Tray processing device and tray management system

Abstract

The technical problem of the present invention is to provide a technique for efficiently performing side inspection of a tray. A tray processing device includes: a processing device main body that performs an unstacking operation of sequentially taking out trays from a tray stack, or a stacking operation of sequentially stacking the trays to form the tray stack; and a state detector that sequentially detects the state of each tray included in the tray stack, the processing apparatus main body is disposed adjacent to a transport path for transporting the trays, and the state detector is disposed directly above the transport path at a distance of at least the thickness of the trays from the transport path and faces a side surface of the tray stack.

Description

Technical Field

[0001] The invention relates to a pallet processing device and a pallet management system. Background Art

[0002] In the past, a system for inspecting a plate-shaped pallet used for transporting articles for defective parts has been disclosed. As such an inspection system, Patent Document 1 discloses the following: a plurality of cameras are arranged above a top cover of a pallet, and the top cover of the pallet and the side of the pallet are inspected using these cameras. Prior art literature Patent Literature

[0003] Patent Document 1: Japanese Patent No. 3597283 Summary of the invention Problems to be solved by the invention

[0004] In Patent Document 1, a camera located above the top cover is used to photograph the side of the pallet from obliquely above, thereby performing a side inspection of the pallet. In contrast, in order to further improve the accuracy of the side inspection of the pallet, it is preferred to configure the detector in a manner opposite to the side of the pallet to obtain high-quality inspection data.

[0005] Here, an example is shown in which a detector is arranged at a position facing a side surface of the tray.

[0006] Fig.10 1 is a top view showing a first structural example for inspecting the side of a pallet. Fig.10 In FIG. 6 , the pallet P is transported along the arrow direction by the transport path 600. Fig.10 In FIG. 1 , the detector 700A and the detector 700B are arranged on the left and right sides perpendicular to the conveying direction of the pallet P.

[0007] exist Fig.10 In the configuration example, the left and right sides of the pallet P can be inspected. On the other hand, the front side and the rear side in the conveying direction of the pallet P cannot be inspected because the detection data cannot be obtained.

[0008] Fig.11 2 are a top view and a side view showing a second structural example for inspecting the side surface of a pallet P. Fig.11 In the embodiment, the rear side of the pallet P in the conveying direction is inspected by the detector 700C, and the front side is inspected by the detector 700D. In addition, the left and right sides of the pallet P in the conveying direction are inspected by the detector 700C. Fig.10 Similarly, the inspection is performed using detector 700A and detector 700B. Fig.11In the structural example, the entire side surface of the pallet P can be used as the inspection object.

[0009] In addition, Fig.11 In the structural example of FIG. 7 , the detector 700C is retracted upward so that the pallet P coming from the rear does not come into contact with the detector 700C. Then, immediately after the pallet P passes, the detector 700C is moved downward to inspect the rear side of the pallet P. In addition, the detector 700D inspects the front surface of the approaching pallet P while being located downward, and then retracts upward so as not to come into contact with the pallet P.

[0010] In this Fig.11 In the case of the configuration example, a mechanism for moving the detector 700C and the detector 700D in the up-down direction while being synchronized with the traveling state of the pallet P is required.

[0011] Fig.12 2 is a top view showing a third structural example for inspecting the side surface of the pallet P. Fig.12 In the example, the pallet P is rotated 90 degrees, and the entire side surface of the pallet P is inspected using the detector 700A and the detector 700B. Fig.12 In the configuration example of FIG. 6 , although the entire side surface of the pallet P can be inspected, a mechanism for rotating the pallet P needs to be provided on the conveying path 600. In addition, since the process of rotating the pallet P is added, a delay occurs in the process.

[0012] Fig.13 2 is a top view showing a fourth structural example for inspecting the side surface of a pallet P. Fig.13 In the embodiment, the conveying direction of the pallet P is changed by 90 degrees, and the entire side surface of the pallet P is inspected using the detector 700A, the detector 700B, the detector 700C, and the detector 700D.

[0013] In this Fig.13 In the case of the structural example, the installation space of the conveying path 600 becomes larger and the conveying distance becomes longer.

[0014] Although several structural examples are shown as examples, it is preferable to be able to inspect the front side and rear side in the conveying direction of the tray without performing complicated operations, causing a decrease in processing speed, and without expanding the limited installation space.

[0015] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a technology for efficiently performing a side surface inspection of a pallet. Solutions for solving problems

[0016] In order to achieve the above-mentioned purpose, a pallet processing device of one embodiment of the present invention comprises: a processing device body, which performs a destacking action of taking out pallets from a pallet stack in sequence, or a stacking action of stacking pallets in sequence to form a pallet stack; and a status detector, which detects the status of each pallet included in the pallet stack in sequence, the processing device body is arranged adjacent to a conveying path for conveying the pallet, and the status detector is arranged directly above the conveying path at a distance greater than the thickness of the pallet relative to the conveying path, and is opposite to the side of the pallet stack. Effects of the Invention

[0017] According to the present invention, the side surface inspection of the pallet can be carried out efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram showing an example of a pallet management system according to an embodiment of the present invention. Figure 2 It is a perspective view showing the structure of the tray processing apparatus according to the embodiment of the present invention. Figure 3 It is a diagram showing each process when performing the depalletizing operation. Figure 4 Yes means Figure 3 A perspective view of the tray handling device during step D is shown. Figure 5 It is a diagram showing each process when performing a stacking operation. Figure 6 It is a diagram showing a first approach when inspecting the bottommost pallet. Figure 7 This is a perspective view showing a second approach when inspecting the bottommost tray. Figure 8 It means from Figure 7 A three-dimensional diagram of the state when the side state of the bottom tray is detected. Fig. 9 It is a diagram showing a configuration example of a state detector when performing an internal inspection of a tray according to an embodiment of the present invention. Fig.10 It is a plan view showing a first structural example for inspecting the side surface of a pallet. Fig.11 The diagram is a plan view and a side view showing a second structural example for inspecting the side surface of a pallet. Fig.12 It is a plan view showing a third structural example for inspecting the side surface of a pallet. Fig.13 It is a plan view showing a fourth structural example for inspecting the side surface of a pallet. DETAILED DESCRIPTION

[0019] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0020] Figure 1 This is a schematic diagram showing an example of a pallet management system according to an embodiment of the present invention.

[0021] The pallet management system 1 is a system that performs inspection and maintenance on a used pallet P that can be loaded with goods, and can use the pallet P as a reusable product.

[0022] exist Figure 1 In the embodiment, the pallet management system 1 includes: a control unit 100, an upstream stage S1, an upstream pallet processing device 200A, a cleaning device 300, a centrifugal dehydration device 400, a warm air drying device 500, a downstream pallet processing device 200B, a downstream stage S2 and a conveying path 600.

[0023] The upstream stage S1 is a stage for temporarily placing the stacked pallets P. Here, a collection of the stacked pallets P is referred to as a pallet stack 20. The pallet stack 20 is placed on the upstream stage S1 before the pallet management system 1 starts processing.

[0024] The downstream placement table S2 is a table for temporarily placing the tray stack 20 after the processing by the tray management system 1 is completed.

[0025] The conveying path 600 conveys the pallet P discharged from the upstream pallet processing apparatus 200A to the cleaning apparatus 300 , the centrifugal dehydrating apparatus 400 , and the warm air drying apparatus 500 in this order, and causes the pallet P to reach the downstream pallet processing apparatus 200B.

[0026] It should be noted that in this embodiment, unless otherwise specified, “front” and “rear” refer to the front and rear in the conveying direction of the conveying path 600 . Also, “upstream” and “downstream” refer to the upstream and downstream in the conveying direction of the conveying path 600 .

[0027] The cleaning device 300 is a device for washing foreign matter attached to the pallet P. The cleaning device 300 allows washing water to adhere to the pallet P conveyed by the conveying path 600 to wash away the foreign matter. The cleaning device 300 may also remove foreign matter attached to the pallet P by brushing the pallet P. Here, the cleaning device 300 is an example of a processing unit.

[0028] The centrifugal dehydrating device 400 is a device that removes the washing water adhering to the tray P by centrifugal force. The centrifugal dehydrating device 400 includes a rotating mechanism that supports and horizontally rotates the tray P. Here, the centrifugal dehydrating device 400 is an example of a processing unit.

[0029] The warm air drying device 500 is a device that removes the washing water still adhering to the tray P by blowing warm air. The warm air drying device 500 includes a blower that blows warm air toward the tray P. Here, the warm air drying device 500 is an example of a processing unit.

[0030] The upstream pallet processing device 200A is a device that discharges the pallets P one by one to the conveying path 600 . The upstream pallet processing device 200A is provided upstream of the cleaning device 300 , the centrifugal dehydrating device 400 , and the warm air drying device 500 in the conveying direction and is provided adjacent to the conveying path 600 .

[0031] The downstream pallet processing device 200B collects the processed pallets P conveyed from the conveying path 600 one by one. The downstream pallet processing device 200B is disposed downstream of the cleaning device 300, the centrifugal dehydration device 400, and the warm air drying device 500 in the conveying direction and is disposed adjacent to the conveying path 600.

[0032] The upstream pallet processing device 200A and the downstream pallet processing device 200B have the same device structure. Therefore, when they are collectively referred to, they are referred to as the pallet processing device 200.

[0033] The tray processing apparatus 200 includes a processing apparatus main body 250 , an upstream state detector 210A, and a downstream state detector 210B.

[0034] The processing apparatus main body 250 includes a tray support unit 230 and a lifting unit 220 .

[0035] Figure 2 It is a perspective view showing the structure of the tray processing apparatus 200 according to the embodiment of the present invention.

[0036] like Figure 2 As shown, the tray support 230 includes a claw 231. The tray support 230 slides the claw 231 in the left-right direction perpendicular to the conveying direction of the conveying path 600. The claw 231 is inserted into the horizontal hole h1 provided on the side surface of the tray P by the sliding movement.

[0037] also, Figure 1 The lifting unit 220 shown can move in the vertical direction and lift the entire tray stack 20 upward. In addition, the lifting unit 220 lowers the lifted tray stack 20 downward. The lifting unit 220 is an example of a lifting unit.

[0038] The processing device main body 250 performs two actions, namely, a depalletizing action and a stacking action, by using the pallet support part 230 and the lifting part 220. Here, the depalletizing action refers to the action of sequentially taking out the pallets P from the pallet stack 20, and is performed by the processing device main body 250 of the upstream pallet processing device 200A. The stacking action refers to the action of sequentially stacking the pallets P to form the pallet stack 20, and is performed by the processing device main body 250 of the downstream pallet processing device 200B.

[0039] Specific operation examples of the depalletizing operation and the palletizing operation will be described later.

[0040] The upstream state detector 210A and the downstream state detector 210B are sensors that detect the state of the side surface of the pallet P.

[0041] The upstream state detector 210A and the downstream state detector 210B are disposed to face the side surfaces of the tray stack 20 at a distance equal to or greater than the thickness of the pallet P with respect to the conveyance path 600 .

[0042] The upstream state detector 210A is provided on the upstream side of the processing device main body 250 in the conveying direction of the conveying path 600 , and detects the state of the rear side surface of the pallet P.

[0043] The downstream state detector 210B is provided on the downstream side of the conveyance path 600 with respect to the processing device main body 250 , and detects the state of the front side surface of the pallet P.

[0044] The downstream-side state detector 210B in the upstream pallet processing apparatus 200A is arranged right above the conveyance path 600. In addition, the upstream-side state detector 210A in the downstream pallet processing apparatus 200B is arranged right above the conveyance path 600.

[0045] The upstream state detector 210A and the downstream state detector 210B have the same structure, so they are collectively referred to as state detectors 210. In addition, although not shown here, the tray processing device 200 also has state detectors for detecting the states of the left and right sides of the conveying path 600 in the conveying direction.

[0046] Each of the above-mentioned devices, namely, the upstream loading station S1, the upstream tray processing device 200A, the cleaning device 300, the centrifugal dehydration device 400, the warm air drying device 500, the downstream tray processing device 200B, the downstream loading station S2, and the conveying path 600, is provided with a storage device and a computing device for executing software. Therefore, each of the above-mentioned devices is realized by the cooperation of hardware and software.

[0047] The control unit 100 is electrically connected to the above-mentioned devices and controls the operation of the devices. In addition, the control unit 100 acquires detection data obtained by the state detector 210 and performs an inspection on the side surface of the pallet P based on the detection data.

[0048] The control unit 100 includes an integrated PC (Personal Computer) 110 and a control panel 120 .

[0049] The integrated PC 110 functions as a programmable logic controller (PLC) and is a computer that controls each device. The control board 120 is a substrate on which various electrical devices for controlling each device are stored.

[0050] Here, the overall processing in the pallet management system 1 will be described.

[0051] First, the pallet stack 20 imported into the facility is placed on the upstream stage S1 by a forklift (not shown). Then, the driving roller and the driven roller of the upstream stage S1 rotate to move the pallet stack 20 to the fixed position of the upstream pallet processing device 200A. It should be noted that when the pallet stack 20 moves, the upstream state detector 210A that may come into contact with it temporarily retreats.

[0052] The upstream pallet processing device 200A performs a depalletizing operation to sequentially take out the pallets P from the pallet stack 20 one by one, and discharge the pallets P to the conveying path 600. In conjunction with this operation, the upstream pallet processing device 200A sequentially detects the states of the front side and rear side of the pallets P included in the pallet stack 20 using the state detectors 210. Here, each state detector 210 sequentially detects the states of the front side and rear side of the pallet P in the upper layer of the lowest layer.

[0053] The pallet P placed on the conveying path 600 is conveyed in the order of the cleaning device 300, the centrifugal dehydration device 400, and the warm air drying device 500. The cleaning device 300 performs a cleaning process on the conveyed pallet P. The centrifugal dehydration device 400 and the warm air drying device 500 perform a drying process on the conveyed pallet P. Then, the pallet P after the cleaning process and the drying process arrives at the downstream pallet processing device 200B as it is conveyed by the conveying path 600.

[0054] The downstream pallet processing device 200B sequentially stacks the arrived pallets P. In addition, the state detector 210 detects the states of the front side surfaces and the rear side surfaces of the sequentially stacked pallets P one by one.

[0055] The downstream tray processing device 200B discharges the tray stack 20 when the number of tray stacks 20 reaches a predetermined level, and moves the tray stack 20 to the downstream stage S2. When the tray stack 20 moves, the downstream state detector 210B that may come into contact with the tray stack 20 temporarily retreats.

[0056] The stack of pallets 20 placed on the downstream stage S2 is unloaded from the production line by a forklift and waits for the inspection result by the control unit 100. If the inspection result of all the pallets P is satisfactory, the stack of pallets 20 is transported to the storage warehouse. On the other hand, if an unsatisfactory pallet P is included, the stack of pallets 20 is appropriately processed according to the content of the inspection result.

[0057] The control unit 100 sequentially acquires detection data detected by the state detector 210 in conjunction with the above-mentioned operation, and checks whether each pallet P is suitable for use as a reusable product based on the detection data.

[0058] Next, the details of the depalletizing operation and the palletizing operation performed by the pallet processing device 200 will be described.

[0059] Figure 3 1 and 2 are diagrams showing each step of the depalletizing operation. As described above, the processing device main body 250 performs the depalletizing operation when it is installed on the upstream side.

[0060] In the following description, it is assumed that the tray stack 20 is placed in a fixed position in the processing device main body 250. Figure 3 In the stacking process, the bottommost pallet P is set to P1, and the pallets P are stacked in the order of P2, P3, ..., P6.

[0061] In the process A, the state detector 210 detects the side state of the pallet P2 one layer above the lowermost pallet P1 , and transmits the detected data to the control unit 100 .

[0062] When the detection of the side state of the pallet P2 is completed, the lifting unit 220 lifts the entire pallet stack 20 in step B. Then, in step B, the pallet support unit 230 inserts the claw 231 into the horizontal hole h1 provided on the side of the pallet P2. Thus, the pallets P2 to P6 are supported by the pallet support unit 230.

[0063] In step C, the lifting unit 220 moves downward. At this time, since the pallet P2 is supported by the pallet support unit 230 , only the pallet P1 at the bottom moves downward. Through step C, the pallet P1 at the bottom is separated from the pallet stack 20 .

[0064] Then, in step D, the processing apparatus main body 250 discharges the pallet P1 to the conveyance path 600 .

[0065] Figure 4 2 is a perspective view showing the tray processing device 200 in step D. It should be noted that Figure 4 and Figure 3 The tray stack 20 shown has a different number of layers of pallets P, but otherwise shows the same situation as step D. As described above, the downstream state detector 210B is arranged just above the conveying path 600 at a distance equal to or greater than the thickness of the pallet P. Therefore, the pallet P1 is discharged from the processing device main body 250 without coming into contact with the downstream state detector 210B.

[0066] After the pallet P1 is discharged, in step E, the lifting unit 220 moves upward until it contacts the lower surface of the pallet P2. When the lifting unit 220 contacts the lower surface of the pallet P2, the pallet support unit 230 retracts the claws 231 to release the support of the pallet P2. Since the pallet stack 20 is supported from below by the lifting unit 220, the pallet stack 20 will not fall and collapse even without the support of the pallet support unit 230, and the current stacking state is maintained.

[0067] Thereafter, in step F, the lifting unit 220 moves downward. The tray stack 20 is placed on the conveying surface in conjunction with this movement. Through this step F, the pallet P2 becomes the pallet P at the bottom.

[0068] In step F, the state detector 210 detects the side state of the pallet P3 one layer above the lowermost pallet P2 , and transmits the detected data to the control unit 100 .

[0069] The pallets P are sequentially taken out by repeating the steps A to F. Furthermore, the side surfaces of the pallets P are sequentially detected by the state detector 210 by repeating the steps A to F.

[0070] Figure 5 1 and 2 are diagrams showing each step when performing the stacking operation. As described above, the processing device main body 250 performs the stacking operation when it is installed on the downstream side.

[0071] exist Figure 5 In the description of the stacking action, it is set to Figure 3 Among the illustrated pallets P1 to P6 , pallets P1 to P4 are already stacked. It is assumed that pallet P4 is supported by the pallet support unit 230 at a position away from the conveying surface by an amount equal to or greater than the thickness of the pallet P.

[0072] In step G, the state detector 210 detects the state of the side surface of the pallet P4. In step G and step H, the processing device body 250 receives the pallet P5 conveyed from the conveying path 600. At this time, the upstream state detector 210A is located above the pallet P5 and therefore does not contact the pallet P5.

[0073] In step I, the lifting unit 220 moves upward until the pallet P5 comes into contact with the lower surface of the pallet P4. The pallet P5 is assembled to the pallet stack 20 by this movement.

[0074] In step J, the tray support 230 retracts the claws 231 to release the support of the tray P4. Since the tray stack 20 is supported from below by the lifting unit 220, the tray stack 20 does not fall and collapse even without the support of the tray support 230, and the current stacked state is maintained.

[0075] Thereafter, in step K, the lifting unit 220 moves upward to lift the entire tray stack 20 .

[0076] Then, in step L, the tray support unit 230 inserts the claw portion 231 into the horizontal hole h1 of the tray P5 to support the tray stack 20. Then, in step L, the lifting unit 220 moves downward.

[0077] Furthermore, in the step L, the state detector 210 detects the state of the side surface of the pallet P5 .

[0078] The pallets are sequentially stacked by repeating the steps G to L. Furthermore, by repeating the steps G to L, the side surfaces of the pallets P are also sequentially detected by the state detector 210 .

[0079] Furthermore, when the final tray P6 is conveyed, the lifting unit 220 moves downward from the state of step J. By this operation, the lifting unit 220 can place the entire tray stack 20 on the conveyance surface.

[0080] The above process is used to perform the destacking and stacking actions, but Figure 3 During the depalletizing operation, the bottommost pallet P1 is discharged without its side surface being detected.

[0081] Figure 6 It is a diagram showing a first scenario when inspecting the bottommost pallet P1.

[0082] When the pallet stack 20 is moved from the upstream stage S1 and placed at a fixed position of the pallet processing device 200, the processing device main body 250 temporarily moves the lifting unit 220 upward by the thickness of the pallet P. As a result, the pallet P1 at the bottom is lifted to a position facing the state detector 210. Then, the state detector 210 detects the state of the side surface of the pallet P1, thereby enabling the control unit 100 to inspect the pallet P1 at the bottom.

[0083] In addition, when using Figure 5 In the stacking operation described above, the stacking operation is also completed for the last delivered pallet P6 without the side state being detected. Figure 6 process to eliminate.

[0084] That is, in the above description, when the last pallet P6 is conveyed, the lifting unit 220 is moved downward after step J to place the pallet stack 20 on the conveying surface. On the other hand, after step J, the processing device main body 250 temporarily moves the lifting unit 220 upward to bring the pallet stack 20 into the state shown in step K. Then, after the state detector 210 detects the pallet P6 at the bottom, the processing device main body 250 moves the lifting unit 220 downward to place the pallet stack 20 on the conveying surface. Thus, the control unit 100 can also inspect the pallet P conveyed last during the stacking operation.

[0085] Furthermore, by configuring the pallet support portion 230 to be movable in the up-down direction, the pallet P at the bottom can be inspected without using the lifting portion 220 .

[0086] Figure 7 2 is a perspective view showing a second method of inspecting the bottommost pallet P. Figure 8 It means from Figure 7 A perspective view of a state in which the side state of the lowermost pallet P is detected.

[0087] exist Figure 7 and Figure 8 In the process, the pallet support part 230 moves upward while supporting the pallet P at the bottom. Thus, the pallet support part 230 can lift the pallet stack 20 as a whole. Then, the control part 100 can obtain the detection data about the pallet P at the bottom from the state detector 210 and perform the inspection. Figure 7 and Figure 8 In the embodiment of the present invention, the tray support portion 230 is an example of a lifting portion.

[0088] Next, the contents of the inspection performed by the control unit 100 will be described.

[0089] In this embodiment, the control unit 100 implements two inspection processes, namely, a pre-processing inspection and a post-processing inspection. The pre-processing inspection is an inspection before each of the processes such as the cleaning process and the drying process, and the post-processing inspection is an inspection after each of the processes. Here, the pre-processing inspection is performed based on the detection data acquired by the upstream tray processing device 200A. On the other hand, the post-processing inspection is performed based on the detection data acquired by the downstream tray processing device 200B.

[0090] The pre-processing inspection is a process of pre-checking serious defects that cannot be solved by the cleaning device 300, the centrifugal dehydration device 400 and the warm air drying device 500. As the pre-processing inspection, the control unit 100 performs at least one of foreign matter inspection, image inspection, discoloration inspection and tray internal inspection.

[0091] The foreign matter inspection is a process of inspecting whether or not foreign matter such as an empty can or bottle has entered the hole provided on the side surface of the pallet P. In this case, as the state detector 210, for example, a photoelectric sensor is used.

[0092] The state detector 210 irradiates light to the side surface of the pallet P and the hole formed in the side surface, and detects the presence or absence of reflection and the distance to the object when reflection is present. The control unit 100 checks the shape of the side surface of the pallet P based on the presence or absence of reflection and the distance to the object, and checks whether there is any foreign matter in the inside of the horizontal hole of the pallet P.

[0093] The image inspection is a process of inspecting whether there are defective parts such as cracks, notches, deformations, and attachments on the side of the pallet P. In this case, as the state detector 210, for example, an imaging device such as an area camera or a line scan camera is used.

[0094] The state detector 210 first captures the side surface of the pallet P. Then, the control unit 100 acquires the image data captured by the state detector 210 and inspects the pallet P for defective parts such as cracks, cuts, deformations, and attachments.

[0095] It should be noted that the control unit 100 may perform all inspections for cracks, notches, deformations, and attachments, or may perform only a portion of the inspections such as inspections for cracks and deformations.

[0096] The color fading inspection is a process of inspecting the degree of color fading of the tray P caused by time-dependent changes. In this case, a color sensor is used as the state detector 210 .

[0097] The control unit 100 checks whether excessive discoloration has occurred on the pallet P based on the detection data detected by the state detector 210. It should be noted that the discoloration inspection may be incorporated into the above-mentioned image inspection. In this case, for example, an area camera is used as the state detector 210.

[0098] The pallet internal inspection is a process of inspecting the inside of the horizontal holes provided on the side surfaces of the pallet P.

[0099] Fig. 9 It is a diagram showing a configuration example of the state detector 210 when performing the inside inspection of the tray according to the embodiment of the present invention.

[0100] When inspecting the inside of a tray, a mechanism combining an imaging device 211 and an arm 212 is used as the state detector 210 .

[0101] The photographing device 211 is an area camera that photographs the inside of the horizontal hole of the pallet P. In addition, the photographing device 211 is provided with a lens 214 and an illuminator 213. The lens 214 is a wide-angle lens, a fisheye lens, etc. for achieving wide-angle photography. The illuminator 213 is a white ring illuminator that illuminates the inner wall of the horizontal hole.

[0102] The imaging device 211 is mounted on the top end of the arm 212. The arm 212 inserts the imaging device 211 into the horizontal hole.

[0103] The control unit 100 controls the arm unit 212 so that the imaging device 211 enters the inside of the hole provided on the side of the pallet P. Then, the control unit 100 acquires the image data captured by the imaging device 211 as the detection data. Then, the control unit 100 inspects at least one of the cracks, notches and deformation inside the hole based on the image data. It should be noted that, when inspecting the interior of a pallet, if foreign objects such as empty cans and bottles enter the interior, the camera 211 may come into contact with the foreign objects. Therefore, when inspecting the interior of a pallet, it is preferred to inspect for foreign objects before doing so.

[0104] If it is determined to be unsuitable in any of the above-mentioned checks, the control unit 100 treats the pallet P as unusable and controls not to perform the cleaning process and the drying process.

[0105] The post-processing inspection is a process for inspecting the pallet P after each of the processes of washing and drying. In the present embodiment, as the post-processing inspection, a dirt confirmation inspection is performed to check whether dirt remains on the washed pallet P. In addition, a foreign matter inspection may be performed together with the dirt confirmation inspection.

[0106] When performing a dirt confirmation inspection, as the state detector 210, for example, an imaging device such as an area camera or a line scan camera is used.

[0107] The state detector 210 first captures an image of the side surface of the pallet P. Then, the control unit 100 acquires the image data captured by the state detector 210 as detection data, and checks whether dirt is attached to the pallet P based on the image data.

[0108] When dirt is attached, the pallet P may be stacked on the untreated pallet stack 20 and cleaned again by the cleaning device 300. Alternatively, the pallet P may be cleaned manually by an operator.

[0109] The foreign matter inspection is a process of inspecting whether or not foreign matter such as an empty can or bottle has entered the hole provided on the side surface of the pallet P. In this case, as the state detector 210, for example, a photoelectric sensor is used.

[0110] The state detector 210 irradiates light to the side surface of the pallet P and the hole formed in the side surface, and detects the presence or absence of reflection and the distance to the object when reflection is present. The control unit 100 checks whether there is a foreign object inside the horizontal hole of the pallet P based on the presence or absence of reflection and the distance to the object.

[0111] In this embodiment, the cleaning and drying processes using the cleaning device 300, the centrifugal dehydration device 400, and the warm air drying device 500 are described. However, as long as the processes are pre-specified, they are not limited to these processes. As the pre-specified processes, for example, maintenance processes such as tray inversion processes, deburring processes, and attachment removal processes may also be performed.

[0112] Here, the pallet inversion is a process of supporting the pallet P and reversing the pallet P in the up-down direction.

[0113] The deflashing process is a process of removing burrs generated on the pallet P by using a grinder, for example.

[0114] The attached matter removal process is a process for removing attached matters such as seals, tapes, etc. Methods for removing attached matters include a method of cutting with a grinder, a method of removing attached matters by adsorbing them to an adsorbent, and the like.

[0115] In this embodiment, the structure in which the state detector 210 is provided in the pallet processing device 200 is described. In this way, the dwell time generated during the depalletizing operation or the stacking operation can be allocated to the time for detecting the side state of the pallet P. In addition, since the pallet P passes through the same position, the state detector 210 can be used fixedly.

[0116] Furthermore, by providing the state detector 210 in the tray processing apparatus 200 , the state detector 210 can be provided above the tray P. Therefore, a structure can be adopted in which the conveyance of the tray P is not hindered by the state detector 210 .

[0117] The pallet processing device 200 of the present embodiment includes a processing device body 250, which performs a depalletizing operation of sequentially taking out pallets P from the pallet stack 20, or a stacking operation of sequentially stacking the pallets P to form the pallet stack 20. In addition, the pallet processing device 200 includes a state detector 210, which sequentially detects the state of each pallet P included in the pallet stack 20. The processing device body 250 is provided adjacent to a conveying path 600 for conveying the pallets P. The state detector 210 is arranged directly above the conveying path 600 at a distance equal to or greater than the thickness of the pallet P, and is opposed to the side surface of the pallet stack 20.

[0118] Therefore, the pallet P can be smoothly conveyed without being hindered in conveying the pallet P, and the side surface inspection of the pallet P can be efficiently performed.

[0119] The processing device body 250 includes a lifting unit such as a lifting unit 220 and a tray support unit 230 for lifting the entire tray stack 20 by an amount equal to or greater than the thickness of the tray P. The state detector 210 detects the state of the lowermost tray P in the tray stack 20 lifted by the lifting unit such as the lifting unit 220 and the tray support unit 230.

[0120] Therefore, the pallet P at the bottom can also be inspected.

[0121] Furthermore, the state detector 210 is provided upstream or downstream of the conveyance path 600 with respect to the processing device main body 250. Therefore, the front side surface or the rear side surface in the conveyance direction can be inspected.

[0122] The pallet management system 1 includes: the pallet processing device 200 described above; and processing units such as a cleaning device 300, a centrifugal dehydration device 400, and a warm air drying device 500 for performing predetermined processing on the pallets P on the conveying path 600. The pallet management system 1 includes a control unit 100 that inspects each pallet P included in the pallet stack 20 based on detection data detected by the state detector 210.

[0123] Therefore, it is possible to provide a system that can smoothly convey the pallet P without hindering the conveyance of the pallet P and efficiently perform the side inspection of the pallet P.

[0124] In addition, the processing device body 250 is provided at the upstream side of each processing unit to perform a depalletizing operation, and the state detector 210 detects the shape of the side surface of the pallet P before being processed by each processing unit. In addition, the control unit 100 checks whether a foreign object has entered the inside of the hole provided on the side surface of the pallet P based on the detection data detected by the state detector 210.

[0125] Therefore, it is possible to understand in advance whether a serious defect that cannot be solved by each processing unit in the subsequent process has occurred in the pallet P.

[0126] In addition, the processing device body 250 is provided at the upstream side of each processing unit and performs a depalletizing operation, and the state detector 210 is a photographing device that photographs the pallet P before being processed by each processing unit. In addition, the control unit 100 obtains image data photographed by the photographing device as detection data, and inspects at least one of the states of cracks, notches, deformation, and the presence or absence of attachments of the pallet P based on the image data.

[0127] Therefore, it is possible to understand in advance whether a serious defect that cannot be solved by each processing unit in the subsequent process has occurred in the pallet P.

[0128] The processing device body 250 is provided at the upstream side of each processing unit to perform depalletizing, and the state detector 210 is a color sensor to detect the state of the pallet P before being processed by each processing unit. In addition, the control unit 100 performs a color fading inspection on the pallet P based on the detection data detected by the color sensor.

[0129] Therefore, it is possible to understand in advance whether a serious defect that cannot be solved by each processing unit in the subsequent process has occurred in the pallet P.

[0130] In addition, the processing device body 250 is provided on the upstream side of each processing unit to perform a depalletizing operation. The state detector 210 includes an arm 212 and a photographing device 211 provided at the top of the arm 212. In addition, the control unit 100 controls the arm 212 in such a manner that the photographing device 211 enters the inside of a hole provided on the side of the pallet P. In addition, the control unit 100 acquires image data photographed by the photographing device 211 as detection data, and inspects at least one of the states of cracks, notches, and deformation inside the hole based on the image data.

[0131] Therefore, it is possible to understand in advance whether a serious defect that cannot be solved by each processing unit in the subsequent process has occurred in the pallet P.

[0132] In addition, the processing device main body 250 is provided at the downstream side of each processing unit and performs a stacking operation, and the state detector 210 is a photographing device that photographs the pallet P processed by each processing unit. In addition, the control unit 100 acquires image data photographed by the photographing device as detection data, and checks the state of dirt attached to the side surface of the pallet P based on the image data.

[0133] Therefore, the results of the processing performed by each processing unit can be confirmed.

[0134] In addition, the processing device body 250 is provided at the downstream side of each processing unit to perform a stacking operation, and the state detector 210 detects the shape of the side surface of the pallet P processed by each processing unit. In addition, the control unit 100 checks whether a foreign object has entered the inside of the hole provided on the side surface of the pallet P based on the detection data detected by the state detector 210.

[0135] Therefore, it is possible to check whether the foreign matter with little possibility of serious adverse conditions such as damaging the device in the cleaning process is finally removed. In addition, it is possible to detect the foreign matter hidden in the dead corner and not detected during the pre-processing inspection.

[0136] In addition, in this embodiment, although the structure which arrange|positions the two pallet processing apparatuses 200, namely the upstream pallet processing apparatus 200A and the downstream pallet processing apparatus 200B, is shown, it may be either one.

[0137] In addition, in the present embodiment, the configuration of two state detectors 210, namely, an upstream state detector 210A and a downstream state detector 210B, is shown in the tray handling device 200, but any one of them may be used. In this case, the state detector 210 only needs to be arranged directly above the conveying path 600 at a distance equal to or greater than the thickness of the pallet P and at a position facing the side surface of the tray stack 20.

[0138] In the above description, the state detector 210 detects the state of the pallet P above the bottom pallet P of the pallet stack 20, but the present invention is not limited to this. That is, the state detector 210 may detect the pallets P two or three above the bottom pallet P.

[0139] Hereinafter, each aspect of the present disclosure will be collectively described as a supplementary note.

[0140] (Note 1) A pallet processing device, the pallet processing device comprising: A processing device body performs a destacking operation of sequentially taking out trays from a tray stack, or a stacking operation of sequentially stacking the trays to form the tray stack; and a state detector for sequentially detecting the state of each of the trays included in the tray stack; The processing device body is arranged adjacent to a conveying path for conveying the tray. The state detector is disposed directly above the conveyance path at a distance equal to or greater than the thickness of the tray from the conveyance path, and faces a side surface of the tray stack. (Note 2) The tray processing device according to Supplementary Note 1, wherein: The processing device body includes a lifting unit for lifting the entire tray stack by an amount greater than the thickness of the tray. The state detector detects the state of the lowermost tray in the tray stack lifted by the lifting unit. (Note 3) The pallet processing device according to Supplement 1 or 2, wherein: The state detector is provided upstream or downstream of the conveying path relative to the processing device body. (Note 4) A pallet management system, the pallet management system having: A pallet handling device as described in any one of Notes 1 to 3; a processing unit that performs a predetermined process on the tray on the conveying path; and The control unit inspects each of the trays included in the tray stack based on the detection data detected by the state detector. (Note 5) The pallet management system according to Supplement 4, wherein: The processing device body is arranged at the upstream side of the processing section to perform the depalletizing operation. The state detector detects the shape of the side surface of the tray before being processed by the processing unit. The control unit checks whether or not a foreign object has entered into a hole provided in a side surface of the tray based on the detection data detected by the state detector. (Note 6) A pallet management system according to any one of Notes 4 or 5, wherein: The processing device body is arranged at the upstream side of the processing section to perform the depalletizing operation. The state detector is a photographing device that photographs the tray before being processed by the processing unit. The control unit acquires image data captured by the image capturing device as the detection data, and inspects at least one of a crack, a notch, a deformation, and the presence or absence of an attached object on the pallet based on the image data. (Note 7) The pallet management system according to any one of Supplementary Notes 4 to 6, wherein: The processing device body is arranged at the upstream side of the processing section to perform the depalletizing operation. The state detector is a color sensor that detects the state of the tray before being processed by the processing unit. The control unit performs a color fading inspection on the tray based on detection data detected by the color sensor. (Note 8) The pallet management system according to any one of Supplementary Notes 4 to 7, wherein: The processing device body is arranged at the upstream side of the processing section to perform the depalletizing operation. The state detector includes an arm and a photographing device provided at the top of the arm. The control unit controls the arm in such a manner that the photographing device enters into a hole provided on the side of the pallet, and acquires image data photographed by the photographing device as the detection data. The control unit inspects at least any one of cracks, notches and deformations inside the hole based on the image data. (Note 9) The pallet management system according to any one of Supplementary Notes 4 to 8, wherein: The processing device body is arranged at the downstream side of the processing section to perform the stacking operation. The state detector is a photographing device that photographs the tray after being processed by the processing unit. The control unit acquires image data captured by the imaging device as the detection data, and inspects a state of dirt attached to a side surface of the tray based on the image data. (Note 10) The pallet management system according to any one of Supplementary Notes 4 to 9, wherein: The processing device body is arranged at the downstream side of the processing section to perform the stacking operation. The state detector detects the shape of the side surface of the tray after being processed by the processing unit. The control unit checks whether or not a foreign object has entered into a hole provided in a side surface of the tray based on the detection data detected by the state detector. Description of Reference Numerals

[0141] 1: Pallet management system; 20: Pallet stacking body; 100: Control unit; 110: Integrated PC; 120: Control panel; 200: Pallet handling device; 200A: Upstream pallet handling device (pallet handling device); 200B: Downstream pallet handling device (pallet handling device); 210: Status detector; 210A: Upstream status detector (status detector); 210B: Downstream status detector (status detector); 211: Camera; 212: Arm; 213: Illuminator; 214: lens; 220: lifting part (lifting part); 230: tray supporting part (lifting part); 231: claw part; 250: processing device body; 300: cleaning device (processing part); 400: centrifugal dehydration device (processing part); 500: warm air drying device (processing part); 600: conveying path; 700A, 700B, 700C, 700D: detectors; P, P1~P6: trays; S1: upstream mounting table; S2: downstream mounting table; h1: horizontal hole.

Claims

1. A pallet processing device, comprising: A processing device body performs a destacking operation of sequentially taking out trays from a tray stack, or a stacking operation of sequentially stacking the trays to form the tray stack; and a state detector for sequentially detecting the state of each of the trays included in the tray stack; The processing device body is arranged adjacent to a conveying path for conveying the tray. The state detector is disposed directly above the conveyance path at a distance equal to or greater than the thickness of the tray from the conveyance path, and faces a side surface of the tray stack.

2. The pallet handling device according to claim 1, in, The processing device body has a lifting part that lifts the entire tray stack by an amount greater than the thickness of the tray. The state detector detects the state of the lowermost tray in the tray stack lifted by the lifting unit.

3. The pallet processing device according to claim 1, in, The state detector is provided upstream or downstream of the conveying path relative to the processing device body.

4. A pallet management system, comprising: The pallet handling device according to any one of claims 1 to 3; a processing unit that performs a predetermined process on the tray on the conveying path; and The control unit inspects each of the trays included in the tray stack based on the detection data detected by the state detector.

5. The pallet management system according to claim 4, in, The processing device body is arranged at the upstream side of the processing section to perform the depalletizing operation. The state detector detects the shape of the side surface of the tray before being processed by the processing unit. The control unit checks whether or not a foreign object has entered into a hole provided in a side surface of the tray based on the detection data detected by the state detector.

6. The pallet management system according to claim 4, in, The processing device body is arranged at the upstream side of the processing section to perform the depalletizing operation. The state detector is a photographing device that photographs the tray before being processed by the processing unit. The control unit acquires image data captured by the image capturing device as the detection data, and inspects at least one of a crack, a notch, a deformation, and the presence or absence of an attached object on the pallet based on the image data.

7. The pallet management system according to claim 4, in, The processing device body is arranged at the upstream side of the processing section to perform the depalletizing operation. The state detector is a color sensor that detects the state of the tray before being processed by the processing unit. The control unit performs a color fading inspection on the tray based on detection data detected by the color sensor.

8. The pallet management system according to claim 4, in, The processing device body is arranged at the upstream side of the processing section to perform the depalletizing operation. The state detector includes an arm and a photographing device provided at the top of the arm. The control unit controls the arm in such a manner that the photographing device enters into a hole provided on the side of the pallet, and acquires image data photographed by the photographing device as the detection data, and the control unit inspects at least any one of cracks, notches and deformations inside the hole based on the image data.

9. The pallet management system according to claim 4, in, The processing device body is arranged at the downstream side of the processing section to perform the stacking operation. The state detector is a photographing device that photographs the tray after being processed by the processing unit. The control unit acquires image data captured by the imaging device as the detection data, and inspects a state of dirt attached to a side surface of the tray based on the image data.

10. The pallet management system according to claim 4, in, The processing device body is arranged at the downstream side of the processing section to perform the stacking operation. The state detector detects the shape of the side surface of the tray after being processed by the processing unit. The control unit checks whether or not a foreign object has entered into a hole provided in a side surface of the tray based on the detection data detected by the state detector.

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