• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    This publication describes a method and apparatus for loading a cargo space (2), such as a train freight wagon (9), with fiber web reels (1), the control system set to automatic mode. The same equipment is also applicable for unloading the load in automatic mode. The load compartment (2), such as the train wagon of the train, is brought next to the loading dock (4). Most preferably, the loading device (6) moves the transfer portions (3) of the fiber web rolls (3) to the load space (2) several times, filling the load space in the longitudinal direction.
    公开号:FI20187020A1
    申请号:FI20187020
    申请日:2018-02-12
    公开日:2019-10-05
    发明作者:Antti Lammi；Matti Lammi
    申请人:Paprotec Oy；
    IPC主号:
    专利说明:

    APPARATUS AND METHOD FOR LOADING AND UNLOADING FIBER ROLLS FROM THE LOAD
    The invention comprises an apparatus and method for loading fibrous web rolls, such as paper and paperboard rolls, into a load compartment. The invention also comprises applying the same apparatus and method for unloading fibrous web rolls from the load compartment. Both loading and unloading are done in automatic mode, 10 substantially unmanned. The load compartment to which the invention is primarily applied is the standard freight wagon of the train. The invention is also applicable to the loading and unloading of other loads, such as trucks, in automatic mode. In automatic mode, substantially unmanned means that the loading and unloading equipment, when set to automatic mode, operates according to the instructions of the control system without the operator having to intervene during a normal loading or unloading sequence.
    Standard freight wagons and lorries are usually loaded and unloaded by forklifts. This binds labor, and costly product damage occurs. Loading areas are often cramped and, due to slow forklift handling, form a production bottleneck.
    It is known to use solutions that allow automatic loading and unloading. Such is described in EP0629170. In this case, you have to use a specially made trolley with grooves in the floor for the step beam. Special wagons incur considerable costs. In addition, the wagons must be loaded and unloaded longitudinally, which requires a large and spacious wagon transverse transfer equipment.
    20187020 prh 12 -02- 2018
    A known solution, which is also suitable for loading and unloading a train carriage in the transverse direction, is described in Fill 1154. This solution also requires special grooved carriages, which incur large investment costs. The energy costs of pneumatic step beams are significant and the solution is not environmentally friendly in this respect.
    It is still known to move the load on a transfer means, such as a tarpaulin, into the load compartment and to leave the transfer means in place during the journey. Upon arrival of 10 loads, the transfer medium is available again. Recycling transfer media causes extra work. In addition, any unevenness on the sliding base such as stones, screw heads and the like will cause damage to the ends of the fibrous web rolls.
    Naaraharju Oy's Load Plate is known to move the load on top of the plate into the load compartment and then pull out the transfer plate while preventing the load from entering. The solution is used for loading bundles of timber, but it has been perceived as too rough for handling fibrous web rolls. The tensile force between the plates is resisted by the counter forces of the two friction surfaces, so the need for force is great.
    In the method according to the invention, a load space, such as a train freight wagon, brought next to the loading dock, is loaded with fibrous web rolls in automatic mode. The filling pattern of the loading space depends primarily on the diameter of the 25 fibrous web rolls. For example, the following options are suitable for the space behind the 6550 mm long door of a standard train freight wagon:
    - 3 rolls / stacks of about 2.1 meters in diameter placed in essentially one row
    20187020 prh 12 -02- 2018
    - 7 rolls / stacks with a diameter of approx. 1.5 meters in two rows interlaced.
    The fibrous web rolls are brought to the loading dock, please load at 5 pick-up stations on a conveyor or similar. Most preferably, a wide lamella conveyor is used. The conveyor is preferably provided with buffering, i.e. it consists of one or more drive-equipped parts. In order to speed up the operation, when the loading device takes the transfer batch to the load space, a new transfer batch is transferred to the pick-up station at the same time.
    The preferred composition of the transfer batch depends primarily on the diameter of the fibrous web roll. The goal is to transport as many fiber web rolls as possible at one time. Large-diameter, narrow rollers can be superimposed on two or even more and wide = high rollers one at a time. For smaller diameter rolls, two rolls or stacks are taken in parallel. Thus, the transfer batch most preferably consists of 1-4 rolls, but there may be several narrow rollers.
    In a preferred embodiment of the invention, the loading sequence is as follows:
    - the gripper (s) of the loading device moves / moves to the pick-up station, grabs the transfer batch, raises the transfer batch, if necessary pivots the gripper body (s) at an oblique angle to the y direction and moves the transfer batch to the load compartment,
    - the gripper (s) move / move the first transfer batch in the x-direction 25 so that the roller / roller stack will rest substantially against the end of the load, lower the transfer batch to the floor and open its grip, the gripper / grippers retract with which
    20187020 prh 12 -02- 2018 move / move to rest substantially against the fibrous web rolls resting in the load compartment, and
    - the loading device repeats the transfers of the transfer batches until the load compartment is substantially full.
    When the load compartment is full, after leaving the last transfer batch in the load compartment, the gripper arms on the load compartment side (s) of the loader dodge the roller by turning around its vertical axis as the gripper (s) retract transversely out of the load compartment.
    The cramped space can be used more precisely when the gripping arms pivot about their vertical axis at the same time as the gripper retracts substantially transversely out of the load compartment. Most preferably, the pivoting movement of the gripping arm is synchronized with the transverse overhang
    Similar equipment can be used for both loading and unloading of fibrous web rolls into the cargo space when set to the automatic mode, substantially unmanned. The program and sequence of action are, of course, different. Unmanned means that the loading or unloading sequence takes place mechanically and no manual operation is required during the sequence. The equipment consists of the following business units:
    longitudinal x - motion unit in relation to the load compartment / tracks
    y - motion unit transverse to the load compartment / tracks
    - z - vertical motion unit
    - apparatus for turning the gripper body / bodies about a vertical axis, or alternatively at an oblique angle to the one-way direction
    20187020 prh 12 -02- 2018
    - turning device for at least one gripping arm
    - the movement equipment of the gripper's jaw carriage.
    There is at least one gripper but most preferably two on top of each other. If the 5 narrow rolls are handled to a significant extent, there may be several grippers on top of each other.
    The guides and sleds of the X and y movements are placed in the portal structure above the load.
    In a preferred embodiment of the invention, the lever arm rotating lever mechanism approaches the dead center in the gripping position. This results in a high adhesive force.
    In one embodiment of the invention, the x-, y-, and z-movements of the portal and the movements of the gripper (s) are substantially provided with electric servo drives. In a simpler embodiment, mainly auxiliary movements, such as jaw movements, can also be realized with gearmotors with frequency converters. When handling heavy transfer batches, it may be advantageous to equip the movements of the gripping jaws with hydraulic power devices.
    Preferably, the x-, y-, and z-movements of the portal and the movements of the gripper (s) are controlled by a multi-axis robot controller. Multi-axis means at least five axes.
    The object of the invention is to provide an advantageous solution which enables the loading of loads as well as unloading mechanically, the control system set in automatic mode, in the transverse direction. A standard train freight wagon can be used, followed by
    20187020 prh 12 -02- 2018 large savings in investments and simple logistics. More specifically, the invention is characterized by what is set out in the independent claims.
    The structure of the invention is described in more detail in the accompanying figures, in which
    Figure 1 shows the loading apparatus seen from the direction of the track.
    Figure 2 shows the z-movement unit of the loading apparatus in section and the gripper 7 seen from above, the part of the train carriage 9 cut above the loaded fibrous web rolls 1.
    In the embodiment illustrated in the figures, the load compartment is 3030 mm wide and 6650 mm long in the floor level of a standard freight wagon, accessed through a 6550 mm long door opening. In carriage 9, two such successive load spaces form a 13,300 mm long, continuous space. The height of the door opening 10 is 2845 mm, which enables the transport of a maximum of about 2700 mm high fiber web roll / roll stack through the opening.
    The equipment for loading and / or unloading this load compartment 2 consists of the following business units:
    - x - motion guides 11 and sleds 12,
    - y - movement guide 13 and carriage 14,
    - z - movement j guide 15 and sled 16.
    - The X, y, z business units form a portal robot, the structure of which is known, for example, from the business module system published by Rosenlew Automation / Cimcorp Oy in the 1980s. Therefore, the uses of the portal and no other details are described.
    20187020 prh 12 -02- 2018
    - The brackets 17 attached to the carriage 16 of the Z movement engage the gripper body 20 via joints 18. The gripper body 20 is rotated horizontally by a power device 19 which acts between the carriage 16 and the jaw guide 20. Most preferably, the power device is a screw jack. The body of the gripper has guides 21 controlled by a jaw carriage 22. The transmission of the carriage is most preferably transmitted by a ball nut 23 and a ball screw 24 from the power unit 25. .
    - A gripping arm 30 is attached to the opposite end of the gripper body 20 by means of the joint (s) 29, the outer end of which is preferably attached by means of the joint 31 to the load side jaw 32, which is also preferably coated with an elastic gripping surface 28.
    In one embodiment of the invention, the gripping arm 30 pivots a lever mechanism 36 consisting of a connecting rod 33 and a lever 34 attached to the shaft of the power unit 35. Most preferably in the gripping position the angle between the lever 34 and the connecting rod is very sharp, i.e. approaching the dead center. In this way, the torque of the power unit is transmitted as a multiple holding force to the jaw of the gripper. There are preferably at least two lever mechanisms 36 in the gripper. The portal robot with its grippers forms a loading device 6.
    - The main components of the loading equipment control system are the control unit, such as programmable logic, robot controller or similar, and input and output units.
    - Input units receive data collected by sensors on the progress and arrival of movements. Output units give commands to power plants and their drives. The controller can usually be set to the following modes:
    - In manual mode, one movement at a time can be driven by pressing the motion control switch.
    - In step mode, pressing the step switch allows you to run the program sequence one movement at a time.
    - In automatic mode, after start-up, the equipment operates automatically without operator intervention under the control of the control system.
    It is clear that other embodiments are possible within the scope of the same inventive idea. For example, the portal structure can be implemented in many different embodiments, depending in particular on the placement possibilities and layout of the support structures.
    权利要求:
    Claims (10)
    [1]
    Claims 5
    A method for loading a load compartment (2), such as a train freight wagon (9), with the control system set to automatic mode, by means of fibrous web rolls (1), which load compartment is brought next to the loading platform (4), characterized in that
    10 - the fibrous web rolls (1) are brought to the loading dock (4), to the edge of the load compartment by a conveyor (5) or similar,
    - the gripper (s) (7) of the loading device (6) moves to the pick-up station (8), grips / grips the transfer batch (3) of the fibrous web roll (s), raises / raises the transfer batch, if necessary turns the gripper
    15 the frame (s) (20) at an oblique angle to the y-direction and moving the transfer batch to the load compartment,
    - the gripper (s) move / move the first transfer batch (3) in the x-direction so that the roller / stack rests substantially against the end of the load compartment, lowers the transfer batch to the floor and opens its grip,
    20 - the gripper (s) retracts in the longitudinal direction of the train and continues with the next transfer batch which is moved to rest substantially against the rolls of fibrous web resting in the load compartment, and
    - the loading device (6) repeats the transfers of the transfer batches until the load compartment is substantially full.
    [2]
    Method according to Claim 1, characterized in that when the load compartment (2) is filled, after leaving the last transfer batch (3) in the load compartment, the gripping arms (30) of the gripper (s) of the loading device (6)
    20187020 prh 12 -02- 2018 dodge the roller (1) by turning around its vertical axis as the gripper (s) (7) retract transversely out of the load compartment (2).
    [3]
    Method according to Claim 2, characterized in that
    The gripping arms (30) of the gripper (s) (7) pivot about their vertical axis at the same time as the gripper (s) (7) retracts substantially transversely out of the load compartment (2).
    [4]
    Method according to one of the preceding claims, characterized in
    10 that the conveyor (5) is provided with buffering, and when the loading device (6) takes the transfer batch (3) to the load compartment (2), a new transfer batch (3) is simultaneously transferred to the pick-up station (8).
    [5]
    5. A method for unloading a load compartment (2), such as a train freight wagon (3)
    15 automatic modes of fibrous web rolls (1) characterized in that one of the claims
    [6]
    Equipment such as 6-11 is applied to automatic unloading of the load compartment.
    20 6. Apparatus for loading fibrous web rolls into the load compartment and / or for automatic unloading from the load compartment in automatic mode, characterized in that the apparatus consists of the following motion units:
    longitudinal x - motion unit in relation to the load compartment / tracks
    25 - y - motion unit transverse to the load compartment / tracks
    - z - vertical motion unit
    - an apparatus for turning the gripper body / bodies about a vertical axis or, alternatively, the bodies are set at an oblique angle to the y direction
    20187020 prh 12 -02- 2018
    - a turning device for at least one gripping arm (30)
    - the movement of the gripper jaw carriage (22).
    [7]
    Apparatus according to claim 6, characterized in that x - and y -
    The guides and sleds of the 5 movements are placed in the portal structure above the load compartment.
    [8]
    Apparatus according to one of the preceding claims, characterized in that the pivoting movement of the gripping arm (30) is synchronized with the transverse y -
    With 10 movements.
    [9]
    Apparatus according to one of the preceding claims, characterized in that the levers (33, 34) of the lever mechanism (36) which rotate the gripping arm (30) are at an acute angle to one another in the gripping position.
    [10]
    Apparatus according to one of the preceding claims, characterized in that the x, y and z movements of the portal and the movements of the gripper (s) (7) are substantially provided with electric servo drives.
    Apparatus according to one of the preceding claims, characterized in that the x-, y-, and z-movements of the portal and the movements of the gripper (s) (7) are controlled by a multi-axis robot controller.
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    同族专利:
    公开号 | 公开日
    DE102019103264A1|2019-08-14|
    FI128497B|2020-06-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    SE500548C2|1992-03-13|1994-07-11|Trancel Technics Ab|Conveyor comprising parallel reciprocating beams, which in elevated position carries the load|
    法律状态:
    2018-07-09| PC| Transfer of assignment of patent|Owner name: RAUMASTER PAPER OY |
    2020-06-15| FG| Patent granted|Ref document number: 128497 Country of ref document: FI Kind code of ref document: B |
    优先权:
    申请号 | 申请日 | 专利标题
    FI20187020A|FI128497B|2018-02-12|2018-02-12|Apparatus and method for loading fiber web rolls into a cargo space and unloading them from the cargo space|FI20187020A| FI128497B|2018-02-12|2018-02-12|Apparatus and method for loading fiber web rolls into a cargo space and unloading them from the cargo space|
    DE102019103264.4A| DE102019103264A1|2018-02-12|2019-02-11|Arrangement and method for loading fiber web rolls into a loading space and for unloading fiber web rolls from the loading space|
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