JPS61257829A - Robot system for article palletizing - Google Patents

Abstract

PURPOSE:To improve the working efficiency and allow a housing space for an article to be widened by providing a robot which has an arm assembly consisting of a pantograph type link mechanism having the article in a different form transferred onto a pallet for a final loading. CONSTITUTION:A robot 8 installed on a traverse carrier 12 is composed of an arm assembly 22 in a form of a pantograph which is swung around a vertical shaft 21, and of a hand assembly 25 which is attached to the tip end of the arm assembly and is rotated around the vertical shaft. And the arm assembly consists of two pairs of parallel links 27a, 27b, 28a and 28b, and of a linkage of a short and a long link 32 and 33 where the height is controlled by a vertical elevator section 34, and the horizontal movement is controlled by a horizontal slide section 44. Accordingly, the hand assembly 25 faces downward at all times. This robot 8 allows a case 7 containing articles to be transferred from large pallets 11 which are arranged on both sides of a railroad line 9 on which the robot travels, to a small pallet 14 placed on a conveyor carrier which is connected with the traverse carrier 12.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an article palletizing system using an industrial robot.

[Conventional technology]

, stacking various types of goods on separate pallets for each type, picking up the desired number of desired types from each pallet, mixing the various types and loading them onto a specific empty pallet. There is palletizing work to be done.

Then, by automating such work, individual classification + J) 4t
In order to accurately pick up items from the top of the cart and stack them onto empty pallets, and to ensure that the loaded pallets are stacked in an orderly manner,
This is difficult to achieve with a so-called automated warehouse system equipped with stacker cranes or picking cranes.
It is convenient to use industrial robots because high precision can be easily obtained. In particular, when the shape of the product is a special shape such as a packet that fits into each other at the top and bottom so that it can be stacked in multiple stages, high positioning accuracy is required, so industrial robots are used. Without it, it would not be possible.

However, when attempting to perform the above-mentioned palletizing work using a cylindrical coordinate robot mounted on a traverse cart, for example, it has been found that the following drawbacks arise.

In other words, if a normal cylindrical coordinate type robot (1) is used to perform traverse movement as shown in FIG. (or depalletizing operation) and stacking operation (palletizing operation) onto empty pallets for final stacking (palletizing operation) are performed accurately, and the articles (3) are piled up in an orderly manner without any collapse. The number of items that can be transported during work is limited to 2 to 3 at most, and each time the robot itself traverses (5) to pick up 2 or 3 items from an empty pallet (4 )
This has the disadvantage that the processing efficiency per unit of time is extremely low.

In addition, when using industrial robots as described above, the range of movement of the robot arm must be taken into account and the palletizing system must have an exclusive space within the building. Compared to an automated warehouse type system that uses a stacker crane or a picking crane without an overhanging device, this system has the disadvantage that it occupies a larger amount of space within the building.

Specifically, in the case of the system shown in Fig. 5 on the upper side, as shown in the plane in Fig. The horizontal advancing/retreating and rotating arm (1a) moves in a large movement trajectory σ), and other articles or workers that become an obstacle cannot enter within the movement trajectory σ). It becomes a complete dead space. (1b)
is a robot hand.

In addition, when a Cartesian coordinate robot (6) as shown in FIG. 7 is used instead of the cylindrical coordinate robot (1), it is possible to The arm (6a) draws a large movement trajectory m, and the ceiling height of the building must be set high. In any case, the entire system occupies more space in the building than an automated warehouse type system. (It is necessary. In other words,
If the system is installed in the same building, a system using robots will have a smaller storage capacity than an automated warehouse type system.

[Problems to be Solved by the Invention] This invention proposes a robot system that solves all the above-mentioned drawbacks when attempting to automate the above-mentioned palletizing work using an industrial robot.

[Means for solving problems]

The robot system according to the present invention solves the above problems, and the robot system handles individual pallets loaded with different types of goods.
The palletizing robots are lined up along the traverse movement path, and the final stacking pallet loading cart is connected to the palletizing robot, allowing the robot to traverse and pick an appropriate number of items from each of the nine individual pallets. The palletizing robot is then transferred onto a connected final stacking pallet, and is characterized in that the palletizing robot is a robot whose arm has a pantograph-like link mechanism.

〔Example〕

Next, as an example, a palletizing system for a plastic case containing appropriate articles (bottled beverages, etc.) will be described.

As shown in the plan view in FIG. 2, the palletizing system of this example moves a substantially rectangular plastic case (7) containing articles onto a moving rail (9) of a robot (8).
) at 17 locations (A) (B) (C)...
Appropriate number of each from the large pallet (11) of (Q),
Depalletized by a palletizing robot (8), mixed and stacked onto a small pallet (final stacking pallet) (14) on a conveyor cart (13) integrally connected to the traverse cart (12) of the robot. It is a system in which each individual large pallet) (Al
(B) (C)... (The items on Q are of different types, and the palletizing robot (8) collects the large pallets (11 ) Grasp and lift the case (7) from above onto the small pallet (14) and transfer it.

(15) is the large pallet storage area (A) (B) (C)...
・This is a trolley for moving and loading/unloading (large pallet (11) that runs parallel to Q), and the large pallet (11) is carried onto the trolley (15) using a forklift, etc. The transfer of each position (A) (B+... 17) are provided in large numbers (Fig. 1).

Further, (18) is a slat conveyor as a loading/unloading station for the small pallet (14) installed at one end of the large pallet (11) storage area.
8), the empty small pallet (14) is carried onto the conveyor trolley (13) of the robot (8), which is stopped at the position shown by the chain line in Figure 2, and the case (7) is loaded in the fully loaded state. Conveyor trolley (13) for small pallets (14)
) will be carried out (dashed line in Figure 2). The small pallet (14) is transported to the slat conveyor (18) using a forklift or the like. (19) is a case shift that will be explained in detail later.

It is a temporary stand during wartime.

The palletizing robot (8) will be explained below.

That is, the robot body mounted on the traverse cart (12) rotates around the vertical axis (21), and the vertical and horizontal support control devices (23) (24) of the arm section (22) rotate around the vertical axis (21).
), a pantograph-shaped arm part (22) supported by the support control devices (23) and (24), and whose expansion and contraction in the vertical and horizontal directions, that is, the movement of the hand (25) part at the tip, is controlled. , a hand (25) part whose rotation around a vertical axis attached to the tip of the arm part (22), that is, the direction of the hand, is controlled by an actuator (26) such as a servo motor; The part (22) consists of two connected parallel links (27a) (2
7b), (28a), with the ends of one set of parallel links (28a) (28b) connected to the same vertical lifting member (34) in the vertical support control device (23). ) are connected (35) (36) to the mounting blocks (37) of the other set of parallel links (27a, (27b) end capants (25) (38) (39).
), the hand (25) always faces straight down no matter how the arm (22) expands or contracts. (40) is an intermediate connecting member.

The vertical lifting member (34)
A ball screw (41) threaded through the ball screw (41) and a ball screw (41) threaded through the ball screw (41)
A vertical support control device (23) for the arm is configured with a rotational drive servo motor (42) connected to the rotary drive servo motor (41), and the vertical lifting member (34) is adjusted to an appropriate height by rotating the motor (42). By moving and stopping,
The height of the hand (25) is moved up and down within the range W shown by the two-dot chain line in Fig. 1, while the long and short links (32) (33)
A horizontal slide member (44) supported by a shaft (43) at a connecting power station.
), a ball screw (45) screwed through the slide member (44), and a servo motor (46) connected to the ball screw (45), forming an arm horizontal support control device (24). However, this horizontal slide member (44)
By rotating the motor (46) to move and stop the hand (25) at an appropriate horizontal position, the horizontal position (that is, the front and back position) of the hand (25) can be adjusted to the range W shown by the two-dot chain line in FIG.
It is designed to be able to move back and forth inside.

In addition, in this embodiment, servo motors (42) (46) and ball screws (41) (45) are used to drive the vertical elevating member (34) and horizontal slide member (44). (34) The movement and stopping of (44) can also be precisely controlled, and therefore the movement and stopping of the hand (25) can be precisely controlled, but the servo motor (42) (
46) Other actuators such as a hydraulic cylinder may be used instead of the ball screws (41) and (45).

In addition, the vertical and horizontal support control devices (23) (24)
) within the movement range W of the hand (25) (however, the range W shown by the two-dot chain line in Figure 1 is representative of the connection point (38) on the hand mounting block (37)). Of course, each large pallet) (11) is prepared so that the case (7) above exists.

Next, the hand (25) for gripping the case will be explained. As mentioned above, this hand ('25) is rotatable around the vertical axis via the loader actuator (26) on the mounting block (37). The direction of the hand can be changed to match the top opening of the case, but the plastic case (7) on each large pallet (11)
The case (25) is placed with a relatively rough positioning accuracy (shift amount of approximately ±2C1l in the front, rear, left, and right directions in the horizontal plane), so the hand (25) is mounted with this rough positioning accuracy ( It is necessary to pick up the case (7) without any trouble and stack it on the small pallet (14) in a predetermined and accurate position, and the bottom and top surfaces of the case (7) are shaped so that they fit into each other (7a). All cases (7) on each pallet must be loaded with the upper case (7) fitted to the lower case (7) (Figure 3), and this implementation In order to satisfy the above requirements, the example hand (25) does not have the following characteristic structure.

That is, as shown in Figure 3.4, the hand (25) is a so-called double hand, and the cylinder (47)
A pair of grip claws (48) (4) that are driven to open and close by
moving frames (51) and (52) supporting the moving frame (9);
51) (52) itself with the above gripping claws (48) (49)
A mounting block (37) is attached to the support frame (53) via the rotary actuator (26).
) are connected.

(51a) and (52a) constitute a part of each movable frame (51) and (52), and (53a) is an idle rod, and (53a) is a support frame (5
3) is an idle rod, and a stopper part (
54), and the stopper portion (54) regulates the moving end (closing width) when the grip claws (48) and (49) are closed by the opening/closing cylinder (47).
48) With the grip claws (48) and (49) opened and gripping the case (7), the entire assembly of the case (7) and the grip claws (48) and (49) are moved to the right in Fig. 3 by the positioning cylinder (55). The rightward end of the case (7) when being moved is restricted, that is, the rightward position of the case (7) in FIG. 3 with respect to the hand (25) is restricted.

In other words, if the left-right direction in FIG. The position is determined by the contact of the proximal end of the grip claw (48) with the stopper part (54).

(56) is a mounting bracket for the positioning cylinder (55) protruding from each moving frame (51) (52).

In addition, a compression spring (57) is interposed between the moving frame (52) and the supporting frame (53), and a compression spring (57) is interposed between the moving frame (51) and the supporting frame (53) in the horizontal direction (Y A cylinder (58) that expands and contracts in the axial direction) is connected to the cylinder (58), and when the cylinder (58) contracts, the case (7) and the grip claws (48) (49) are in the state shown in the fourth figure.
, the entire moving frame (51) (52) moves to the right in Figure 4, and the inner surface of the case (7) supported by the moving frame (52) hangs down from the supporting frame (53). It is designed to be positioned by coming into contact with a provided positioning bracket (59).

(61) and (62) are stopper parts provided on the guide rod (53a), respectively, and the cylinder (62) is a stopper part provided on the guide rod (53a).
58) and the spring (57) regulate the leftward position (Y-axis direction position) in FIG. 4 of each moving frame (51) (52) when expanded.

Note that the hand (25) has an outer edge of 2 when viewed from above.
It is designed to be smaller than the outer edge of two cases (7) arranged side by side, and even when other cases (7) are stacked high around the desired case (7) to be gripped,
The hand (25) descends to a position directly above the desired case (7) to be gripped.

Note that the X-axis direction positioning of the case (7) gripped by the gripping claws (48) and (49) with respect to the node (25) may be performed by extending the positioning cylinder (55). (7a) is a fitting part on the bottom of the case (7).

Next, the conveyor cart (13) will be explained. As mentioned above, the conveyor cart (13) is integrally connected to the traverse cart (12) of the robot, and is connected to the moving rail (9).
The conveyor cart (13) moves along with the robot (8) above, and the conveyor cart (13) is powered by a drive source (motor etc.) for driving the conveyor.
The slat conveyor (63
) protrudes as a clutch piece (64), and when the traverse truck (12) moves to the right end position of the rail shown by the dashed line in FIG.
4) and the clutch piece (65) as a rotating output shaft provided on the floor are engaged, and only in this state is the trolley (13)
The upper slat conveyor (63) is configured to rotate.

In addition, the above conveyor trolley (work 3) is replaced by a traverse trolley (1
2), and are connected at all times with a releasable coupling device such as a hook, in cases where the time required is reduced by moving the robot alone (for example, to move most small pallets). When the loading of the case has finished at the right end position in Figure 2 and it is necessary to move to the left end in Figure 2 to load the remaining one or two cases, etc., remove the hook connection. Only the robot (8) may be able to move independently.

In addition to the above-mentioned conveyor cart (13)', another cart is integrally connected to the left side of the tetraverse cart (12) in Figure 2, and the robot (8) handles the large pallet.
- It may also be used as a temporary stand when picking up the case (7) from (11) and transferring it onto the small pallet (14) (described in detail later).

Next, the operation of the above palletizing system will be explained.

That is, first, before operating the system, a large pallet (11/y Carry it in and place it there.

At this time, the robot is loaded from the right side to the left side in Figure 2 according to the order of frequency of handling in the system, that is, from the side closest to the slat conveyor (18) serving as the loading/unloading station. (8
) travel distance can be further shortened.

Large pallets at each location transported as described above) (11)
The product types in case (7) above are shown below at their respective positions (A
) (B)... (according to Q, type , type B...
...It is designated as C variety.

In addition, the slat conveyor (63) of the conveyor trolley (13)
) also on the slat conveyor of the loading station (
Use IED) to bring in the empty small pallet (14).

That is, the robot (8) is moved to the position shown by the chain line in FIG. Slat Conveyor as John (18
) are driven at the same time, and the empty small pallet (14) on the slat conveyor (18) is carried onto the T-conveyor truck (13).

After preparing the above initial state, the palletizing robot (8) and the traverse cart (12) are operated according to a program by a host control device.

That is, for example, when loading 15 cases of type A, 8 cases of type B, and 9 cases of type C onto the small pallet (14), first move the robot to each person's pallet (11) position, and then load 2 cases of type C in order. Load an integral number of items into a small pallet: 14 cases from position A, 8 cases from position B, and 8 cases from position C! -(14) Move up (
Of course, grab and lift two pieces at a time,
Load and unload. ).゛The above operation completes the loading of most of the cases other than the fraction of the number of loading cases for each product type, and then all the cases for the fraction (in the case of the robot hand (25) in this example, it is a duffle hand, so the fraction is loaded) is always one).

In other words, after the loading of cases other than the fraction of the above C type is completed, the hand (25
) to pick up one case (7) and unload it onto the small pallet (14), then move to position (2) and similarly pick up one case (7) at the person's position.
However, if the temporary storage cart is integrally connected to the robot's traverse cart (12) as described above, the fractional case will be loaded in the following manner. Reduce travel distance.

In other words, after the loading of cases other than the fraction of C type is completed, when loading one case (7) of the fraction at the same < (C) position, the hand (25) loads two cases (7). , temporarily place one of the grabbed cases (7) on the temporary stand, and place the other grabbed case (7) on the temporary stand.
7) on the case on the small pallet (14) that has already been stacked, then move the Jζ robot (8) to position A, and do the same with the hand (2) at that position.
5), pick up the two cases (7), place one of the grabbed cases (7) on the temporary stand, and place the remaining grabbed case (7) on the small pallet (14). The rounding process is completed by stacking the cases, and the planned number of cases (15 cases of A type, 8 cases of B type, 9 cases of C type) are loaded onto the small pallet (14) by the above operation, and the robot ( 8), one case each of type A and type C is placed on the temporary storage stand that moves along with item 8), but the fully loaded small pallet) (14) is again shown by the chain line in Figure 2. The cases (7) on the temporary storage stand will be used in the next new loading process.

In other words, if we assume that in the next loading process, for example, 15 cases of type A, 9 cases of type B, and 8 cases of type C will be loaded, the same procedure as the previous time will be used to load two integral multiples of items, that is, 14 cases of type A. , 8 cases of type B and 8 cases of type C are loaded before rounding, and after this operation is completed, one case each of type A and type B must be loaded. ), the robot (8) is stopped at the position of While holding the case (7), use the free grip claw (48).
) (49) to pick up the case (7) of type A that is temporarily placed on the temporary stand, and in this way, the case (7) of type A and type B, which are different types, is placed on the hand (25). 7) While holding each piece at the same time, they are transferred onto the small pallet (14) and placed all at once.

Therefore, one case (7) of type C remains on the temporary storage table, and this case (7) of type C will also be used in the subsequent palletizing work.

Next, the operation of picking up the case (7) by the hand (25) (picking or depalleting operation) and the operation of placing it on the small pallet (14) (palletizing operation) will be explained.

That is, as mentioned above, each plastic case (7) is loaded on the large pallet (11) with a positioning accuracy of about ±20fl, and the top and bottom surfaces of the plastic cases (7) are fitted together (7).
a) Since the L is aligned, the hand (25
) closes the grip claws (48) and (49), and each moving frame (5
1) (52) descend while in contact with the left end of Fig.
) and supply low-pressure oil to the opening/closing cylinder (47) to open the grip claw (48).
49) are connected to guide rods (51a) and (5), respectively.
2a) (53a) (at this point, the cylinders (55) and (58) can freely expand and contract), so even if the position of the case (7) deviates from its normal position, the case ( The grip claws (48) and (49) open so as to align with the position of case (7), without applying excessive force to case (7).
) and fitting (7a)L, it is a problem even if it is held up (grabbing is performed (in this example, the handle hole (7b) is wide in the Y-axis direction, so there is no problem in the Y-axis direction).

Then, raise the hand (25) with the grip claws (48) and (49) open and engaged under low pressure as described above, and securely engage the upper surface of the holding case (7b). At this point, the supply pressure to the opening/closing cylinder (47) is switched to high pressure, and the cylinder (55) (5
8) and position the case (7) relative to the node (25) in the X and Y axis directions as described above.

The hand of case (7) that was picked up as described above (
25), and with this positioning, the loading onto the next small pallet (14) or the temporary storage table is carried out exactly according to the set position, and the upper and lower cases (7) are not stacked against each other. The fitting (7a) is also done smoothly and the pieces are stacked up.

In addition, the arm part (22) of the robot (8) of the above embodiment
are two sets of parallel links (27a) (27b'), (2
8a) (28b) and two links (32) and (33) that are passed in a parallelogram shape between the links (27a and 28a). Arm (la) in Figure 5.6
), the overhang to the side opposite to the side where the hand (25) is present is omitted, so there is no need to make the area above the rail (9) in FIG. Although the pantograph-like structure of the arm portion is not limited to the above-described structure, it is possible to provide a storage space ((■) to (Q)).

In addition, as mentioned above, since the arm does not extend to the other side where the robot hand is located, the article storage area ((I)
~(Ql), it is also possible to use it as a passage for workers, or it is of course possible to simply use it as a building wall.

〔Effect of the invention〕

As is clear from the above explanation, the robot system according to the present invention can perform the above-mentioned palletizing work with high processing efficiency using an industrial robot, and
The exclusive space within the building does not occupy an unnecessarily large space (when installing equipment in the same building, other cylindrical coordinate types,
More space for storing goods (large pallet storage area in the above example) can be obtained than when using a Cartesian coordinate type robot.

[Brief explanation of drawings]

FIG. 1 is a vertical cross-sectional view of one embodiment of the robot system according to the present invention, FIG. 2 is an overall plan view of the same, FIG. 3 is a side view of the hand section with a part cut away, and FIG. 4 is a partially cut away view of the same. Front view, 5th
The figure is a schematic front view of a palletizing system using a cylindrical coordinate robot, FIG. 6 is a plan view of the same, and FIG. 7 is a schematic front view of the orthogonal coordinate robot.
Item (7)...Plastic case (stock) (8)
... Palletizing robot (9) ... Moving rail (movement path) (11) ... Large pallet (
Individual pallets ) (12) ... Traverse cart (13) ... Conveyor cart (loading cart for final stacking pallets) (14) ... Small pallet (final stacking pallets) (22) ... Arm Part (25)...Hand (27a) (27b'), (28a) (2
8b ), (32) (,33”) ... Link (A) (B) (C) ...... - (Q) ...
Variety

Claims (1)

[Claims] Individual vehicles loaded with different types of goods The pallet is transferred to the palletizing robot. In addition to being arranged along the rubber movement path, The palletizing robot has the final stacking robot by connecting the pallet loading cart for Each individual pallet is Pick an appropriate number of items from the and transfer it onto the final stacking pallet. The above-mentioned palletizing system The bot has a pantograph-shaped arm. It is characterized by being a robot with a mechanism Robotic system for palletizing goods Tem.