4 is empty, and the next empty pallet is transferred to the pallet unloading unit 4. It is transferred from the supply device 2 to the loading position 3 in the same manner as above. During this time, the load transfer operation by the cargo handling robot 9 is suspended.

Further, when the pallet is received by the pallet unloading section 4, the pallet is unloaded from the outside by a forklift.

In step 4, loading the next pallet is carried out in the same manner as in step 2, and then steps 3 and 4 are repeated until the transfer work for a predetermined number of pallets is completed.

When a predetermined number of pallets have been loaded, the operation of the device is stopped automatically or by the operator pressing the end switch, and the operator disconnects the power source, power cable, etc., and closes the outrigger device 1c. release stabilization and move the vehicle to the next work position.

At the next work position, the work program determined for that work position can be selected and cargo handling work can be carried out in the same manner.

FIG. 5 shows the movement of each device and the relationship between sensors and the like used to perform the above-mentioned work, and FIG. 6 is a diagram illustrating an overview of the work procedure.

Hereinafter, an example of a concrete outline of cargo feeding and transfer operations will be explained with reference to these figures.

Step 1-1. The external feed conveyor 13 and the positioning conveyor 8 of the self-propelled harvester are docked (connected) on the vehicle.

Step 1-2. The feeding conveyor 13 is activated and image feeding is started.

Step 1-3. When the image passes through the sensor PH1 provided on the feed conveyor 13, the positioning conveyor 8 is started and the feed conveyor 13 is stopped.

Step l-4: When the image is detected by the sensors PH2-1 and 2-2 on the positioning conveyor 8 and hits a stopper (not shown), the positioning conveyor 8 is stopped and the image is stopped at a fixed position.

Step l-5: When the image feeding stops, if there is a pallet at the loading position 3, the cargo handling robot 9 operates, picks up the image, and places the pallet waiting at the loading position 3 on the pallet transfer conveyor. 6 Transfer to the specified position above.

Step 1-6. After the cargo handling robot 9 has transferred the cargo, it returns to the neutral position and waits until the next signal.

Step 1-7. When it is detected that the image has returned to the neutral position, the feeding conveyor 13 is activated again and starts feeding images. Hereafter, repeat steps 1-3 to 1-7.

Further, the operations of the pallet supply device 2, the cargo handling robot 9, and the pallet unloading section 4 are performed as follows.

Step day 1. At the start of operation, pallet supply device 2
For example, set 10 pallets.

Step 2-2. After confirming that the cargo handling robot 9 is in the neutral position, the pallet supply device 2 is started.

Step z-3. When an empty pallet falls onto the lowest empty pallet conveyor 5b and presses the limit switch LSI, the empty pallet conveyor 5b starts moving.

Step 2-4. When the empty pallet 6 reaches a predetermined position on the pallet transfer conveyor 5b, the sensor PH4 detects this, and if there is no pallet preceding the loading position 3, the pallet transfer conveyor 5a starts moving. Move the empty pallet to loading position 3 (regular position) on the transfer conveyor.

Step 2-5: When the empty pallet 6 reaches the loading position 3, the sensor f'l (5) detects this and stops the pallet.

Next, the cargo handling robot 9 is activated and performs the operations of transferring cargo onto the (empty) pallet in steps 1-2 to 1-7 described above.

And the set of loads on the pallet Repeat the same operation until you complete 5 rows and 8 steps. return.

Step 2-6. When the loading of the final stage (upper stage) onto the pallet is completed, the pallet transfer conveyor 5a starts moving in response to the signal, and the loaded pallet is sent to the pallet unloading section 4. When the sensor PH7 detects that the loaded pallet has left the pallet transfer conveyor 5a,
The pallet transfer conveyor 5a stops.

Step 2-7. When the image-loaded pallet that has entered the pallet unloading section 4 reaches the stop position, a signal is issued. By turning on an appropriate lamp in response to this signal, the operator on the forklift side can be informed that the pallet loaded with images can be received.

Step 2-8. When the sensor PH7 detects that the loaded pallet has left the pallet transfer conveyor as described above, the pallet supply device 2 starts moving, and the operations 2-1 to 2-8 are repeated.

As a result of the above, the self-propelled palletizer of the present invention can sequentially perform predetermined operations on multiple pieces of equipment, making it unnecessary to install stationary palletizers for each small-volume production equipment as in the past. It has the effect of becoming.

FIG. 4 shows a self-propelled palletizer according to another embodiment of the present invention, and the feature of the example shown in FIG. A slip sheet supply device 15 for laying a slip sheet on the pallet 6 is provided in the middle of the (empty) pallet transfer conveyor 5b for transporting the pallets 6.Other configurations are as shown in FIGS. 1 to 3 above. It has exactly the same configuration as the described embodiment.

Note that in the configuration of this example, the empty pallet transfer conveyor 5
b and the pallet transfer conveyor 5a would be quite long if they were integrated into a series, so it is particularly desirable to divide them into independent drive types.

The configuration of this example also has the effect that one palletizer can be used in common for a plurality of production facilities that produce relatively small quantities, similar to the above embodiment.

(Effects of the Invention) As described above, the self-propelled palletizer of the present invention can be used commonly for palletizing products in various production facilities, and there is no need to install a stationary palletizer for each individual facility. This has the effect that the palletizing work of each piece of equipment can be automated.

Further, there is an effect that suitable automation can be realized in response to palletizing of products in various production facilities.

[Brief explanation of drawings]

Fig. 1 is a side view showing an example of the configuration of a self-propelled palletizer according to the present invention, Fig. 2 is a plan view of the same, and Fig. 3 shows a loading platform of a self-propelled trailer equipped with a palletizing system. It is a top view for explanation. FIG. 4 is a plan view showing an example of the general configuration of a self-propelled palletizer according to another embodiment of the present invention. FIG. 5 is a diagram showing the relationship between each device part of the palletizer and sensors, etc., and FIG. 6 is a flowchart for explaining operations during cargo handling. 1... Trailer 18... Vehicle body lb... Loading platform 1c... Outrigger device 2... Pallet supply device 3... (pallet) loading position 7 4... Pallet unloading section 4a.・Stopper 5a・
...Pallet transfer conveyor 5b...Empty pallet transfer conveyor 6...Pallet 7...Safety fence 8...Positioning conveyor 9...Transfer and loading handling device (cargo handling robot) 10...Safety fence 11. ...Opening 12...Operation control device 13...Feed conveyor 14...Load feed position 15...Slip sheet supply device 8

Claims (1)

[Claims] 1. A vehicle equipped with a palletizer system on a loading platform, which includes a fixed position for stopping pallets provided on the track of a pallet transfer conveyor for loading cargo;
A pallet supply device is connected with a pallet transfer conveyor so as to send the pallets one by one to this fixed position, and connected with a pallet transfer conveyor so that loaded pallets can be received from the fixed position, and the received pallets are transferred outside the vehicle. a pallet transfer mechanism arranged in a row, and a pallet transfer mechanism arranged in a row, and a pallet transfer mechanism positioned near the pallet transfer conveyor and connectable to an end of an external conveyor. an arm provided on the cargo receiving means so as to be movable between the fixed position, which is a position for loading cargo onto a pallet; a loading and unloading device that has a lifting part provided on the loading platform and sequentially transfers the cargo on the loading platform to the pallet at the fixed position; and a drive for the pallet transporting mechanism and the loading and unloading device. A self-propelled palletizer comprising: a control means for controlling; and a self-propelled palletizer. 2. The self-propelled palletizer according to claim 1, wherein the pallet transport mechanism is connected with a slip sheet supply device for supplying slip sheets onto the pallet between the pallet supply device and the fixed position. 3. The self-propelled palletizer according to claim 1 or 2, wherein the loading/unloading device is an industrial robot having an articulated rotating arm. 4. A self-propelled palletizer according to any one of claims 1 to 3, characterized in that the hanging portion at the tip of the arm of the transfer/loading/handling device is in the form of a gripping claw.