JP6887173B2 - Step disassembling device - Google Patents

Description

The present invention relates to a step disassembling device, particularly a step disassembling device for stepping a container made of a magnetic material.

For example, a metal can container (for example, an 18-liter can (Ito-kan)) that is made of metal and has a substantially square pillar shape for storing and transporting liquids such as paints, solvents, chemicals or cooking oil, and powders such as metal powder. Is widely used (see, for example, Patent Document 1).

Jikkenhei 7-35335 Gazette

The above-mentioned can container has, for example, a substantially rectangular parallelepiped shape from the upper and lower surfaces and four side surfaces, has a spout and a handle on the upper surface, and holds the handle to transfer the liquid inside from the spout to another container or the like. Pour out.
In this way, can containers such as itto-kans that store approximately 18 liters of liquid are heavy, and transporting them is hard work. In particular, the work of disassembling a plurality of stacked can containers for the next work becomes even more difficult because the can containers need to be raised and lowered.
For example, conventionally, in a suction cup, there is a device for stepping out can containers one by one. However, in a device using a suction cup, it is necessary to wipe the can containers one by one and dry them completely in order to surely adsorb the suction cups. This is too laborious and inefficient.

An object of the present invention is to automate the step-off of stacked can containers.

Hereinafter, a plurality of aspects will be described as means for solving the problem. These aspects can be arbitrarily combined as needed.

The step-disassembling device for a magnetic container according to the apparent aspect of the present invention includes a holding mechanism and a conveying mechanism.
The holding mechanism has a magnet and attracts and holds the upper part of the magnetic container from above.
The transport mechanism transports the magnetic container by moving the holding mechanism.
In this device, the magnetic container can be conveyed by attracting and holding the upper part of the magnetic container from above with a magnet. Therefore, even a heavy container can be stepped. In this way, the stacking of can containers is automated.
Especially for can containers such as Itto-kan, the upper surface is thin, so magnet attraction may not be sufficient, but the edge protrusions stand up with a predetermined length in the vertical direction, so that part It is considered that the action of the magnetic force made it possible for even a heavy can container to be attracted by a magnet.

The holding mechanism has an elongated shape in a plan view, and may have a holding portion for simultaneously holding a plurality of magnetic containers arranged in the longitudinal direction.
In this device, since a plurality of magnetic container can be conveyed at the same time, the efficiency of step disassembling is improved.

The holding mechanism may have a first elevating part that raises and lowers the holding part. The transport mechanism may have a horizontal movement mechanism that moves the first elevating part in the horizontal direction.
In this device, the first elevating part lowers the holding part so that the magnet attracts and holds the container, then the first elevating part raises the holding part, and then the horizontal movement mechanism holds the first elevating part. Move the part and container horizontally.

The holding mechanism may have a support member connected to the first elevating part and a second elevating part that raises and lowers the holding part with respect to the support member.
In this device, the first elevating part lowers the support member, and then the second elevating part lowers the magnet with respect to the support member, so that the magnet attracts and holds the container.

The holding mechanism may further include a rotary connecting portion that rotatably connects the support member and the second elevating portion.
In this device, since the second elevating part can rotate with respect to the support member, the postures of the second elevating part and the magnet can be adjusted to the upper surface of the container even if the container is tilted or deformed.

The rotary connecting portion may allow the second elevating portion to move up and down within a predetermined range with respect to the support member.
In this device, since the second elevating part can move up and down with respect to the support member within a predetermined range, it can be reliably sucked even if the height of the can container is different within a predetermined range.

In the step-disassembling device according to the present invention, the step-disassembling of stacked can containers can be automated.

The schematic plan view of the step disassembly device of 1st Embodiment. Schematic side view of the step disassembling device. Perspective view of the can container. Bottom view of the holding part. The partial side view which shows the suction state of a holding part and a can container. The side view which shows the state at the moment when a holding mechanism sucked a can container. A side view showing a state in which the holding mechanism carries the can container above the conveyor. The block diagram which shows the control composition of the step disassembly device. A flowchart showing a step-off control operation. The schematic plan view which shows one operation state of a step-off device. The schematic plan view which shows one operation state of a step-off device. The schematic plan view which shows one operation state of a step-off device. The schematic side view which shows one operation state of the step disassembly device. The schematic side view which shows one operation state of the step disassembly device. The schematic side view which shows one operation state of the step disassembly device. The schematic side view which shows one operation state of the step disassembly device. The schematic side view which shows one operation state of the step disassembly device. The schematic side view which shows one operation state of the step disassembly device. The schematic side view which shows one operation state of the step disassembly device. The schematic side view which shows one operation state of the step disassembly device. The schematic side view which shows one operation state of the step disassembly device. The schematic side view which shows one operation state of the step disassembly device.

1. 1. 1st Embodiment (1) Basic configuration of a step disassembling device The configuration of the step disassembling device 1 will be described with reference to FIGS. 1 to 5. FIG. 1 is a schematic plan view of the step disassembling device of the first embodiment. FIG. 2 is a schematic side view of the step disassembling device. FIG. 3 is a perspective view of the can container. FIG. 4 is a bottom view of the holding portion. FIG. 5 is a partial side view showing the suction state of the holding portion and the can container.
The arrow X is the first horizontal direction (vertical direction in FIG. 1), and the arrow Y is the second horizontal direction (horizontal direction in FIG. 1). The first horizontal direction and the second horizontal direction are orthogonal to each other.

The step-disassembling device 1 is a device for step-disassembling the can container 3 as a magnetic container. The can container 3 is, for example, a so-called Ito-kan, which is made of steel. Agricultural products such as chestnuts are contained in the can container 3, and the can container 3 has a weight of 10 to 30 kg.
As shown in FIG. 3, the can container 3 has a rectangular parallelepiped shape. As shown in FIG. 4, the can container 3 has an upper surface portion 3a and an edge protrusion 3b extending upward from the outer peripheral edge of the upper surface portion 3a. The rim projection 3b has a height of, for example, 2 to 5 m.
As shown in FIG. 2, the can container 3 is arranged in three stages on the pallet P. As shown in FIG. 1, the can containers 3 are arranged in 5 rows × 4 columns at each stage.

The step disassembling device 1 has a holding mechanism 5 and a transport mechanism 7 (FIG. 2).
The holding mechanism 5 is a device for holding and releasing the can container 3. The holding mechanism 5 has a holding portion 11. As shown in FIGS. 4 and 5, the holding portion 11 has a permanent magnet 9 on the lower surface, and attracts and holds the upper portion of the can container 3 from above (described later).
The transport mechanism 7 transports the can container 3 by moving the holding mechanism 5 (described later).

As shown in FIG. 1, the step disassembling device 1 has a first device 101. The first device 101 is a mechanism for carrying in a plurality of can containers 3 stacked on the pallet P. The first device 101 has a positioning device 111 that positions a plurality of can containers 3. The positioning device 111 is a known technique including a cylinder or the like.

The step disassembling device 1 has a second device 103 as shown in FIGS. 1 and 2. The second device 103 is arranged in the vicinity of the first device 101 (on one side in the first horizontal direction). The second device 103 is a mechanism for executing the step-off of the plurality of can containers 3 by the holding mechanism 5 and the transport mechanism 7 described above.
As shown by the white arrow in FIG. 1, the can container 3 positioned by the first device 101 is moved to the second device 103 by the pallet carrying conveyor 113 together with the pallet P. The pallet carry-in conveyor 113 is a known technique.
As shown in FIGS. 21 and 22, the second device 103 has an elevating mechanism 115 for moving the pallet P and the can container 3 upward. As shown in FIG. 21, if all the uppermost can containers 3 are carried out at that time, the elevating mechanism 115 uses the next uppermost can container 3 as the first uppermost can container 3 as shown in FIG. 22. It is a device that raises the height position H (reference to the upper surface or reference to the edge protrusion). 21 and 22 are schematic side views showing one operating state of the step disassembling device. As a result, the height of the top surface of the can container 3 to be suction-conveyed is set at a predetermined position. The elevating mechanism 115 is a known technique including a motor, a chain, a sprocket, and the like.
The second device 103 has a pallet unloading conveyor 117 that discharges the empty pallet P in the second horizontal direction, as shown by the black arrow in FIG. The pallet unloading conveyor 117 is a known technique.

The step disassembling device 1 has a third device 105 as shown in FIGS. 1 and 2. The third device 105 is arranged in the vicinity of the second device 103 (on one side in the first horizontal direction). The third device 105 has a can container unloading conveyor 119 on which the stepped-down can container 3 is placed and which conveys the can container 3 to the next processing work place. The can container unloading conveyor 119 is a known technique.

(2) Detailed Structure of Holding Mechanism As shown in FIG. 4, the holding portion 11 has an elongated shape in a plan view, and holds a plurality of can containers 3 at the same time. Specifically, the holding portion 11 extends long in the second horizontal direction.
As shown in FIG. 4, a plurality of permanent magnets 9 are arranged on the lower surface of the holding portion 11 so as to be spread. Each permanent magnet 9 is a rectangular parallelepiped of 10 to 80 mm. The arrangement area of the permanent magnet 9 extends to the outside of the outer peripheral edge of the can container 3, which will be described later.
The permanent magnet is not particularly limited, and may be a rare earth magnet, a ferrite magnet or the like.
The number, placement position, and type of permanent magnets are not particularly limited.

In this step disassembling device 1, the can container 3 can be conveyed by attracting and holding the upper part of the can container 3 from above by the permanent magnet 9. Therefore, even a heavy can container 3 can be disassembled. In this way, the stacking of the stacked can containers 3 is automated.
In particular, in a can container 3 such as an itto-kan, since the upper surface portion 3a is thin, the permanent magnet 9 may not be sufficiently attracted, but as shown in FIG. 5, the edge protrusion 3b has a predetermined length in the vertical direction. It is considered that even a heavy can container 3 can be attracted by the permanent magnet 9 due to the action of a magnetic force on the portion of the can container 3 because it stands up with a sword.

The holding mechanism 5 is provided at three positions separated in the second horizontal direction above the holding portion 11.
The holding mechanism 5 has a first cylinder 13 (an example of the first elevating part) that raises and lowers the holding part 11. The holding mechanism 5 has a support member 15 (an example of a support member) connected to the first cylinder 13 and a second cylinder 17 (an example of a second elevating part) that raises and lowers the holding portion 11 with respect to the support member 15. Have. That is, the support member 15 and the second cylinder 17 are connected between the first cylinder 13 and the holding portion 11.

The detailed structure of the holding mechanism 5 will be described with reference to FIG. FIG. 6 is a side view showing a state at the moment when the holding mechanism sucks the can container.
The holding mechanism 5 further includes a rotary connecting portion 19 that rotatably connects the support member 15 and the second cylinder 17. The rotary connecting portion 19 has a pin 19a fixed to the second cylinder 17 and a hole 19b provided in the lower part of the support member 15. The hole 19b penetrates in the second horizontal direction, and the pin 19a extends through the hole 19b in the second horizontal direction. Further, the hole 19b is an elongated hole extending in the vertical direction. With the above structure, the second cylinder 17 can rotate and move up and down within a predetermined range (for example, several mm) with respect to the support member 15.
Since the holding portion 11 is rotatably supported in this way, the holding portion 11 can move according to the inclination of the can container 3. Further, even if the thickness of the pallet is different and the height of the upper surface of the can container 3 is different in the first horizontal direction, the holding portion 11 can surely adsorb the can container 3. Further, even if the shape of the can container 3 is deformed, the holding portion 11 can surely adsorb the can container 3.
Since there are three rotary connecting portions 19 in the second horizontal direction, the pins 19a can rotate and move up and down with respect to the holes 19b in each of them. Therefore, it is possible to flexibly cope with the disorder of the height, shape, position, etc. in the second horizontal direction of the can container 3.

(3) Configuration of Transport Mechanism The transport mechanism 7 has a horizontal movement mechanism 121 that moves the holding mechanism 5 in the horizontal direction. The horizontal movement mechanism 121 is arranged at the uppermost portion, and moves the holding mechanism 5 in the first horizontal direction between the second device 103 and the third device 105. The horizontal movement mechanism 121 is a known technique using a motor, a chain, a sprocket, or the like.

(4) Control Configuration The control configuration of the stage disassembling device 1 will be described with reference to FIG. FIG. 8 is a block diagram showing a control configuration of the step disassembling device.
The step disassembling device 1 has a controller 51. The controller 51 is a computer having a processor (for example, a CPU), a storage device (for example, ROM, RAM, HDD, SSD, etc.) and various interfaces (for example, an A / D converter, a D / A converter, a communication interface, etc.). It is a system. The controller 51 performs various control operations by executing a program stored in the storage unit (corresponding to a part or all of the storage area of the storage device).
The controller 51 may be composed of a single processor, or may be composed of a plurality of independent processors for each control.
A part or all of the functions of each element of the controller 51 may be realized as a program that can be executed by the computer system constituting the control unit. In addition, a part of the function of each element of the controller 51 may be configured by a custom IC.

A positioning device 111, a pallet loading conveyor 113, an elevating mechanism 115, a pallet unloading conveyor 117, a can container discharging conveyor 119, a horizontal moving mechanism 121, a first cylinder 13, and a second cylinder 17 are connected to the controller 51. ..
Although not shown, the controller 51 is connected to a sensor for detecting the size, shape, and position of the can container 3, a sensor and a switch for detecting the state of each device, and an information input device.

(5) Control operation The step disassembling control operation of the step disassembling device 1 will be described with reference to FIGS. 9 to 20. FIG. 9 is a flowchart showing the step separation control operation. 10 to 12 are schematic plan views showing one operating state of the step disassembling device. 13 to 20 are schematic side views showing one operating state of the step disassembling device.
The control flowchart described below is an example, and each step can be omitted or replaced as necessary. Further, a plurality of steps may be executed at the same time, or some or all of them may be executed in an overlapping manner.

Further, each block of the control flowchart is not limited to a single control operation, and can be replaced with a plurality of control operations represented by a plurality of blocks.
The operation of each device is the result of a command from the control unit to each device, and these are represented by each step of the software application.

In step S1, it is determined whether or not the pallet P on which the can containers 3 are stacked is placed on the second device 103. Specifically, the controller 51 makes the above determination based on the information from the sensor (not shown). If the pallet P is placed as shown in FIG. 10, the process proceeds to step S2.
In step S2, it is determined whether or not all the can containers 3 on the pallet P have been carried out and the stepping has been completed. Specifically, the controller 51 makes the above determination based on the information from the sensor (not shown). If the stage disassembly is completed, the process proceeds to step S13, and if the stage disassembly is not completed, the process proceeds to step S3.

In step S3, it is determined whether or not one stage of the can container 3 on the pallet P has been carried out. Specifically, the controller 51 makes the above determination based on the information from the sensor (not shown). If the unloading of the first stage is completed, the process proceeds to step S4, and if the unloading of the first stage is not completed, the process skips step S4 and proceeds to step S5.
In step S4, the pallet P is raised by a predetermined height. Specifically, the controller 51 raises the pallet P by controlling the elevating mechanism 115. As a result, as shown in FIGS. 21 and 22, for example, the uppermost can container 3 at this time moves to the height position H (top reference or edge protrusion reference) of the uppermost can container 3 in the initial state. ..

In step S5, as shown in FIGS. 11 and 13, the holding mechanism 5 is moved above the target row of the can container 3 in the second device 103. Specifically, the controller 51 controls the horizontal movement mechanism 121.
In step S6, as shown in FIG. 14, the first cylinder 13 lowers the support member 15, the second cylinder 17, and the holding portion 11. Specifically, the controller 51 controls the first cylinder 13. As a result, the holding portion 11 moves to a position close to the upper surface of the can container 3.

In step S7, as shown in FIG. 15, the second cylinder 17 lowers the holding portion 11. Specifically, the controller 51 controls the second cylinder 17. As a result, the holding portion 11 is adsorbed on the upper part of the five can containers 3 in the target row.
In step S8, as shown in FIG. 16, the first cylinder 13 raises the support member 15, the second cylinder 17, and the holding portion 11. Specifically, the controller 51 controls the first cylinder 13. As a result, the five can containers 3 in a row rise.

In step S9, as shown in FIG. 17, the holding mechanism 5 is moved above the pallet unloading conveyor 117 of the third device 105. Specifically, the controller 51 controls the horizontal movement mechanism 121.

As described above, in the step disassembling device 1, the permanent magnet 9 attracts and holds the can container 3 by lowering the holding portion 11 by the first cylinder 13, and then the first cylinder 13 raises the holding portion 11. Then, the horizontal movement mechanism 121 moves the first cylinder 13, the holding portion 11, and the can container 3 in the horizontal direction. In the above-mentioned suction holding operation, more specifically, the first cylinder 13 lowers the holding portion 11, and then the second cylinder 17 lowers the holding portion 11 with respect to the support member 15, so that the permanent magnet 9 is used. Adsorbs and holds the can container 3.

6 and 7 will be used to describe the operation when the holding portion 11 and the can container 3 are deviated from each other in the first horizontal direction.
As shown by the two-point chain line in FIG. 6, the can container 3 is adsorbed with respect to the holding portion 11 in the first horizontal direction (that is, the center of the holding portion 11 and the center of the can container 3 are attracted to each other in the first horizontal direction. Then, when the can container 3 is moved to the upper part of the can container discharge conveyor 119, the first horizontal center of the can container 3 and the first horizontal center of the can container discharge conveyor 119 are aligned with each other. It is possible that it will shift. However, in the present embodiment, when the can container 3 is arranged above the can container discharge conveyor 119, the first horizontal center of the can container discharge conveyor 119 is directly below the pin 19a of the rotary connecting portion 19. As shown in FIG. 7, since the center of gravity of the can container 3 is deviated from the holding portion 11, the can container 3 is actually returned to the center side of the can container discharge conveyor 119 instead of the tilted state of FIG. It has become. As a result, the centers of the two are aligned or close to each other, that is, the can container 3 is stably placed on the can container discharge conveyor 119.

In step S10, as shown in FIG. 18, the first cylinder 13 lowers the support member 15, the second cylinder 17, and the holding portion 11. Specifically, the controller 51 controls the first cylinder 13. As a result, a row of can containers 3 is placed on the can container discharge conveyor 119.
In step S11, as shown in FIG. 19, the second cylinder 17 raises the holding portion 11. Specifically, the controller 51 controls the second cylinder 17. As a result, the holding portion 11 is separated upward from the row of can containers 3, so that the row of can containers 3 is left on the can container discharge conveyor 119. Then, as shown in FIG. 12, the can container discharge conveyor 119 conveys a row of can containers 3.

In step S12, the first cylinder 13 raises the support member 15, the second cylinder 17, and the holding portion 11. Specifically, the controller 51 controls the first cylinder 13.
In step S13, the empty pallet P is discharged from the second device 103. Specifically, the controller 51 drives the pallet unloading conveyor 117.

(6) Effect of the Embodiment In the step disassembling device 1, the can container 3 can be conveyed by attracting and holding the upper part of the can container 3 from above by the permanent magnet 9. Therefore, even a heavy can container 3 can be disassembled. In this way, the stacking of the stacked can containers 3 is automated.
In particular, in a can container 3 such as an itto-kan, since the upper surface portion 3a is thin, the permanent magnet 9 may not be sufficiently attracted, but the edge protrusion 3b stands up with a predetermined length in the vertical direction. Therefore, it is considered that even a heavy can container 3 can be attracted by the permanent magnet 9 by the action of the magnetic force on the portion.
Since the step-disassembling device 1 can convey a plurality of can containers 3 at the same time, the step-disassembling efficiency is improved.

In the step disassembling device 1, since the second cylinder 17 can rotate with respect to the support member 15, the postures of the second cylinder 17 and the permanent magnet 9 can be adjusted to the upper surface of the can container 3.
In the step disassembling device 1, since the second cylinder 17 can move up and down with respect to the support member 15 within a predetermined range, a large load does not act on the rotary connecting portion 19.

Since this embodiment uses a permanent magnet 9, it has the following plurality of advantages.
-Even if the can container 3 is wet, it can be transported without any problem.
-Since a plurality of can containers 3 are carried at one time, the efficiency of stepping is improved.
-Even the can container 3 whose upper shape is deformed can be lifted by contacting a few points.
-If there is a can container 3 that is not aligned correctly, only the correctly aligned items can be transported, and then the unaligned items can be transported. That is, there is no need to correct the misalignment.
-Even if the can container 3 is misaligned, only the target can be taken. The control is simple.
-There is no loss of the can container 3.

2. Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described herein can be arbitrarily combined as needed.
The type of magnet may be an electromagnet.
In the above embodiment, the Itto-kan has been described as an example of the can container, but other types of can containers may be used.
In the above embodiment, the maximum number of can containers in a row is adsorbed and transported at one time, but 1 to 4 may be adsorbed and transported when the maximum number of can containers in a row is 5.

In the above embodiment, a plurality of can containers are adsorbed and transported in one operation, but the can containers may be adsorbed and transported one by one.

The structure of the holding mechanism is not particularly limited. In particular, the type, number, and position of the drive unit are not limited.
The rotary connecting portion may be realized by another structure or may be omitted.

The present invention can be widely applied to a stepping device for stepping a container made of a magnetic material.

1: Step disassembling device 3: Can container 3a: Top surface 3b: Edge protrusion 5: Holding mechanism 7: Conveying mechanism 9: Permanent magnet 11: Holding part 13: First cylinder 15: Support member 17: Second cylinder 19: Time Dynamic connection 19a: Pin 19b: Hole 51: Controller 101: First device 103: Second device 105: Third device 111: Positioning device 113: Pallet loading conveyor 115: Lifting mechanism 117: Pallet discharge conveyor 119: Can container discharge Conveyor 121: Horizontal movement mechanism P: Pallet

Claims (3)

A holding mechanism that has a magnet and holds the upper surface of the magnetic container,
A transport mechanism that transports the magnetic container by moving the holding mechanism, and
Equipped with a,
The holding mechanism has an elongated shape in a plan view, and has a holding portion that simultaneously holds a plurality of magnetic containers arranged in the longitudinal direction, a first elevating portion, and a support member connected to the first elevating portion. And a second elevating part that raises and lowers the holding part with respect to the support member.
The transport mechanism is a step-off device for a magnetic container, which has a horizontal movement mechanism for moving the first elevating part in the horizontal direction. The step disassembling device for a magnetic container according to claim 1 , wherein the holding mechanism further includes a rotary connecting portion for rotatably connecting the support member and the second elevating portion. The step-disassembling device for a magnetic container according to claim 2 , wherein the rotary connecting portion allows the second elevating portion to move up and down within a predetermined range with respect to the support member.

Images