JPH07100540B2 - Robot palletizer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a palletizer, and more particularly to a robot palletizer for automatically loading a plurality of carton-packaged products on a pallet according to a preset pattern.

As one of the final steps in many manufacturing processes, it is necessary to load products on a pallet packed in a group of shipping containers. Since pallet loading by human power is extremely labor-intensive in a high-speed mass production process, various palletizers have been developed for automating this work.

Automating pallet loading in high-speed mass production saves a lot of labor costs, so automation of pallet loading is relatively expensive and economical despite the complex maintenance of pallet loading machines. Can be justified. However, in the case of low-speed low-volume production, the potential savings in labor costs are much smaller. Therefore, the palletizer model is desired to be as simple in structure as possible and relatively low in price in order to provide a large economic advantage compared with the pallet loading by human power.

Conventional palletizers, in combination with computerized control systems, use electronic and mechanical encoders to track the pallet loading position of carton packages. While this type of encoder is certainly effective, it adds significant cost to the palletizer and complicates maintenance technology, making it economically unsuitable for low speed, low volume pallet loading operations.

In view of the above circumstances, an object of the present invention is to provide a novel robot palletizer.

Another object of the present invention is that manufacturing cost and maintenance cost are economical,
Another object of the present invention is to provide a robot palletizer that is advantageously used for low-speed small-quantity pallet loading work.

The present invention provides a robot palletizer that automatically loads and arranges a plurality of articles on a pallet according to a preset pattern. A robot palletizer according to the present invention includes a gripping device for releasably gripping one or more articles so that the gripping device can move substantially independently in the vertical and horizontal directions. It contains a supporting device for supporting. The proximity detection device group that can move together with the gripping device detects the presence or absence of accumulated products on the pallet to adjust the position and height of the gripping device so that the product group is loaded on the pallet.

Furthermore, the present invention provides a telescopic horizontal arm for use in a robot palletizer. The telescopic horizontal arm contains a rigid, hollow and elongated outer member having an axis. The elongated intermediate member has an axis that is substantially parallel to the axis of the outer member, is telescopically received within the outer member, and includes an elongated lower surface. The idler pulley is mounted within the intermediate member and extends partially below the lower surface of the intermediate member for rotation in a substantially vertical plane. An elongated inner member is telescopically received within the intermediate member and has an axis substantially parallel to the axis of the intermediate member and engages the idle pulley. A displacement device is provided for displacing the inner member in a direction parallel to each axis with respect to the intermediate member and rotating the idle pulley to displace the intermediate member and the inner member with respect to the outer member. There is.

The above and other features of the present invention are described in the feature claims. The objects and various advantages of the present invention will be described in detail below with reference to the accompanying drawings. Note that the same numbers in the drawings indicate the same parts.

The robot palletizer (10) shown in each drawing is an embodiment of the present invention. The function of the robot palletizer (10) is to receive a plurality of shaped articles such as a shipping container, a case or a carton (12) and then place the carton group (12) on the shipping pallet (14) according to a preset pattern. It will be loaded automatically.

The illustrated robot palletizer (10) has a vertical support column (1
6), ie, the "Z" axis and a retractable horizontal arm device (1) mounted so as to be able to move up and down along the support column (16).
8), ie with the "Y" axis. Grasping device (20)
At least one, preferably more than one carton (12)
Is releasably gripped, and the gripping device (20) is mounted on the telescopic end (22) of the horizontal arm device (18).
Therefore, the gripping device (20) is supported on the support column (16) and the horizontal arm device (18) so as to be independently movable in both the vertical direction and the horizontal direction. The horizontal arm device (18) is preferably equipped with the illustrated telescopic horizontal arm (patent filed on September 12, 1988 under the title of "double telescopic arm suitable for robot palletizers"). .

The telescopic horizontal arm (18) has an elongated outer member or box-shaped frame (19) having a substantially rectangular cross section and having an axis. Elongated intermediate members (23)
Are telescopically received within the outer member (19) and aligned substantially parallel to the axis of the outer member (19).

Furthermore, the telescopic horizontal arm (18) is an intermediate member (23).
It contains an elongated inner member (21) which is arranged so as to be able to expand and contract. The axis of the inner member (21) is set substantially parallel to the axes of the intermediate member (23) and the outer member (19).

The idle pulley (29) is mounted inside the intermediate member (23) so as to be able to rotate in a substantially vertical plane around the axle (31). The axle (31) is oriented substantially perpendicular to the plane formed by the side wall (27) of the intermediate member (23). The idle pulley (29) is arranged such that a part thereof partially extends below the lower surface of the intermediate member (23) and comes into contact with the bottom inner surface (17) of the outer member (19). Further, the idle pulley (29) and the outer member (1) are provided on the lower surface (15) of the inner member (21).
9) It extends so as to make contact at the contact substantially opposite to the contact with. A pair of opposed vertical slots formed with the axle (31) on the side wall (27) of the intermediate member (23) so as to vertically move the idle pulley (29) with respect to the intermediate member (23) within a limited range. Have been engaged in.

The lower surface (15) of the inner member (21) is supported on a support roller (33) mounted on the front end of the intermediate member (23). As a result, the inner member (21) can be expanded and contracted in the axial direction with respect to the intermediate member (23) so that the idle pulley (29) is
And is supported by the support roller (23). The expansion / contraction movement of the inner member with respect to the intermediate member (23) is performed by the electric friction wheel (35). The friction wheel (35) is mounted on the upper end portion of the intermediate member (23) and also has an inner member (21).
Is arranged so as to engage and press contact with the upper surface (13).
A friction wheel (35) and its associated drive motor (36) are mounted between a pair of brackets (37), which brackets (37) extend to the intermediate member (23) along opposite sides. The intermediate member (23) is attached so as to be vertically movable.

Each bracket (37) is bolted to the intermediate member (23), and the bolt penetrates the bracket (37) and projects outward from each side surface of the intermediate member (23). Has been inserted into. The vertical position of the electric friction wheel (35) with respect to the intermediate member (23) can be adjusted by tightening or loosening these bolts. With such an adjusting device, the intermediate member (23) and the inner member (21) can be set substantially parallel to the outer member (19).

The intermediate member (23) is supported for lateral translational movement with respect to the outer member (19). A part of this supporting device is a roller device (39) attached to the rear of the intermediate member (23).
The roller device (39) engages with the upper inner wall (41) of the outer member (19). The rest of the intermediate member (23) is supported by the idle pulley (29). The force that supports the intermediate member (23) over the tip portion is the idle pulley (2
It is applied upward at the contact point between 9) and the lower inner wall of the outer member (19). Since the vertical position of the idle pulley (29) is not fixed with respect to the intermediate member (23), the idle pulley (29) is floated and the upward contact force from the lower wall of the outer member (19) is increased. It is directly transmitted to the lower surface of the inner member (21) via the idle pulley (29). Then, the contact force passes through the inner member (21) and is transmitted to the intermediate member (23) via the friction wheel (35), the bolt group and the nut-shaped tab. Therefore, the tension between the friction wheel (35) and the inner member (21) is appropriately maintained even when the friction wheel (35) and the idle pulley (29) are worn during use.

Next, the operation will be described. When the friction wheel (35) is rotated, the inner member (21) translates laterally with respect to the intermediate member (23). When the inner member (21) moves in a specific direction with respect to the intermediate member (23), the idle pulley (29) rotates. The intermediate member (23) moves in the same direction with respect to the outer member (19) as the idle pulley (29) rotates. The friction wheel (35) is fixed to the intermediate member (23) during the expansion and contraction movement of the horizontal arm (18). Therefore, when the inner member (21) moves with respect to the intermediate member (23),
The intermediate member (23) moves in the same direction with respect to the outer member (19). The moving speed of the inner member (21) is about twice as fast as the moving speed of the intermediate member (23), which is because of the contact position with the idle pulley (29), that is, one of them is the idle pulley (29). This is because the other side is in contact with the outside of the idle pulley (29).

By providing a guarantee device, the speed of the inner member (21) with respect to the intermediate member (23) is set to be the intermediate member (23) with respect to the outer member (19).
Guaranteed to be substantially equal to the relative velocity of. To this end, a pair of sprockets (44) are mounted on opposite sides of the idle pulley (29) so that they can rotate with the idle pulley (29). A first chain (46) having one end thereof attached to the rear of the inner member (21) is wound around one sprocket (44).
The other end of the first chain (46) is attached inside the outer member (19) to a position behind the idle pulley (29). The second chain (48), one end of which is attached to the front end of the inner member (21), is wound around the other sprocket (44). The other end of the second chain (48) has an outer member (19).
It is attached inside the front of the idle pulley (29). During the expansion and contraction movement of the horizontal arm (18), the first and second chains (46), (48) have a lateral translational movement of the inner member (21) with respect to the outer member (19). (1
Guarantee to be substantially double the translational movement of the intermediate member (23) relative to 9).

The horizontal arm device (18) responds to a carriage (24) that can move up and down along the vertical support column (16), and then the vertical support column (1).
It is supported along 6) so that it can be moved up and down. Chain (2
5) (Fig. 2) has one end on the carriage (24) and the other end on the counterweight (2) in the vertical support column (16).
6) is attached. Further, the chain (25) is wound around a sprocket (28) arranged above the vertical support column (16). When the sprocket (28) is driven by the electric motor (30), the chain (25) is driven in one direction, so that the carriage (24) moves up and down along the vertical support column (16). Adjustable limit switch (32)
Is provided to detect when the carriage (24) reaches the preset lower limit position with respect to the vertical support column (16).

One end (34) of the horizontal arm device (18) is always fixed horizontally to the vertical support column (16). The telescopic end (22) can be moved forward and backward with respect to the vertical support column (16) by driving the electric motor (36). The gripping device (20) includes an outer hand plate (38) and an inner hand plate (40) that is movable in perspective and parallel to the outer hand plate (38). As a result, the gripping device (20) grips and moves a series of carton packaged products (12) onto the pallet (14), or the carton packaged products (12).
Can be released on the pallet (14). An adjustable limit switch (42) (Fig. 2) is provided and is configured to detect when the horizontal arm device (18) extends and reaches a predetermined limit position.

The robot palletizer (10) is a supply conveyor (74).
And a pallet dispenser (46) for storing an empty pallet group (14), and a pallet conveyor (78) for transferring the empty pallet group (14) from the dispenser (46) to the loading position shown in FIG. It has and. In order to control the operation of the palletizer (10), a control board (control device) (50) equipped with an appropriate control circuit is provided.

The supply conveyor (74) functions to weigh, arrange, and stack the carton-packaged product group (12) before being loaded on the pallet (upper). The supply conveyor (74) receives the carton packaged product group (12) from an upstream conveyor (not shown) such as a gravity conveyor. The supply conveyor (74) includes a low speed part (52) and a high speed part (54) provided on the downstream side of the low speed part (52).
By utilizing the speed difference between the high speed part (54) and the low speed part (52), when the carton packaged product group (12) first carried to the low speed part (52) is then transferred to the high speed part (54). It will automatically keep the interval. When the end of the high speed section (54) is reached, the carton packaged product group (12) is stopped and accumulated. The first light detection device (56) detects the passage of each carton packaged product (12) and counts each time the carton packaged product (12) enters the high speed section (54) of the supply conveyor (74). This information is input to the control circuit in the control panel (50). This information is also transferred as the carton product group (12) moves through the photodetector (58) (also detecting the passage of each carton packaged product (12)) to the stacking part of the supply conveyor (74). Since it is input to the control circuit, the carton-packed product group (12) in the stacking unit is confirmed for each loading lot.

In the supply conveyor (74), carton-packed product groups (12) are accumulated for each lot, and the number of lot members is a pallet (14).
When it is loaded on the top, one row is formed for each stage. Therefore, the carton-packaged products (12) are stacked in parallel as shown in FIG. Alternatively,
The carton-turning device (60) is arranged near the entrance of the high-speed part (54), and the carton-packed product group (12) can be accumulated in a state where both ends are abutted by the operation of the control circuit.

The position of the carton packaged product group (12) and the position of the gripping device (20) with respect to the pallet (14) are detected by the proximity detection device. The proximity detection device detects the presence or absence of a carton packaged product group (12) loaded on a pallet (14) and controls the position of the gripping device (20) during the pallet loading operation. For example, the proximity detection devices (62), (6) mounted on a support body (66) protruding horizontally from the gripping device (20).
4) can be used. In the illustrated embodiment, each of the first and second proximity detection devices (62), (64) preferably includes an infrared detection device (light receiving device) including a self-contained infrared light source and an infrared detection device. Horizontal supports (66)
The arrangement is such that when the gripping device (20) is moved to a proper place on the pallet (14), it is in the vicinity of the carton packaged product group (12) loaded on the pallet (14) and in parallel with the carton group (12). Is set to extend. The support (66) is a group of carton-packaged products (12) being moved by the gripping device (20).
It is located about 25.40mm (about 1 ″) above the bottom of the.

The first proximity detection device (62) is disposed substantially at the outermost end of the support body (66) and is directed toward the side surface of the carton packaged product group (12) loaded on the pallet (14). There is.
The second proximity detection device (64) is provided so as to project slightly outward of the outer hand plate (38), and also the pallet (1).
4) It is directed to the side of the carton-packed product group (12) loaded on top.

The first and second proximity detection devices (6
2) and (64) operate in association with a control device such as an appropriate control circuit centered on a microprocessor built in the control panel (50). These proximity detectors (62), (64)
Is for detecting the relative position of the gripping device (20) with respect to the carton packaged product group (12) already loaded on the pallet (14). Specifically, the first proximity detection device (62)
Generates a first control signal indicating the vertical position of the gripping device (20). Therefore, when the first proximity detection device (62) is at a certain height, the first proximity detection device (62) is grasping the carton packaged product group (12) already loaded on the pallet and the grasping device (20). Detects whether there is sufficient space in the vertical direction between the carton-packed product group (12). Similarly, the second proximity detection device (64) generates a second control signal indicating the horizontal position of the gripping device (20). Therefore, in the second proximity detection device (64), the horizontal extension distance of the horizontal arm (18) is grasped along the inner edge (68) of the uppermost row in the loaded carton packaged product group (12). It is detected whether or not the outer edge of the carton packaged product group (12) being held is sufficient.

The control circuit built into the control panel (50) is the palletizer (1
0) is controlled by the following signals. That is, (a) various control signals created by the user himself and set in advance, and (b) control signals by the photodetection devices (56), (58) and proximity detection devices (62), (64) described above, (C) The limit switches (32), (42) are that. A preferred control system contains pre-programmed, commercially available microprocessor-centric circuitry, such as the Allen Bradlay Company SLC 150 processor (part number 1745-LP 153). The programming of the control device is determined by predetermined operation data, for example, the number of members of the carton group (12) per row, the orientation of each carton (12) in each row, the interval between adjacent cartons (12) in each row. This includes inputting (according to each user's request) the number of cartons (12) when fully loaded on the pallet (14). This predetermined operation data and control signal information is processed by a computer software program. Therefore, robot palletizer (10)
Is controlled by the user inputting predetermined operation data,
It is performed according to the execution of a computer program command using the control signal information and the variable parameter. Next, the carton-packed product group (12) is the low-speed part (52) of the supply conveyor (74).
Be transported to. When the number of accumulated carton packaged product groups (12) reaches one lot on the pallet (14), the gripping device (20) closes and holds the accumulated carton packaged product group (12). .

When partially accumulating on the pallet (14) as shown in FIG. 1, first place an empty pallet and raise the vertical support column (16) for a predetermined time to form the carton-packed product group (12). Position on the pallet (14). Then, the horizontal arm (18) is extended until the limit switch (42) is activated. Then, when the vertical support column (16) is lowered to the position of the lower limit switch (32), the gripping device (20) releases the carton packaged product group (12) onto the pallet. In this way, after the first-row carton packaged product group (12) is loaded on the pallet (14), the gripping device (20) is retracted to the original position above the supply conveyor (74). That is, the vertical support column (16) is raised according to the timer signal from the control circuit, and then the horizontal arm (18) is retracted until the limit switch 42) is activated, and then the vertical support column (16) is activated until the limit switch (32) is activated. Lower the column (16). When the carton packaged product group (12) in the second row is accumulated, the vertical support column (16) is raised for a predetermined time, and then the second photodetector (64) is loaded on the inner end of the carton packaged product group (12). Extend the horizontal arm (18) until the edge is detected. Then lower the vertical support column (16) again until the limit switch (32) is activated. Finally, the carton-packed product group (12) in the second row is released and placed on the pallet (14) so as to be in close contact with the first row. By repeating such an operation procedure, the loading of the first-stage carton packaged product group (12) on the pallet (14) is completed.

Group (1) of second-stage carton-packed products on the pallet (14)
When loading 2), first the first proximity detection device (62)
The horizontal arm (18) until is separated from the top surface of the first stage.
Along the vertical support column (16). After securing the required space above the loaded first stage, extend the horizontal arm (18) until the limit switch (42) is activated, and then move the vertical support arm (16) to the planned distance (this distance is controlled). The first row of the second stage is formed by lowering it (which can be easily adjusted by adjusting the timer in the circuit). After positioning and stacking the first row of the second stage in this way, until the second proximity detection device (64) detects the inner edge of the second-stage loaded carton packaged product group (12). , Another row is formed successively by extending the horizontal arm (18). The operation is repeated in this manner to form a desired stack on the pallet (14). When the pallet (14) is fully loaded, the pallet (14) is removed from the pallet conveyor (78) and a new pallet is placed at the loading position.

When trying to form an interlocked loading pattern on a pallet (14), a control circuit activates a case turning device (60) by rotating groups of cartons (12) in alternating rows before stacking. , A desired interlock stacking pattern is formed on the pallet (14).

Therefore, the robot palletizer (10) of the present invention has many great commercial advantages. The position of each row carton packaged product group (12) on the pallet (14) is located at the lit switch (42) or the first and second proximity detection devices (62), (6).
4) Determined by the operation. Therefore, it is not necessary to monitor the actual position of the gripping device (20) during each loading cycle. As a result, expensive and complex encoding techniques (and associated hardware) for continuously detecting the position of the gripping device (20) are not required. The comprehensive economy and usefulness of the robot palletizer (10) of the present invention are due to these characteristics. Further, since the robot palletizer (10) has a sturdy structure, it is possible to load a relatively heavy carton group, and has a long useful life and easy maintenance.

It will be appreciated by those of ordinary skill in the art that the foregoing is a particular embodiment of the present invention and that many changes and modifications can be made without departing from the spirit and scope of the invention.

[Brief description of drawings]

1 is an isometric view of the robot palletizer of the present invention, and FIG. 2 is a cross-sectional view of the robot palletizer taken along the line 2-2 of FIG. 10 …… Robot palletizer 12 …… Carton packaging goods 16 …… Vertical support column 18 …… Horizontal arm device 20 …… Grip device 22 …… Expansion end 24 …… Reciprocator 25 …… Chain 26 …… Counterweight 28 ...... sprocket

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location B65G 57/03 G 57/24 (72) Inventor Neil Sea Chamberlane E. Hoopston, Illinois, USA・ Washington 419 (72) Inventor Steven El Hafford, Link Road 3101, Lynchburg, Virginia, United States, Number 105 (56) References JP 64-53927 (JP, A) JP 58-11423 (JP) , A) JP-A-60-228087 (JP, A) JP-A-48-26203 (JP, A) Actually developed JP-A-62-127789 (JP, U)

Claims (8)

[Claims] 1. A vertical support column (16), a carriage (24) provided on the vertical support column so as to be vertically movable, and a horizontally extendable and retractable arm device (1) provided on the carriage (24).
8) and provided on the outer end of the arm device (18),
A gripping device (20) having outer and inner plates (38, 40) for gripping and sandwiching the target object (12), and a detection device (62) for detecting whether or not the target object is present on the pallet. , 6
4) and a robot palletizer for automatically loading the target object (12) on the pallet (14) in a predetermined pattern in the vertical and horizontal directions, the detection means (62, 64) A first proximity detection device (62) provided on the holding device (20, 38) and controlling the vertical position of the holding device (20) by the detection means, and controlling the horizontal position of the holding device. A robot palletizer provided with a second detection device (64). 2. The robot palletizer according to claim 1, wherein:
The first and first support members (66) are spaced apart from the gripping device (20) in the extending direction of the gripping device (20) and extend in a direction perpendicular to the plane of the outer plate (38). The proximity detection device of 2 is provided to detect the vertical height of the object stacked on the pallet at a predetermined position to detect the grasped object and the target stacked on the pallet at the predetermined position. The first detection device (62) is provided at the outer end of the support body (66) to provide a gap between the object and the gripping device (20) by detecting the horizontal position of the gripping device (20). The second detecting device (64) is provided for placing the second detection device (64) on the support (66) in order to arrange the outer edge of the target object close to the innermost edge (68) of the target object loaded at a predetermined position on the pallet. ), The gripping device (20) and the gripped object are provided on the outer side of the pallet. A robot palletizer characterized in that a limit switch (42) for controlling the maximum extension of the arm device (18) in the horizontal direction so as to be positioned above the robot is provided in the detection device. 3. The robot palletizer according to claim 1 or 2, wherein the robot palletizer has stored operation data and is responsive to a signal generated by the proximity detection device (62, 64, 42). A control device (50) for controlling the operation is provided,
Firstly, the support (24, 34) and the horizontal arm device (18) are raised along the vertical support column (16) until a predetermined vertical position determined by the operation data is reached.
The drive device (30) of the above is operated by the control device (50) in response to the control signal sent from the first proximity detection device (62), and the arm device (18) and the gripping device (20). A second drive device (36) that is horizontally moved until it reaches a predetermined horizontal position determined by the operation data.
Is operated by the control device (50) in response to a control signal sent from the second proximity detection device (64). 4. The robot palletizer according to claim 3, wherein
The first drive device (30) includes a first electric motor that raises and lowers the arm device (18) with respect to the vertical support column, and the second drive device (36) includes the arm device. A robot palletizer including a second electric motor that expands and contracts. 5. The robot palletizer according to claim 1, wherein:
An elongated support body (66) extending outward from the gripping device (20) is provided substantially parallel to the horizontal arm device (18), and the first and second proximity detection devices (62, 64) are provided. A robot palletizer in which the support (66) is provided with. 6. A robot palletizer according to claim 5, wherein:
The first proximity detection device (62) has a vertical stop distance of the first proximity detection device and a vertical distance between the first proximity detection device and the lower end of the object held by the holding device. In a vertical position such that they are substantially equal, the support (6
6), wherein the second proximity device (64) is provided in a horizontal position separated from the outermost edge of the gripping device by a distance substantially equal to the horizontal stop distance of the gripping device (20), A robot palletizer capable of adjusting the vertical and horizontal stop distances by adjusting a timer of the controller in order to obtain an optimum distance and an optimum object position. 7. The robot palletizer according to claim 2 or 6, wherein each of the first and second proximity detection devices (62, 64) includes a light receiving device. 8. A robot palletizer according to claim 7, wherein:
The robot palletizer in which the first and second proximity detection devices (62, 64) face in the direction of the pallet (14).