JPH02221027A - Loading device of bagging load to dolly and method thereof - Google Patents
Loading device of bagging load to dolly and method thereofInfo
- Publication number
- JPH02221027A JPH02221027A JP1041311A JP4131189A JPH02221027A JP H02221027 A JPH02221027 A JP H02221027A JP 1041311 A JP1041311 A JP 1041311A JP 4131189 A JP4131189 A JP 4131189A JP H02221027 A JPH02221027 A JP H02221027A
- Authority
- JP
- Japan
- Prior art keywords
- bag
- distance
- dispensing
- gate
- bags
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000011068 loading method Methods 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims description 11
- 238000007599 discharging Methods 0.000 claims description 5
- 230000000630 rising effect Effects 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 description 8
- 239000004568 cement Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
Landscapes
- Stacking Of Articles And Auxiliary Devices (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は、運搬車の荷台に袋荷を自動的に多数段積層す
る運搬車用袋荷積込み装置における′袋荷積込み方法に
関するものである。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a bag loading method in a bag loading device for a transport vehicle that automatically stacks bags in multiple stages on the loading platform of a transport vehicle. .
［従来の技術］
運搬車の荷台に例えばセメントや穀物等を袋詰めにした
袋荷を自動的に多数段積込む方法としては、本出願人が
先に出願した特願昭６３−２３７８１９号のように袋荷
積込み装置の払出し部を運搬車の荷台に対し上下左右及
び前後方向に移動自在とし荷台上に袋荷を順次積込んで
い（方法がある。[Prior Art] A method for automatically loading bags of cement, grain, etc. into multiple stacks on the loading platform of a transport vehicle is disclosed in Japanese Patent Application No. 1983-237819 filed earlier by the present applicant. There is a method in which the dispensing part of the bag loading device is made to be movable vertically, horizontally, and longitudinally with respect to the loading platform of the carrier, and bags are sequentially loaded onto the loading platform.
この特願昭６３−２３７８１９号に示す積込み方法は、
袋荷を荷台上に荷（ずれすることなく完全自動で積込む
ことを目的とした袋荷積込み方法を提案したもので、運
搬車用袋荷積込み装置の袋荷払出し部から袋荷な払出し
て運搬車の荷台に積込む場合、先ず払出し部を降下させ
て荷台面に近づけ、最下段の袋荷を荷台上に１袋おきに
払出して積込みする。そして、次に払出し部を１袋おき
に積込んだ隣り合う袋荷量のあきスペースに移動させて
両隣の袋荷をガイドとして払出す袋荷をあきスペースに
払出すようにしている。このとき更に、先に払出した袋
荷の・上に次の袋荷を払出して積み上げ、順次あきスペ
ースに２袋づつ積層することにより次のあきスペースを
形成しつつ多数段袋荷を積込むようにしている。The loading method shown in this patent application No. 63-237819 is as follows:
We have proposed a bag loading method that aims to completely automatically load bags onto a loading platform without shifting them. When loading onto the loading platform of a transport vehicle, first lower the dispensing section and bring it close to the loading platform surface, and then discharge and load the bottommost bag onto the loading platform every other bag. The loaded bag is moved to an empty space between adjacent bags, and the bags on both sides are used as guides to discharge the bag into the empty space. Then, the next bag is taken out and stacked, and two bags are stacked one after another in each empty space, thereby forming the next empty space and loading multiple stacks of bags.
また、袋荷量のあきスペースに２袋づつ積層する際、１
袋目は両隣の袋荷をガイドとしてあきスペースに入り込
ませようにして位置決めし、２袋目は下方に向けて両側
に開く払出しゲートでガイドしながら下段の袋荷の上に
載せて積込むようにしている。In addition, when stacking two bags at a time in the empty space of the bag load, 1
The first bag is positioned by using the bags on both sides as guides to fit into the empty space, and the second bag is loaded by placing it on top of the lower bag while being guided by the dispensing gates that open on both sides facing downward. There is.
ところで、セメントや穀物等を袋詰めにしだ袋荷は、袋
詰め時に入る空気量や内容物の比重によって袋荷の形状
が変化し、幅、厚み等が一定でないのが普通であり、ま
た積込み方法によっても変化するものである。そこで、
袋荷を１袋おきに払出して袋荷量にあきスペースを形成
し、そのあきスペースに袋荷を入り込ませるようにして
積み込んでいく方法をとっているので幅の変化に対して
は対応することができているが、厚みの変化に対しては
予め袋荷の厚みに若干の余裕を加えた高さを垂直移動ピ
ッチとして制御部に入力設定し、該垂直移動ピッチによ
って払出し部を上下方向に移動するようにしている。By the way, the shape of bags packed with cement, grain, etc. changes depending on the amount of air that enters during bagging and the specific gravity of the contents, and the width, thickness, etc. are usually not constant. It also changes depending on the method. Therefore,
Since we use a method of loading bags by taking out every other bag to create an empty space in the amount of bags, and then inserting the bags into the empty space, we have to deal with changes in width. However, in response to changes in thickness, the height of the bag with a slight margin added to it is input to the control unit as the vertical movement pitch, and the dispensing unit is moved vertically according to the vertical movement pitch. I try to move.
［発明が解決しようとする課題］
しかしながら、予め制御部に袋荷の代表的な厚みに若干
の余裕を加えた固定値を垂直移動ピッチとして入力設定
し、払出し部の高さを決める方法を採用すると、厚みの
少ない袋荷は上段に行（はど高い位置から袋荷を払出す
こととなる。その結果、袋荷を高く積み込むときには荷
崩れを起こし易くなったり、また、払出し部の上下方向
の移動距離が長くなって積込み時間が多くかかる欠点を
有していた。[Problem to be solved by the invention] However, a method is adopted in which a fixed value, which is the typical thickness of the bag cargo plus a slight margin, is input and set as the vertical movement pitch in advance to the control unit, and the height of the dispensing unit is determined. As a result, the bags with less thickness will be moved to the upper stage (the bags will be discharged from a higher position).As a result, when the bags are loaded high, they are likely to collapse, and the vertical direction of the discharge section This has the disadvantage that the moving distance is long and the loading time is long.
そこで本発明は上記の点に鑑み、払出部の垂直移動ピッ
チを袋荷の厚みに応じて補正し、常に適正な積込高さを
維持することを目的とした運搬車用袋荷積込み装置にお
ける袋荷積込み方法を提案するものである。Therefore, in view of the above points, the present invention provides a bag loading device for a transport vehicle, which aims to correct the vertical movement pitch of the dispensing part according to the thickness of the bag and always maintain an appropriate loading height. This project proposes a bag loading method.
［課題を解決するための手段］
本発明は上記の目的を達成するために、下方に向けて両
側開きとした払出しゲートを有する袋荷の払出し部を運
搬車に対して前後左右及び上下方向に移動自在とし、最
下段の袋荷を運搬車の荷台上に１袋おきに払出して積込
みし、それ以降は払出し部を袋荷量のあきスペースの真
上に位置させ、払出しゲートを開閉して袋荷をあきスペ
ースに払出した後、続いてその袋荷上に次の袋荷を払出
して積込み、２袋づつ積層しながら順次荷台上に袋荷を
多数段積込むようにした運搬車用袋荷積込み装置におい
て、払出し部の上部に距離センサを取り付け、払出しゲ
ートを開放状態としたときの距離センサと払出しゲート
下端部との距１！ｉＬを制御部に予め記憶させておき、
払出し部から袋荷を払出したときに、距離センサによっ
て袋荷上面までの距離を検出しながら払出し部を上昇さ
せ、袋荷上面までの距離が前記記憶した距！Ｌと等しい
高さに達すると上昇を停止し、上昇距離を記憶してお（
とともに、続いて袋荷を同一段に払出す場合には、払出
し部をそのあきスペース上に水平移動した後、前記記憶
した上昇距離分だけ降下させて次の袋荷を払出し、また
、袋荷を上位段に払出す場合には、払出し部をそのあき
スペース上に水平移動して次の袋荷を払出すようにした
ことを特徴とする運搬車用袋荷積込み装置における袋荷
積込み方法を提案するものである。[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention has a bag cargo dispensing section that has a dispensing gate that opens on both sides facing downward, and is arranged in the front, rear, left, right, and up and down directions with respect to the transport vehicle. It is movable, and the bags at the bottom are loaded every other bag onto the loading platform of the transport vehicle.After that, the unloading section is positioned directly above the empty space for the bag load, and the unloading gate is opened and closed. A bag for a transport vehicle that, after discharging a bag load into an empty space, then discharging and loading the next bag load on top of the bag load, stacking two bags at a time and sequentially loading multiple bags onto the loading platform. In a loading device, a distance sensor is attached to the upper part of the dispensing section, and when the dispensing gate is in an open state, the distance between the distance sensor and the lower end of the dispensing gate is 1! iL is stored in the control unit in advance,
When the bag is discharged from the dispensing section, the dispensing section is raised while the distance to the top of the bag is detected by the distance sensor, and the distance to the top of the bag is equal to the stored distance! When it reaches a height equal to L, it will stop climbing and memorize the climbing distance (
At the same time, when subsequently discharging bags onto the same tier, the dispensing section is moved horizontally onto the empty space, and then lowered by the memorized lifting distance to dispense the next bag, and A method for loading bags in a bag loading device for a transport vehicle, characterized in that when discharging bags to an upper stage, the dispensing part is moved horizontally onto the empty space to discharge the next bag. This is a proposal.
［作 用］
本発明に係る運搬車用袋荷積込み装置における袋荷積込
み方法にあっては、袋筒の払出し部の上部に取付けた距
離センサと払出し部の払出しゲートを開放状態にしたき
の払出しゲート下端部との距離りを予め制御部に記憶さ
せておく。そして、払出しゲートを開放して袋筒を払出
したときに、距離センサによって袋荷上面までの距離を
検出しながら払出し部を上昇させ、袋荷上面までの距離
が前記記憶した距離りに等しくなる高さに達すると上昇
を停止する。このとき払出し部が上昇した上昇距離を制
御部に記憶してお（。そして、次に袋筒の払出す位置が
今回払出した位置と同一段であるときは、払出し部をそ
のあきスペース上に水平移動した後、前記上昇距離分だ
け降下させて次の袋筒を払出す。また、次に袋筒の払出
す位置が今回払出した位置より上段であるときは、払出
し部をそのあきスペース上に水平移動して降下せずに払
出すのである。したがって、袋詰め時に入る空気量や内
容物の比重等で袋筒の厚みが変化しても袋の厚みに対応
した適正な積み込み高さを常に維持することができるの
である。[Function] In the bag loading method in the bag loading device for a transport vehicle according to the present invention, a distance sensor attached to the upper part of the dispensing part of the bag tube and a dispensing gate of the dispensing part are opened. The distance from the lower end of the payout gate is stored in advance in the control section. Then, when the dispensing gate is opened and the bag cylinder is dispensed, the dispensing section is raised while the distance to the top surface of the bag is detected by the distance sensor, and the distance to the top surface of the bag becomes equal to the memorized distance. It stops rising when it reaches the height. At this time, the distance that the dispensing section has risen is stored in the control section (.Then, when the next dispensing position of the bag tube is on the same level as the position where it was dispensed this time, the dispensing section is moved over the empty space. After moving horizontally, it is lowered by the above-mentioned upward distance and the next bag cylinder is dispensed.Also, if the position at which the next bag cylinder is to be dispensed is higher than the position where it was dispensed this time, the dispensing unit is moved above the empty space. Therefore, even if the thickness of the bag tube changes due to the amount of air that enters during bag filling, the specific gravity of the contents, etc., the appropriate loading height corresponding to the thickness of the bag can be maintained. It can always be maintained.
［実施例］ 以下本発明の実施例を図面に基づいて説明する。[Example] Embodiments of the present invention will be described below based on the drawings.
第１図は運搬車用袋荷積込み装置の一例であって、先ず
その概要を説明する。■はセメントや穀物等を袋詰めに
しだ袋筒を運搬車の荷台に自動的に多数段積込む袋荷積
込み装置を示すもので、袋荷積込み装置ｌの支柱２には
昇降自在とした昇降体３が配設しである。該昇降体３は
昇降体３に配設したローラ４を支柱２に固着したガイド
レール５に沿わせ、ガイドレール５の上端部に配設した
スプロケット６に掛は回したチェーン７の一端部を昇降
体３に、他端部を重錘８に取り付け、駆動モータ９の正
・逆回転により上下昇降自在としている。FIG. 1 shows an example of a bag loading device for a transport vehicle, and its outline will first be explained. ■ indicates a bag loading device that automatically loads bag tubes filled with cement, grain, etc. into multiple stages onto the loading platform of a transport vehicle. Body 3 is arranged. The elevating body 3 has a roller 4 disposed on the elevating body 3 along a guide rail 5 fixed to a support 2, and one end of a chain 7, which is rotated, is hooked onto a sprocket 6 disposed at the upper end of the guide rail 5. The other end of the elevating body 3 is attached to a weight 8, and the elevating body 3 can be moved up and down by forward and reverse rotation of a drive motor 9.
また、昇降体３には走行レールｌＯが配設してあり２該
走行レール１０上には車輪１１を有した走行体１２が走
行自在に載置しである。走行体１２には昇降体３に固定
したラック１３と噛み合いする歯車を有する駆動モータ
１４が搭載してあり、駆動モータ１４の正・逆回転によ
り横方向に移動自在となっている。１５は運搬車の荷台
に袋筒を払い出す払出し部を示すもので、該払出し部１
５の下端両側には左右対称に開閉する払出ゲート１６が
配設してあり、該払出しゲート１６の一画部は揺動自在
に軸着されており、シリンダー１７のピストンロッド１
８の先端に取り付けたリンク１９に支持されており、ピ
ストンロッド１８の伸長によって一対の払出しゲート１
６が下方に向かって両側に開動作して袋筒を払出す。Further, the elevating body 3 is provided with a traveling rail 10, and a traveling body 12 having wheels 11 is mounted on the traveling rail 10 so as to be freely movable. A drive motor 14 having gears that meshes with a rack 13 fixed to the elevating body 3 is mounted on the traveling body 12, and is movable laterally by forward and reverse rotation of the drive motor 14. Reference numeral 15 indicates a dispensing section for dispensing the bag tubes onto the loading platform of the transport vehicle; the dispensing section 1
A dispensing gate 16 that opens and closes symmetrically is disposed on both sides of the lower end of the dispensing gate 5, and one section of the dispensing gate 16 is pivotably attached to the piston rod 1 of the cylinder 17.
The pair of payout gates 1 are supported by a link 19 attached to the tip of the piston rod 18,
6 opens downward to both sides to eject the bag tube.
払出し部１５の上部には被測定物までの距離を検知する
超音波センサ２０を固定金具２１によって固定している
。そして該超音波センサ２０は制御部２２に接続してあ
り、制御部２２はＣＰＵ２３と記憶部２４とからなり、
超音波センサ２０から発射した超音波が被測定物に当た
って反射してくるまでの時間を測定し、音速×所要時間
／２をＣＰＯ２３で演算することより被測定物と超音波
センサ２０との距離を測定するようにしている。An ultrasonic sensor 20 for detecting the distance to the object to be measured is fixed to the upper part of the dispensing part 15 by a fixing fitting 21. The ultrasonic sensor 20 is connected to a control section 22, and the control section 22 includes a CPU 23 and a storage section 24.
The distance between the object to be measured and the ultrasonic sensor 20 is determined by measuring the time until the ultrasonic wave emitted from the ultrasonic sensor 20 hits the object to be measured and is reflected, and calculates the speed of sound x required time/2 using the CPO 23. I try to measure it.
また、ＣＰＵ２３には各種データを予め入力する設定入
力部２５が接続しである。そして払出し部１５を上下左
右に移動制御する制御ユニット２６もまたＣＰＵ２３に
接続しである。この実施例では被測定物までの距離を測
定するのに超音波センサ２０を採用しているが、距離を
測定できる手段であれば他のものを採用しても差し支え
ない。Further, a setting input section 25 for inputting various data in advance is connected to the CPU 23. A control unit 26 that controls the movement of the dispensing unit 15 vertically and horizontally is also connected to the CPU 23. In this embodiment, the ultrasonic sensor 20 is used to measure the distance to the object to be measured, but any other means that can measure the distance may be used.
袋筒を送り込むシュート部２７は、前記払出し部１５と
一体化して走行体１２に固定してあり、走行体１２とと
もに左右及び上下に移動する。シュート部２７には袋筒
を払出し部１５に円滑に送り込むためのコンベヤ２８が
配設しである。A chute section 27 for feeding the bag cylinder is integrated with the dispensing section 15 and fixed to the traveling body 12, and moves horizontally and vertically together with the traveling body 12. A conveyor 28 is disposed in the chute section 27 to smoothly feed the bag tubes to the dispensing section 15.
シュート部２７に袋筒を搬送供給する搬送コンベヤ２９
は、上端部を走行体１２にビン止め固定するとともに下
端部をスライド自在、回転自在に支持してあり、昇降体
３の昇降により下端部をスライドさせながら昇降体３と
ともに昇降し、また走行体１２の横方向の移動とともに
上端部が横移動するようにしてあり、搬送コンベヤ２９
の上端部が絶えずシェード部２７の投入部に臨むように
しである。Conveyor 29 that conveys and supplies the bag cylinder to the chute section 27
has an upper end fixed to the traveling body 12 with a pin and a lower end supported so as to be slidable and rotatable, and as the elevating body 3 rises and lowers, the lower end slides and goes up and down together with the elevating body 3. The upper end portion of the conveyor 29 is moved laterally along with the lateral movement of the conveyor 29.
The upper end of the shade part 27 is arranged so as to constantly face the insertion part of the shade part 27.
°・３０は運搬車を前後に移動させる運搬車移動装置を
示すもので、運搬車の後輪部を移動体３１上に載置し、
前後に配設したスプロケット３２．３３にチェーン３４
を掛は回し、該チェーン３４に移動体３１を取り付け、
駆動モータ３５を駆動して運搬車を前後に移動させるよ
うにしである。30 indicates a transport vehicle moving device for moving the transport vehicle back and forth, in which the rear wheels of the transport vehicle are placed on the moving body 31,
Chain 34 on sprockets 32 and 33 arranged on the front and rear
, attach the movable body 31 to the chain 34,
The drive motor 35 is driven to move the transport vehicle back and forth.
上記のように袋荷積込み装置ｌは、袋筒の払出し部１５
を運搬車の荷台に対して左右及び上下方向に移動自在と
し、かつ運搬車を運搬車移動装置３０によって前後移動
自在とすることによって払出し部１５を荷台に対して相
対的に前後移動自在としである。As described above, the bag loading device l has a bag tube dispensing section 15.
The dispensing unit 15 can be freely moved back and forth relative to the loading platform by making it movable in the horizontal and vertical directions with respect to the loading platform of the carrier, and by making the loading vehicle movable back and forth by the loading vehicle moving device 30. be.
次に上記のように袋荷積込装置を用いて運搬車の荷台に
袋筒を積込み方法を第３図〜第８図に基づいて説明する
。Next, a method of loading bag tubes onto the loading platform of a carrier vehicle using the bag loading device as described above will be explained with reference to FIGS. 3 to 8.
先ず、運搬車の荷台に袋筒を積込む操作を開始する前に
初期操作として第３図に示すように、払出し部１５上部
の超音波センサ２０から払出しゲート１６を開放状態に
したときの払出しゲート１６の下端部までの距離Ｌ１に
払出し部１５が支障なく水平移動するのに必要な余裕距
離Ｌ２を加えた距離りを記憶部２４に記憶させてお（。First, as an initial operation before starting the operation of loading bags onto the loading platform of a transport vehicle, as shown in FIG. The storage unit 24 stores the distance L1 to the lower end of the gate 16 plus the margin distance L2 necessary for the payout unit 15 to move horizontally without any trouble.
袋荷積込み装置の袋荷払出し部１５から袋筒な払い出し
運搬車の荷台に積込む場合、運転台側の横並びの１列か
ら順次積層し荷台後尾へと積込んでいくのであるが、第
４図〜第８図は積み込み状態を示した図である。なお、
図中の袋筒に記載した番号は積み込み順序を示したもの
であり、以下Ｎｏ、ｌ 、 Ｎｏ、２ ・・・・・の袋
筒という表現をする。When loading bags from the bag unloading section 15 of the bag loading device onto the loading platform of a bag delivery vehicle, the bags are stacked sequentially from the first horizontal row on the driver's cab side and loaded toward the rear of the loading platform. 8 to 8 are views showing the loading state. In addition,
The numbers written on the bag cylinders in the figure indicate the order of loading, and hereinafter, the bag cylinders will be referred to as No., L, No., 2, etc.
先ず、最下段の袋筒の載せ方は第４図のように荷台の一
端部に位置させ、払出し部１５の払出しゲート１６を開
放させながら降下させて荷台面に近づける。このとき、
超音波センサ２０から超音波を発射し、超音波センサ２
０と荷台面との距離をＣＰＵ２３で演算測定しながら降
下させ、測定した距離が記憶部２４に予め設定記憶した
距離りと等しくなった高さで制御ユニット２６を制御し
て払出し部１５を停止させることにより、払出し部１５
を荷台に対し適正な払出し高さに位置させることができ
る。そして、払出しゲート１６を一旦閉塞してから袋筒
を払出し部１５に供給し、それから払出しゲート１６を
開放し、払出しゲー１−１６でガイドしながらＮｏ、ｌ
の袋筒を払出す。First, the lowermost bag cylinder is placed on one end of the loading platform as shown in FIG. 4, and is lowered close to the loading surface while opening the dispensing gate 16 of the dispensing section 15. At this time,
The ultrasonic sensor 20 emits ultrasonic waves, and the ultrasonic sensor 2
0 and the loading platform surface while calculating and measuring it with the CPU 23, and the control unit 26 is controlled to stop the dispensing unit 15 at the height when the measured distance becomes equal to the distance preset and stored in the storage unit 24. By doing so, the dispensing unit 15
can be positioned at an appropriate payout height relative to the loading platform. Then, after once closing the dispensing gate 16, the bag cylinder is supplied to the dispensing section 15, and then the dispensing gate 16 is opened, and while being guided by the dispensing game 1-16, No.
Take out the bag tube.
最下段の袋筒の載せ方は１袋づつ１袋おきに積み込むの
であるが、払出し部１５を次の積込み位置に移動させる
場合には、第５図のようにＮｏ、１の袋筒を払出したと
きに、超音波センサ２０によってＮｏ、ｌの袋筒の上面
までの距離を測定しながら払出し部１５を上昇させ、袋
荷上面までの距離が記憶部２４に設定記憶した距離りと
等しくなる高さに達すると上昇を停止し、払出しゲート
１６を閉塞する。このように超音波センサ２０とＮｏ−
１の袋荷上面との距離が設定記憶した距離りに等しくな
る高さまでくると払出し部１５の上昇を停止させるとい
うことは、Ｎｏ、ｌの袋筒の厚み分だけ上昇させたこと
になる。そして、このとき払出し部１５が上昇した上昇
距離、すなわち袋筒Ｎｏ。The bag tubes at the bottom are loaded one bag at a time, one bag at a time, but when moving the dispensing section 15 to the next loading position, the bag tubes numbered No. 1 are loaded as shown in Fig. 5. At this time, the dispensing section 15 is raised while measuring the distance to the top surface of the No. and L bag tubes using the ultrasonic sensor 20, and the distance to the top surface of the bag becomes equal to the distance set and stored in the storage section 24. When the height is reached, the ascent is stopped and the payout gate 16 is closed. In this way, the ultrasonic sensor 20 and No.
Stopping the lifting of the dispensing part 15 when the distance from the upper surface of the bag No. 1 reaches a height equal to the set and memorized distance means that it has been raised by the thickness of the bag tube No. 1. Then, the rising distance that the dispensing part 15 has risen at this time, that is, the bag cylinder number.
ｌの厚みを記憶部２４に記憶させてお（。その後水平移
動してＮｏ、２の袋筒の上位まで移動し、前記記憶した
上昇距離分下降して想像線で示す位置に停止してＮｏ、
２の袋筒を払出す。そして、前記Ｎｏ、ｌの袋筒からＮ
ｏ、２の袋筒に移動したのと同様の方法で次のＮｏ、３
の袋筒も払出すのである。The thickness of 1 is stored in the storage unit 24 (.Then, it moves horizontally to the top of the bag tube No. 2, descends by the memorized upward distance, stops at the position shown by the imaginary line, and ,
Take out the 2nd bag tube. Then, from the bag tube of No. 1, N
Move to the next bag tube No. 3 in the same way as you moved to the bag tube No. o, 2.
They also take out the bag tubes.
第６図のように最下段の袋筒を積み終えると同一段の１
袋おきに積込んだ袋荷量のあきスペースに払出し部１５
を移動させるのであるが、このときも超音波センサ２０
によってＮｏ、３の袋筒の上面までの距離を測定しなが
ら払出し部１５を上昇させ、測定した距離が前記距ｊｌ
ｉｉＬと等しくなった高さで停止させ、その後水平移動
して想像線で示す位置まで移動させる。そして、払出し
ゲート１６を開閉してＮｏ、４の袋筒なＮｏ、２とＮｏ
、３の袋筒の間に入り込ませ、続いてＮｏ、５の袋筒な
払出しゲート１６によってガイドさせながらＮｏ、４の
袋荷上に払出す。これ以降の積込みは効率よく積込むた
めに２袋づつ払出す。As shown in Figure 6, when the bottom row of bag cylinders is stacked,
The dispensing unit 15 is placed in the empty space of the bag load loaded in every bag.
The ultrasonic sensor 20 is moved at this time as well.
The dispensing unit 15 is raised while measuring the distance to the top surface of the bag tube No. 3, and the measured distance is the distance jl.
It is stopped at a height equal to iiL, and then moved horizontally to the position shown by the imaginary line. Then, open and close the payout gate 16 and check the bag tubes of No. 4, No. 2, and No.
, 3, and then, while being guided by the discharge gate 16, the bag tubes of No. 5 are discharged onto the bag loads of No. 4. For subsequent loading, two bags are dispensed at a time to ensure efficient loading.
Ｎｏ、４とＮｏ、５の袋筒を払出すと第７図のように超
音波センサ２０によってＮｏ、５の袋筒の上面までの距
離を測定しながら払出し部１５を上昇させ、測定した距
離が記憶した距離りと等しくなった高さで停止させる。When the No. 4 and No. 5 bag tubes are dispensed, the distance to the top of the No. 5 bag tubes is measured by the ultrasonic sensor 20 as shown in FIG. 7, and the dispensing unit 15 is raised, and the measured distance is The robot will stop at a height equal to the distance it has memorized.
このとき、払出し部１５の上昇距離を記憶部２４に記憶
しておき、払出し部１５をＮｏ、ｌとＮｏ、２の袋荷量
のあきスペース上位に水平移動させる。払出し部１５が
あきスペース上位に到達すれば、先程記憶した上昇距離
分だけ払出し部１５を降下させて想像線で示す位置に位
置させ、Ｎ ｏ、６とＮ００７の袋筒な払出す。このケ
ースのように、同一段に次のあきスペースがある場合に
は払出し部１５をそのあきスペース上に水平移動した後
、前回記憶した上昇距離分だけ降下させることによって
次の払出し高さを適正なものにすることができる。これ
以降同一段のあきスペースに袋筒を払出すときは同様の
方法によって行なうのである。At this time, the ascending distance of the dispensing part 15 is stored in the storage part 24, and the dispensing part 15 is horizontally moved to the upper part of the empty space of the No. 1 and No. 2 bag loads. When the dispensing part 15 reaches the upper part of the empty space, it is lowered by the previously memorized ascending distance and positioned at the position shown by the imaginary line, and dispenses bags No. 6 and No. 007. As in this case, if there is a next empty space on the same level, move the dispensing unit 15 horizontally onto that empty space and then lower it by the previously memorized rising distance to set the next dispensing height appropriately. can be made into something. From now on, the same method is used to dispense the bag tubes into the empty spaces on the same tier.
次いで第８図に示すようにＮ ｏ、６とＮｏ、７の袋筒
を払出し、次に払出す袋筒の位置が上位段となる場合に
は、超音波センサ２０から超音波を発射してＮｏ、７の
袋荷上面までの距離を測定しながら払出し部１５を上昇
させ、測定した距離が記憶した距離りと等しくなった高
さで停止し、その後水平移動して想像線で示す位置に位
置させ、Ｎ００８とＮ ｏ、９の袋筒を払出す。このケ
ースのように、次に袋筒の払出す位置が今回払出した位
置より上段であるときは、払出し部をそのあきスペース
上に水平移動して降下せずに払出すのである。これ以降
上位段のあきスペースに袋筒を払出すときは同様の方法
によって行なうのである。Next, as shown in FIG. 8, the bag tubes No. 6 and No. 7 are discharged, and if the position of the next bag tube to be discharged is in the upper stage, ultrasonic waves are emitted from the ultrasonic sensor 20. The dispensing unit 15 is raised while measuring the distance to the top surface of the bag No. 7, and stops at the height where the measured distance becomes equal to the memorized distance, and then moves horizontally to the position shown by the imaginary line. position, and take out the bag cylinders No. 008, No. 9, and No. 9. As in this case, when the next dispensing position of the bag cylinder is higher than the current dispensing position, the dispensing section is moved horizontally onto the empty space and dispensed without descending. From then on, the same method is used to dispense the bag tubes into the empty space in the upper stage.
［発明の効果１
以上のように本発明に係る運搬車用袋荷積込み装置にお
ける袋荷積込み方法にあっては、１袋おきに積込んだ隣
接する袋荷量のあきスペースに袋筒を２袋づつ積層する
際に、払出し部１５の上部に取付けた距離センサ２０に
よって袋荷上面までの距離を測定しながら払出し部１５
を上昇させ、該測定距離が予め設定記憶している距離り
に等しい高さに達すると上昇を停止し、この上昇距離を
記憶しておき、次に袋筒の払出す位置が今回払出した位
置と同一段であるときは払出し部をそのあきスペース上
に水平移動した後、前記上昇距離分だけ降下させて次の
袋筒を払出し、また、次に袋筒の払出す位置が今回払出
した位置より上位段であるときは払出し部をそのあきス
ペース上に水平移動して降下せずに払出すようにするの
で、袋詰め時に入る空気量や内容物の比重等で袋筒の厚
みが変化しても袋の厚みに対応した高さを維持して袋筒
を払出すことができ、常に安定した姿勢で袋筒を積み上
げることができ、作業員の介添えも不必要になって完全
自動化をはかることができる。[Effect of the invention 1 As described above, in the bag loading method in the bag loading device for a transport vehicle according to the present invention, two bag tubes are placed in the empty space between adjacent bags loaded every other bag. When stacking bags one by one, the distance sensor 20 attached to the top of the dispensing section 15 measures the distance to the top surface of the bag.
is raised, and when the measured distance reaches a height equal to the preset and memorized distance, the raising is stopped, this rising distance is memorized, and then the position at which the bag tube is dispensed is set to the position where it was dispensed this time. If the dispensing unit is on the same level as the above, move the dispensing unit horizontally onto that empty space, then lower it by the above-mentioned upward distance to dispense the next bag tube, and then set the dispensing position of the next bag tube to the current dispensing position. When the bag is in a higher stage, the dispensing section is moved horizontally onto the empty space and the bag is dispensed without falling, so the thickness of the bag tube changes depending on the amount of air that enters during bagging, the specific gravity of the contents, etc. The bag tubes can be dispensed while maintaining the height corresponding to the thickness of the bag, and the bag tubes can always be stacked in a stable posture, eliminating the need for worker assistance and achieving complete automation. be able to.
また、払出し部１５の上昇移動する距離も袋筒の厚みに
応じた最小距離でよいので、積込み時間を短縮すること
ができるのである。Furthermore, since the distance over which the dispensing section 15 moves upward may be the minimum distance depending on the thickness of the bag tube, the loading time can be shortened.
第１図は本発明に係わる運搬車用袋荷積込み装置の一部
切り欠き正面図、第２図は第１図の左側面図、第３図は
払出し部の一部切り欠きした拡大図、第４〜第８図は袋
筒の積み込み状態を示す説明図である。Fig. 1 is a partially cutaway front view of a bag loading device for a transport vehicle according to the present invention, Fig. 2 is a left side view of Fig. 1, and Fig. 3 is a partially cutaway enlarged view of the dispensing section. 4 to 8 are explanatory diagrams showing the loading state of the bag tube.
Claims (1)
の払出し部を運搬車に対して前後左右及び上下方向に移
動自在とし、最下段の袋荷を運搬車の荷台上に１袋おき
に払出して積込みし、それ以降は払出し部を袋荷間のあ
きスペースの真上に位置させ、払出しゲートを開閉して
袋荷をあきスペースに払出した後、続いてその袋荷上に
次の袋荷を払出して積込み、２袋づつ積層しながら順次
荷台上に袋荷を多数段積込むようにした運搬車用袋荷積
込み装置において、払出し部の上部に距離センサを取り
付け、払出しゲートを開放状態としたときの距離センサ
と払出しゲート下端部との距離Ｌを制御部に予め記憶さ
せておき、払出し部から袋荷を払出したときに、距離セ
ンサによって袋荷上面までの距離を検出しながら払出し
部を上昇させ、袋荷上面までの距離が前記記憶した距離
Ｌと等しい高さに達すると上昇を停止し、上昇距離を記
憶しておくとともに、続いて袋荷を同一段に払出す場合
には、払出し部をそのあきスペース上に水平移動した後
、前記記憶した上昇距離分だけ降下させて次の袋荷を払
出し、また、袋荷を上位段に払出す場合には、払出し部
をそのあきスペース上に水平移動して次の袋荷を払出す
ようにしたことを特徴とする運搬車用袋荷積込み装置に
おける袋荷積込み方法。The bag discharge section, which has a discharge gate that opens on both sides facing downward, is movable forward, backward, left, right, and up and down with respect to the transport vehicle, and the lowest bags are discharged every other bag onto the platform of the transport vehicle. After that, position the unloading section directly above the empty space between the bags, open and close the unloading gate to unload the bag into the empty space, and then place the next bag on top of that bag. In the bag loading device for a transport vehicle, which stacks two bags at a time and sequentially loads the bags in multiple stages onto the loading platform, a distance sensor is attached to the top of the dispensing section, and the dispensing gate is set in the open state. The distance L between the distance sensor and the lower end of the dispensing gate is stored in advance in the control section, and when the bag is discharged from the dispensing section, the distance L between the distance sensor and the bottom end of the dispensing gate is detected by the distance sensor and the distance L between the dispensing gate and the bottom end of the dispensing gate is detected by the distance sensor. When the distance to the top surface of the bag reaches a height equal to the memorized distance L, the lift is stopped, and the rising distance is memorized, and when the bag is subsequently discharged on the same level, the lift is stopped. , after moving the dispensing section horizontally onto the empty space, it is lowered by the memorized upward distance to dispense the next bag. Also, when discharging the bag to the upper stage, move the dispensing section to the empty space. A method for loading bags in a bag loading device for a transport vehicle, characterized in that the next bag is discharged by horizontal movement on a space.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1041311A JPH0798580B2 (en) | 1989-02-20 | 1989-02-20 | Bag loading method in bag loading device for carrier |
| KR1019890011106A KR930011218B1 (en) | 1988-09-21 | 1989-08-03 | Device for loading package on truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1041311A JPH0798580B2 (en) | 1989-02-20 | 1989-02-20 | Bag loading method in bag loading device for carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02221027A true JPH02221027A (en) | 1990-09-04 |
| JPH0798580B2 JPH0798580B2 (en) | 1995-10-25 |
Family
ID=12604957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1041311A Expired - Fee Related JPH0798580B2 (en) | 1988-09-21 | 1989-02-20 | Bag loading method in bag loading device for carrier |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0798580B2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0764600A2 (en) * | 1995-09-19 | 1997-03-26 | Recot, Inc. | Semiautomatic stacker for stackable articles |
| JP2012236714A (en) * | 2011-10-28 | 2012-12-06 | Fuji Yusoki Kogyo Co Ltd | Stacking apparatus, and conveyance equipment including the same |
| CN102874610A (en) * | 2012-09-14 | 2013-01-16 | 江苏通达机械设备制造有限公司 | Movable loading belt conveyor |
| JP2018076178A (en) * | 2016-11-01 | 2018-05-17 | トーヨーカネツソリューションズ株式会社 | Article take-out device and article conveyance system |
| CN109534019A (en) * | 2018-12-19 | 2019-03-29 | 广州市意诺仕智能设备有限公司 | A kind of bagged material loading device and application method |
| JP2021127235A (en) * | 2020-02-17 | 2021-09-02 | 西部電機株式会社 | Cargo loading device and cargo loading method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61153706A (en) * | 1984-12-26 | 1986-07-12 | Hitachi Ltd | Automatic loading device of cargo |
-
1989
- 1989-02-20 JP JP1041311A patent/JPH0798580B2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61153706A (en) * | 1984-12-26 | 1986-07-12 | Hitachi Ltd | Automatic loading device of cargo |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0764600A2 (en) * | 1995-09-19 | 1997-03-26 | Recot, Inc. | Semiautomatic stacker for stackable articles |
| EP0764600A3 (en) * | 1995-09-19 | 1998-07-08 | Recot, Inc. | Semiautomatic stacker for stackable articles |
| JP2012236714A (en) * | 2011-10-28 | 2012-12-06 | Fuji Yusoki Kogyo Co Ltd | Stacking apparatus, and conveyance equipment including the same |
| CN102874610A (en) * | 2012-09-14 | 2013-01-16 | 江苏通达机械设备制造有限公司 | Movable loading belt conveyor |
| JP2018076178A (en) * | 2016-11-01 | 2018-05-17 | トーヨーカネツソリューションズ株式会社 | Article take-out device and article conveyance system |
| CN109534019A (en) * | 2018-12-19 | 2019-03-29 | 广州市意诺仕智能设备有限公司 | A kind of bagged material loading device and application method |
| JP2021127235A (en) * | 2020-02-17 | 2021-09-02 | 西部電機株式会社 | Cargo loading device and cargo loading method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0798580B2 (en) | 1995-10-25 |
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