JP2001163410A - Emergency stop method of the cutting and conveying device for articles - Google Patents

Abstract

(57) [Problem] To provide an emergency stop method of an article cut-out and transfer device that can eliminate a contact or collision of articles when an emergency stop is performed, secure a predetermined distance between articles, and easily restart operation. I do. When an emergency stop signal is input, an emergency stop control circuit causes a cutout timing control calculation unit to generate a cutout stop signal. Further, the lag time t _d is calculated, and the start and stop control circuit 408 normally operates the transport conveyor 300 for the lag time t _d and then decelerates, so that the articles cut out before the emergency stop can be set at appropriate intervals. Be able to secure.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for cutting out articles to be conveyed after being cut out from storage shelves storing a plurality of articles such as packages and articles or boxes or packages containing the articles and transferred to a transport conveyor. The present invention relates to a technology for emergency stop of a transfer device.

[0002]

2. Description of the Related Art Conventionally, in a device for cutting out and transporting articles stored in storage shelves one by one, transferring the articles to a conveyor, and continuously feeding a plurality of articles, an interval between articles on the conveyor is as follows. A predetermined distance is ensured so that there is no contact or collision between articles. Further, the articles are cut out from the hangar and controlled to be conveyed at a constant speed so as to secure the distance between the articles. On the other hand, there arises a situation in which the article cut-out and transport device must be stopped urgently due to a failure, an accident, a full article, a delayed arrival of the article, or the like. If the conveyor is suddenly stopped at this time, the articles being conveyed at a constant speed collapse or fall over due to inertia, and slide on the conveyor surface to cause a large displacement of the mounting position. In addition, the articles cut out before the stop of the transport conveyor are placed at a position that is largely shifted from the virtual space position. Therefore, in order to avoid these phenomena, the vehicle is generally decelerated at a fixed rate and stopped. If the conveyor is decelerated and stopped immediately after an emergency stop signal is generated, the articles that are cut out from the storage shelves and are being transferred (in the air) are moved to the virtual space where the conveyor is to be placed (the transport location of the conveyor). Are placed considerably ahead of the continuous virtual conveyor surface where the pulse is developed, and the objects are damaged by contacting and colliding with the articles on the previous conveyor, or In order to restart the operation, it was necessary to repackage and reposition the goods, and it took time and effort to restart the operation. As a result, the cutting pitch became longer, causing a reduction in performance. In addition, when the distance between the articles is not sufficient, the normal operation after restarting the operation is also an obstacle. In order to solve this problem, the present applicant has developed a “device for placing articles on a conveyor” which cuts out a carton from a storage shelf, transfers the carton to a position in a virtual space of a belt conveyor, and conveys it. -283877. In this apparatus, the belt conveyor is decelerated when an emergency stop signal of the conveyor is generated. However, the conveyor used is a belt conveyor and has a high conveying speed of 75 m / min. Was longer than 3.7 m. Therefore, in this apparatus, from the time when the emergency stop signal is generated, while decelerating, the deceleration control is included in the calculation and the cut-out timing of the articles is controlled so that the apparatus is transferred to the virtual space of the belt conveyor or a position near the virtual space. did. However, in this emergency stop method, when the speed is rapidly decelerated, or in the case of a slowly conveyed conveyor, the deceleration stop distance is short, and the transfer of the article to the virtual space or a position near the virtual space requires the extraction of the article. It becomes difficult only by controlling the timing.

[0003]

SUMMARY OF THE INVENTION The problem to be solved by the present invention is to solve these problems of the prior art, and to load the cut out articles even when the conveyor speed is low or when the conveyor is stopped quickly. It can be placed close to the expected position, eliminating contact and collision of articles due to emergency stop of the conveyor,
An object of the present invention is to provide an emergency stop method of an article cutting and conveying apparatus that enables a gap between articles to be narrowed, secures a distance necessary for conveyance, and facilitates normal operation restart.

[0004]

Means for Solving the Problems The configuration of the present invention which has solved the above-mentioned problems is as follows: 1) An article cutting and conveying apparatus which cuts out an article from an article storage shelf, transfers the article to a virtual space defined by a conveyor, and conveys the article. Emergency stop method of, when the emergency stop signal of the conveyor is generated, the cutting is stopped thereafter,
The transport conveyor is moved for a predetermined lag time from the time of the emergency stop signal so that the articles that have been cut out and are being transferred are transferred to the virtual space position where the transfer conveyor is to be transferred or a space position close thereto. An emergency stop method of an article cutting and conveying device, characterized in that the apparatus is decelerated and stopped after continuing the continuous operation for a time, and stopped so as to avoid contact and proximity of the article. 2) A plurality of articles when an emergency stop signal is generated Is cut out, the lag time is determined such that the lag time is transferred to a virtual space position or a space position close to the virtual space position based on the latest cut out article, Stopping method 3) The emergency stopping method for an article cutting and conveying apparatus according to the above 1) or 2), wherein a lag time lag is determined in consideration of slippage during transfer of the article on the conveyor.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION
In addition to the roller conveyor, a conveyor such as a belt conveyor, a tray conveyor, and a bucket conveyor can be used. In addition, the time of the lag time from the occurrence of the emergency stop signal to
It changes depending on the degree of deceleration of the conveyor, and a short lag time is adopted for gentle deceleration, and a long lag time is adopted for fast deceleration. In short, the articles cut out by the feed amount between the lag time of the conveyor and the deceleration time from the start of deceleration to the stop of the conveyor are moved to a position in the virtual space where the conveyor is to be mounted or an emergency stop range close thereto. There is no contact collision and the distance between the articles can be maintained to some extent). The calculation of the lag time is performed by inputting various conditions by a computer. An appropriate value is determined for the deceleration of the conveyor according to the type, structure, frictional state of the conveyor surface, normal operation speed, article weight, and product type of the conveyor. When a plurality of articles are cut out from a plurality of storage shelves when an emergency stop signal is generated, the lag time is determined based on the condition cutout time of the latest cutout article or the last cutout group to which the article belongs. The present invention
This is particularly effective when the transport speed of the transport conveyer is low or when the transport is stopped quickly, but can also be used when the transport speed is high or when the transport is slowly decelerated.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. The article cutting and conveying apparatus according to the present embodiment uses a cardboard case different for each product type as an article, stores the articles (cardboard case) in storage shelves of gravity conveyors arranged in multiple rows, and stores the tip of the storage shelf. Is a device that cuts out articles (cardboard cases) from a cutting device to a conveyor using a roller conveyor and continuously conveys various cardboard cases while merging them. The transport speed of the transport conveyor (roller conveyor) is as low as 30 m / min, and the deceleration stop distance is as short as 0.128 m. The conveyor is controlled so as to stop quickly without causing the cardboard to slip. The time from when the article (corrugated cardboard case) is cut out from the cutting device to when it is loaded on the transport conveyor (roller conveyor) takes 1 second (the normal operation of the transport conveyor advances the conveyor by 500 mm). In such an article cutting and conveying apparatus, after the emergency stop signal is generated, the cutting apparatus immediately stops cutting, and the article cut out at the same time as the emergency stop signal time is located at the virtual space position where the article is to be placed on the transfer conveyor. The computer calculates the lag time in consideration of the slippage of the roller conveyor so that the normal continuous operation is continued from the time of the emergency stop signal, and then the deceleration stop distance is 0.128 m. This is an example in which a quick stop is performed.

FIG. 1 is a plan view of an apparatus for cutting out and conveying articles according to an embodiment. FIG. 2 is a side view illustrating the cutting device according to the embodiment. FIG. 3 is an explanatory diagram illustrating a cutting state of the cutting device according to the embodiment. FIG. 4 is an explanatory diagram of cutting out the normal operation of the embodiment. FIG. 5 is a speed change diagram of the transport conveyor of the embodiment. FIG. 6 is an explanatory diagram of the emergency stop according to the embodiment.

In the figure, 100 is a storage shelf using a gravity conveyor with a free roller conveyor inclined, 200 is a cutting device provided at the tip of the storage shelf, 201 is a free roller conveyor section of the cutting device 200 which can move up and down, 20
2 is a solenoid that moves up and down the free roller conveyor, 203 is a fixed guide conveyor that uses a roller conveyor, 204 is a fixed stopper that stops an article G that is a cardboard case, and 300 is a conveyor that uses a roller conveyor. And the transport speed during normal operation is 30 m
/ Min. 301 is a roller of the conveyor, 302
Is a motor for driving the conveyor 300, and deceleration, stop and start-up acceleration are controlled by an inverter. 303, an intermediate drive shaft for transmitting the power of the pulse motor to the roller 301;
Reference numeral 04 denotes a position of the roller 301 to be driven.
305 is an intermediate drive shaft 30
Reference numeral 306 denotes an endless chain that transmits the power of the output shaft of the motor 302 with a reduction gear to the intermediate drive shaft 303, and reference numeral 307 denotes a belt pulley 30.
4, a belt wrapped around the reduced diameter portion 308 of the roller 301; 308, a reduced diameter portion of the roller 301 receiving the belt; 309, an encoder mounted on the intermediate drive shaft 303; Of the virtual conveyor surface is measured, and the virtual conveyor position is represented by the number of pulses of this encoder. 40
0 is a driver circuit of the motor 302, 401 is a speed control circuit that sends a signal to the driver circuit 400 to adjust the number of revolutions (conveyor speed) of the motor 402, and 402 is a virtual signal of the conveyor 300 based on a pulse signal from the encoder 309. A position detection circuit that calculates the feed amount of the conveyor surface,
Reference numeral 403 denotes a cut-out operation circuit for causing each cut-out device 200 of each storage shelf 100 to perform a cut-out operation of the article G.
4 inputs the measured value of the feed amount of the conveyor from the position detection circuit 402, and measures the cut-out feed amount value of the cut-out device 200 at the cut-out time in consideration of the sliding amount and the deceleration speed of the conveyor 300 during normal operation. When the measured feed amount of the conveyor reaches the cut-out feed amount value, the cut-out operation circuit 403
A cutout timing control calculation unit that outputs a cutout signal to a specific cutout device 200. Reference numeral 405 inputs an emergency stop signal, and stops the cutting of articles (frontage) exceeding the cutting feed amount with respect to the feed amount value at the time of the emergency stop signal. An emergency stop control circuit which calculates a lag time td based on the time of input of the emergency stop signal and sends a deceleration signal of the conveyor 300 to the speed control circuit 401 after the lag time td, 406 denotes a deceleration speed of the conveyor 300, an article weight and a length. 407 is a data recording circuit, and 408 is a start / stop control circuit of the cutting and conveying device for articles. The circuits are processed using computer, semiconductor and electrical circuit technology.

In this embodiment, a plurality of articles G, which are cardboard cases, are stored in storage shelves 100 in different rows for each type. The article G in the storage shelf 100 is cut out by the cutting device 200 at the tip, and is cut out to the transport conveyor 300 which is continuously operated at a speed of 30 m / min.

[0010] A cutout in a normal operation A mounting position space of a virtual conveyor surface on the conveyer 300 of the article G to be transferred is set as a virtual space K. The time t ₁ to cut the article G from the cut device 200 rests on the conveyor 300, as the time combined time t ₂ until resting in the virtual space K slipped on the conveyor surface t ₁ + t ₂ Since it takes 1.26 seconds, virtual space K
1.26 seconds before arriving at a position in front of the cutout device 200 of the storage shelf 100 to be cut out (feeding time of the conveyor cutout time)
And outputs a cutout signal to the cutout device 200. This calculation and the cut-out time feed value signal are performed by the cut-out timing control calculation unit 404. The cut-out time feed value from the cut-out timing control calculation unit 404 is set to the cut-out operation circuit 4.
03 is input. A pulse signal from the encoder 309 for measuring the number of rotations of the intermediate drive shaft 303 of the conveyor 300 is input to the position detection circuit 402,
00 is input to the cut-out operation circuit 403 as a virtual feed amount of the virtual conveyor surface, and a cut-out signal is sent to the cut-out device 200 when the measured feed amount matches a cut-out time feed value (a feed amount corresponding to the cut-out time). To operate and cut out the article G to the conveyor 300. The solenoid 202 of the cutting device 200 is actuated by the cutting signal, and the free roller conveyor 201 on which one article G is placed is lifted higher than the stopper 204, and the free roller conveyor 201 in which the article G is inclined and the free roller following the free roller conveyor 201. Is moved by its own weight to the guide conveyer unit 203 using the, and is transferred onto the transport conveyer 300. Free roller conveyor 2
01 from the start of the ascending of the ascending 01, the article G
The time t1 required to ride on the conveyor 00 is 1.0 second, and the article G on the conveyor 300 slides and becomes the same as the feed speed of the conveyor 300 (the state where the article G is conveyed without slipping on the conveyor 300). ) Time t ₂ is 0.26 seconds.
The conveyor feed amount S ₀ = (S ₁ + S ₂ ) of the conveyor 300 from the time of cutting to the time of finishing the sliding of the article G is 5
64 mm. Therefore, the conveyer 300 of the article G
Conveyor feed amount 564 of virtual space K position to be placed on
mm (1.26 seconds) before cutting. This state is shown in FIGS. The values of the conditions in this example are as follows.

Value Roller C / V speed V ₀ mm / sec 500 Deceleration speed α mm ² / sec = a * g 980 Deceleration time t ₃ sec 0.51 Deceleration stop distance Y ₀ mm 128 Slip of case β mm ² / sec = μ * g 1960 slip from the conveyor ON t ₁ sec 1.0 conveyor ON from sliding end t ₂ sec 0.26 cut from the cut end _{t 0 sec = t 1 + t} 2 1.26 conveyor ON from the cut-out S ₁ mm 500 conveyor Slip end from ON S ₂ mm 64 Slip end from cutting S ₀ mm = S ₁ + S ₂ 564

[0012]: emergency stop accidents and when the emergency stop signal by the failure or the like has occurred (at the conveyor feed rate E _0), the signal is an emergency stop control circuit 40
5, the cutout timing control calculator 404 immediately stops generating the cutout signal. After the lag time t _d calculated by the following equation is delayed at the same time as the input of the emergency stop signal, the conveyor 300 is stopped at a predetermined conveyor deceleration. In the case of an emergency stop to stop decelerating after the lag time t _d, the calculation of the case of the transfer of the normal operation, the following equation.

・ Virtual space position S₀= S₁+ S_Two= V₀* (T₁+ T_Two/ 2) ・ Emergency stop position S_c= V₀* (T_d+ T_Three/ 2) ・ S₀= S_cAs t_d= T₁+ T_Two/ 2-t_Three/2=1.0+0.26/
2-0.51 / 2 = 0.875 seconds = t₁-T_Four Where t_Four=
t_Three / 2-t_Two / 2 ・ Conveyor ON after cutting₁Subsequent conveyor speed V
(T₁) V (t₁) = V₀* (T_Three-T_Four) / T_Three  ・ Conveyor ON after cutting₁Conveyor until later
Sending S_Four  S_Four= V₀* T_d+ (V₀+ V (t₁)) / 2 * t_Four  ・ Conveyor speed V (t₁Slip amount S)_FiveIs S_Five= V (t₁) * V (t₁) / 2 / (α + β) ・ Distance S from cutting to the end of sliding of the article₆  S₆= S_Four+ S_Five ・ Error ΔS_d= S₆-S₀

Thus, in this case, the lag time t_d=
Provide 0.875 seconds to slow down the conveyor 300
You. ΔS_d Only ahead of the virtual space where the article G is to be placed
Shift. The above calculation example is performed immediately before the emergency stop signal (substantially the same).
This is an example of an article cut out at the time), but the emergency stop signal time
E₀If it is cut out before Δt, Δt becomes t_Four =
If less than 0.13 seconds, ride on conveyor while deceleration is starting
Transfer, slip amount is low V ₀It becomes smaller than the time. Δt
Is t_FourIf it is larger, the low speed V before the start of deceleration₀ At the time
Transfer to the conveyor and it will be the same as the steady state. like this
In order to reach the virtual space K where
Good time t_dIs determined, but the virtual space K position is desirable.
May be a range close to the error range. This implementation
In the example, the emergency stop signal time E₀ Previously cut out
When there are a plurality of articles G not on the bear 300,
The article G cut out at the same time as the sudden stop signal input has the largest error
Large, earlier t_Four What is cut out within seconds
The error from the virtual space K approaches 0, and t_Four Cut out within seconds
Therefore, the error from the virtual space K is zero.

[0015]

As described above, according to the present invention, if there is an article cut out before an emergency stop occurs, the transport conveyor is operated continuously for a required lag time, and there is no load collapse or overturning. By having been decelerated and stopped at the deceleration speed, the cut out articles can be placed at or near the virtual space position of the transport conveyor, and restart of the transport conveyor reloads the articles,
It can be performed without the work of correcting the position of the article. According to the emergency stop method of the present invention, in the case of a quick stop, or even on a conveyor having a low transfer speed, the articles can be placed with little error from the planned placement position of the articles.

[Brief description of the drawings]

FIG. 1 is a plan view of an apparatus for cutting out and conveying articles according to an embodiment.

FIG. 2 is a side view showing the cutting device of the embodiment.

FIG. 3 is an explanatory diagram showing a cutting state of the cutting device of the embodiment.

FIG. 4 is an explanatory diagram of cutting out of normal operation of the embodiment.

FIG. 5 is a diagram illustrating a change in speed of the conveyor according to the embodiment.

FIG. 6 is an explanatory diagram of an emergency stop according to the embodiment.

[Explanation of symbols]

 REFERENCE SIGNS LIST 100 storage shelf 200 cutting device 201 free roller conveyor section 202 solenoid 203 guide conveyor section 204 stopper 300 transfer conveyor 301 roller 302 pulse motor 303 intermediate drive shaft 304 belt pulley 305 chain sprocket wheel 306 endless chain 307 belt 308 reduced diameter section 309 enconida 400 Driver circuit 401 Speed control circuit 402 Position detection circuit 403 Extraction operation circuit 404 Extraction timing control calculation section 405 Emergency stop control circuit 406 Setting device 407 Storage circuit 408 Start / stop control circuit

Claims (3)

[Claims] 1. An emergency stop method for an apparatus for cutting out and transferring articles to be cut out from an article storage shelf, transferred to a virtual space defined by a transfer conveyor, and transferred, wherein an emergency stop signal for the transfer conveyor is generated. At this point, the cutting is stopped, and the transfer conveyor is urgently stopped so that the cut-out and in-transit articles are transferred to the virtual space position on the transfer conveyor where the transfer is to be performed or a space position close thereto. An emergency stop method for an article cutting / conveying apparatus, characterized in that continuous operation for a predetermined lag time is continued from the time of a signal, and then deceleration and stop are performed so as to avoid contact and proximity of the article. 2. When a plurality of articles are cut out at the time when the emergency stop signal is generated, a lag is set so as to be transferred to a virtual space position or a space position close to the virtual space position based on the latest cut out article. 2. The emergency stop method for an article cutting and conveying apparatus according to claim 1, wherein the time is determined. 3. The method according to claim 1, wherein a lag time lag is determined in consideration of slippage during transfer of the article on the conveyor.