CA1319162C - Robotic palletizer - Google Patents
Robotic palletizerInfo
- Publication number
- CA1319162C CA1319162C CA000610771A CA610771A CA1319162C CA 1319162 C CA1319162 C CA 1319162C CA 000610771 A CA000610771 A CA 000610771A CA 610771 A CA610771 A CA 610771A CA 1319162 C CA1319162 C CA 1319162C
- Authority
- CA
- Canada
- Prior art keywords
- assembly
- pallet
- inner member
- idler wheel
- vertical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
ABSTRACT OF THE DISCLOSURE
A robotic palletizer including a vertical column, a telescoping horizontal arm mounted for vertical movement along the column and a hand assembly mounted at the end of the horizontal arm. A pair of photodetectors, movable with the hand assembly, sense the presence and location of cartons in place on a pallet being loaded and signal the palletizer when the vertical height and horizontal extension of the hand assembly are sufficient to a place cartons in the proper position for loading onto the pallet. A circuit controls operation of the palletizer in accordance with the sizes and shapes of the cartons and pallets and permits limited variation of the loading pattern provided by the palletizer. Separate conveyors transport cartons to the palletizer for loading and remove loaded pallets from the palletizer upon completion of the loading cycle.
A robotic palletizer including a vertical column, a telescoping horizontal arm mounted for vertical movement along the column and a hand assembly mounted at the end of the horizontal arm. A pair of photodetectors, movable with the hand assembly, sense the presence and location of cartons in place on a pallet being loaded and signal the palletizer when the vertical height and horizontal extension of the hand assembly are sufficient to a place cartons in the proper position for loading onto the pallet. A circuit controls operation of the palletizer in accordance with the sizes and shapes of the cartons and pallets and permits limited variation of the loading pattern provided by the palletizer. Separate conveyors transport cartons to the palletizer for loading and remove loaded pallets from the palletizer upon completion of the loading cycle.
Description
~ 3 ~ 2 ROBOTI C PALLETI ZER
sackaround of the Invention This invention relates generally to palletizers and more particularly, to robotic palletizers operable to automatically lift and place cartons onto a pallet in a predetermined pattern or arrangement.
As one of the final steps in many manufacturing operations it is necessary to load containers of manufactured products onto pallets for shipment from the manufacturing facility. In high speed, high volume, manufacturing operations, such loading or "palletizing"
can be very labor-intensive if performed manually; and a variety of machines or "palletizers" have been developed for automatically per~orming this function.
Because substantial savings in labor costs can be realized when automatic palletizing is utilized in high speed, high volume operations, such palletizing can be economically ~ustified despite a relatively high initial cost and demanding service requirements for each such palletizing machine. In low speed, low volume operations, however, the potential labor cost savings are far lower, and an automatic palletizer should have a simpler construction and have a relatively lower initial cost if it is to provide a significant economic advantage over manual palletizing.
Prior palletizers have utilized electronic and mechanical encoders, in combination with a computer-based control system, to keep track of the actual position of a carton as it is transported and placed onto a pallet. Although effective, the use of such encoders significantly increases the cost of such prior palletizers, requires service skills of experts and renders such palletizers economically unsuitable for use in low speed, low volume palletizing applications.
In Vi8W of the foregoing, it is a general ob~ect of 11 3 ~ 2 the present invention to provide a new and improved robotic palletizer.
It is a more specific object of the present invention to provide a new and improved robotic palletizer which can be economically manufactured and serviced and which can be advantageouslY utilized in low speed, low volume palletizing operations.
Summary of the Invention The invention provides a robotic palletizer operable to automatically place and arrange a plurality of objects in a predetermine~ pattern on a pallet. The robotic palletizer includes a hand assembly adapted to releasably grasp one or more of the objects and further includes a support assembly operable to support the hand assembly for independent movement in a substantially vertical direction and also in a substantially horizontal direction. Proximity detector, movable with the hand assembly, sense the presence and absence of accumulated objects on the pallet to control the position and elevation of the hand assembly for placing objects on the pallet.
The invention also provides a telescoping horizontal arm for use in the robotic palletizer. The telescoping horizontal arm comprises a rigid, hollow, elongate outer member having an associated longitudinal axis. An elongate intermediate member, having a longitudinal axis aligned substantially parallel with the longitudinal axis of the outer member, is telescopically receiYed in the outer member and includes an elongate lower surface. An idler wheel is mounted within the intermediate member for rotation in a substantially vertical plane and extends partly below the lower surface of the intermediate memberO An elongate inner member, telescopically disposed within the intermediate member and having a longitudinal axis aligned substantially parallel with the longitudinal axis of the intermediate member, engages the idler wheel.
Means are provided for displacing the inner member relative to the intermediate member in a direction substantially parallel to the longitudinal axis of each so as to rotate the idler wheel and thereby cause the idler wheel to displace the intermediate member, and the inner member, relative to the outer member.
According to an aspect of the invention, a robotic palletizer for automatically placing and arranging a plurality of objects in a predetermined pattern of rows and columns on a pallet, comprising a vertical support column, a vertically displaceable support assembly slidably mounted to the support column, a horizontally displaceable arm assembly slidably mounted to the support assembly, a hand assembly mounted to an outboard end of the arm assembly and having outboard and inboard plates for grasping the objects therebetween, and a detector means for sensing the presence and absence of objects on the pallet, characterized in that the detector means is carried by the hand assembly and comprises a first proximity detector means for controlling the vertical position of the hand assembly and a second proximity detector means for controlling the horizontal position.
Brief Description of the Drawings The features of the present invention are set forth with particularity in the appended claims. The invention, together with the objects and advantages thereof, can best be understood by reference to the following description taken in conjunction with the accompanying drawings wherein like reference numerals identify like elements, and;
Figure 1 is an isometric view of a robotic palletizer embodying various features of the invention;
and Figure 2 is a cross~sectional view of the robotic palletizer illustrated in Fig. 1 taken along line 2-2 thereof.
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Description of the Pre~erred Embodiment A robotic palletizer 10 embodying one form of the invention is illustrated in the Figures. The robotic palletizer 10 functions to receive a plurality of regularly shaped objects, such as shipping packages, cases or cartons 12, and automatically place the cartons 12 in a predetermined pattern on a shipping pallet 14.
As illustrated, the robotic palletizer 10 includes a vertical support column, or "Z'i axis 16, and an extendable horizontal arm or "Y" axis assembly 18 mounted for bi-directional vertical movement along the "Z" axis 16. A hand or grasping assembly 20, adapted to releasably grasp at least one and preferably a plurality of the cartons 12, is mounted to an extendable end 22 of the "Y" axis assembly 18. The hand assembly 20 is thus supported by the "Z" axis 16 and by the "Y" axis assembly 18 for independent movement in both the vertical and horizontal directions. Preferably, the "Y" axis assembly 18 comprises a telescoping horizontal arm.
The "Y" axis assembly 18 is supported for vertical movement along the "Z" axis 16 by means of a carriage 24 movable along the vertical column 16. A chain 25 (Fig.
2) is attached at one end to the carriage 24 and at the other end to a counterweight 26 within the vertical column 16. The chain 25 is also reeved over a sprocket 28 located at the top of the column 16. When the sprocket 28 is turned by means of an electric motor 30, the chain is driven in one direction or the other to cause the carriage 24 to move up or down along the vertical column 16. An adjustable limit switch 32 is provided for sensing when the carriage 24 has reached a predetermined lower limit relative to the vertical column 16.
The "Y" axis assembly 18 includes one end 34 which remains horizontally stationary relative to the vertical column 16. The extendable end 22 is driven horizontally inwardly or outwardly relative to the vertical column 16 ~ 3 ~ 2 4a under the power of an electric drive motor 36. The hand assembly 20 includes an outer hand plate or palm 38 and a parallel inner hand plate or palm 40 which can be driven toward or away from the outer hand plate 36. The hand assembly 20 can thereby grasp a row of the cartons 12 for placement onto the pallet 14, or can release the /
/
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cartons 12 onto the pallet 14. An adjustable limit switch 42 (Fig. 2) is provided for sensing when the "Y"
axis assembly 18 has been extended to a prede~ermined limit.
The telescoping horizontal arm 18 includes an elongate outer member or box frame 19, which is of substantially rectangular cross-section and has associated therewith a longitudinal axis. An elongate intermediate member, or carriage 23, is telescopically received in the box frame and is aligned substantially parallel with the longitudinal axis of the box frame 19.
The telescoping horizontal arm 18 further includes an elongate inner member or hand tube 21, which is telescopically disposed within the intermediate member or carriage 23. The longitudinal axis of the hand tube 21 is aligned substantially parallel with the longitudinal axes of the carriage 23 and the box frame 19 .
An idler wheel or roller 29 (Fig. 2) is mounted within the carriage 23 for rotation in a substantially vertical plane around an axle 31 oriented substantially perpendicularly to the planes formed by side walls 27 o the carriage 23. The idler wheel 29 is positioned so that a portion of the wheel extends partly below the lower surface of the carriage 23 and into contact with the bottom interior surface 17 of the box frame 19. Tha idler wheel 29 also extends into contact with an undersurface 15 of the hand tube 21 at a point substantially diametrically opposed to the point of contact between the idler wheel 29 and the box frame 19.
The axle 31 rides in a pair of opposed vertical slots formed in the side walls 27 of the carriage 23 so as to permit limitad vertical movement of the idler wheel 29 relative to the carriage 23.
The undersurface 15 of the inner member or hand tube 21 also rests on a support roller 33 mounted to the 6 ~ 6 ~
forward end of the carriage 23. In this manner, the inner member 21 is supported b~ the idler wheel 29 and the support roller 33 for axial extension or retraction relative to the carriage 23.
The inner member 21 is extended or retracted relative to the carriage 23 by means of a motor-driven friction or drive ~heel 35 mounted to the upper end of the carriage 23 and positioned so as to engage and bear against the upper surface 13 of the inner member 21.
The drive wheel 35, together with its associated drive motor 36, is mounted between a pair of brackets 37 which extend along opposite sides of the carriage 23 and which are vertically movable relative thereto. Each of the brackets 37, in turn, is affixed to the carriage 23 by means of a bolt extending through the bracket 37 and into a nut-like tab extending outwardly from each side of the carriage 23. By tightening or loosening the bolts, the vertical position of the motorized drive wheel 35 can be changed relative to the carriage 23.
This adjustment allows th user to make the carriage 23 and the hand tube 21 substantially parallel with the box frame 19.
The intermediate member of the carriage 23 is supported for lateral translation relative to the outer member or box frame 19. Part of this support is by means of a roller assembly 39 mounted at the rear of the carriage 23 and engaging the upper interior wall 41 of the box frame 19. The remainder of the carriage 23 is ultimately supported by the idler wheel 29. The supporting force to the front of the carriage 23 is applied upward to the idler wheel 29 at the point where it contacts the lower interior wall of the box frame 19.
The vertical position of the idler wheel 29 relative to the carriage 23 is not fixed. ~ather, the idler wheel 29 is permitted to float, and the upward contact force from the lower wall of box frame 19 is transmitted 7 1 3 ~ 2 directly through the idler wheel 29 to the underside of the inner member 21. This force is then transmitted through the inner member 21 to the carriage 23 via the drive wh~el 35, the bolts and the nut-like tabs.
Accordingly, the traction between the drive wheel 35 and the inner member 21 can be reliably maintained even as the drive wheel 35 and the idler wheel 29 wear during operation.
In operation, rotation of the friction or drive wheel 35 results in lateral translation of the inner member or hand tube 21 relative to the carriage 23.
Movement of the inner member 21 in one direction relative to the carriage 23 causes the idler wheel 29 to rotate. Such rotation of the idler wheel 29 causes the carriage 23 to move in the same direction relative to the outer member or box frame 19. During extension or retraction of the horizontal arm 18, the motorized drive wheel 35 is fixed relative to the carriage 23.
Therefore, the inner member 21 moves relative to the carriage 23 while the carriage 23 moves in the same direction relative to the box frame 19. The inner member 21 moves at about twice the speed of the carriage 23 due to the locations of contact with the idler wheel 29 - one contacting the other at the idler wheel 29 at the axle and the other at the outer ~iameter thereof.
Means are provided for ensuring that the speed of the inner member 21 relative to the carriage 23 is substantially equal to the speed of the carriage 23 relative to the box frame 19. To this end, a pair of sprockets 44 are mounted on opposite sides of the idler wheel 29 so as to be co-rotatable therewith. A first chain ~6, having one end attached to the rear of the inner member 21, is reeved over one of the sprockets 44.
The opposite end of the first chain 46 is attached to the interior of the box frame 19 at a point located rearwardly of the idler wheel 29. A second chain 48 is ~ 3 ~
connected at one end to the forward end of the inner member 21 and is reeved over the other one sprocket 44.
The second chain 48 is attached, at its opposite end, to the interior o~ the box frame l9 at a point located forwardly of the idler wheel 29. During extension or retraction of the horizontal arm 18, the chains 46 and 48 function to ensure that the lateral translation of the inner member 21 relative to the box frame lg is substantially twice the translation of the carriage 23 relative to the box frame 19.
The robotic palletizer l`urther includes an infeed conveyor 44l a pallet dispenser 46 in which empty pallets 14 are stored, and a pallet conveyor 48 which conveys the empty pallets 14 from the dispenser 46 to a loading position shown in Fig. 1. A user control panel 50, containing suitable control circuitry, is provided for controlling operation of the palletizer 10.
The infeed conveyor 44 functions to meter, orient and accumulate the cartons 12 prior to loading onto tha pallet 14. The infeed conveyor 44 receives the cartons 12 from an upstream conveyor (not shown), such as a gravity or low back pressure conveyor. The infeed conveyor 44 includes a low-speed section 52 and a high-speed section 54 downstream of the low speed section 52. Because of the speed differential between these high-speed and low-speed sections, the cartons 12, which have been initially conveyed onto the low speed section 52, automatically become spaced apart, as they encounter the high-speed section 54. Upon reaching the end of the high-speed section 54, the cartons 12 are stopped and accumulated. A first photodetector 56, responsive to the passage of each of the cartons 12, counts the cartons 12 as each enters the high-speed section 54 of the conveyor 44. This information is provided to the control circu.itry. As the cartons 12 pass the photodetector 5~ (also responsive to the 9 ~ 3 ~
passage of each of the cartons 12) into the accumulation area of the conveyor 44, this information is also provided to the control circuitry for determining completion of a row of the cartons 12 in the accumulation area.
The infeed conveyor 44 is configured so that a sufficient num~er of the cartons 12 are accumulated at one time to form one row in each layer on ~he loaded pallet 14. The cartons 12 can thus be accumulated in side-by-side relationship as shown in Fig. 1. In the alternativs, a carton turning mechanism 60, located adjacent the inlet end of the high-speed section 54, can be actuated by the control circuitry to place the cartons 12 in end-to-end relationship as they are accumulated.
The positions of the cartons 12 and the hand assembly 20 relative to the pallet 14 are sensed by proximity detector means. The proximity detector means senses for sensing the presence and absence of the accumulated cartons 12 on the pallet 14 to control the position of the hand assembly 20 for placing the cartons 12 on the pallet 14. For example, one can use a pair of proximity detectors 62 and 64 mounted on a support 66 which extends horizontally outwardly from the hand assembly 20. In the illustrated embodiment, the first and second proximity detectors 62 and 64 each preferably comprise an infrared photodetector system including a self-contained infrared source and infrared detector.
The horizontal support 66 is located such that when the hand assembly 20 is in position ovsr the pallet 14, the support 66 extends adjacent and along side the cartons 12 in place on the pallet 14. The support 66 is also positioned to be roughly one inch above the bottom surface of the cartons 12 being carried by the hand assembly 20.
lo ~3~
The first proximity detector 62 ia located substantially at the outermost end of the support 66 and faces toward the sides of the cartons 12 in place on the pallet 14. The second proximity detector 64 is positioned slightly outboard of the outer hand member 38 and also faces toward ths sides of the cartons 12 in place on the pallet 14.
During a pallet loading operation the first and second proximity detectors 62 and 64 operate in conjunction with control means, such as suita~le microprocessor based control circuitry in the control panel 50. These proximity detectors 62 and 64 function to sense the position of the hand assembly 20 relative to the cartons 12 already in place on the pallet 14. In particular, the first proximity detector 62 operates to generate a first control signal characteristic of the vertical position of the hand assembly 20. Thus, the first proximity detector 62 senses when the height of the hand assembly 20 is sufficient to provide vertical clearance between the cartons 12 already in place on the pallet 14 and the cartons 12 in the ~rasp of the hand assembly 20. Similarly, the second proximity detector 64 operates to generate a second control signal characteristic of the horizontal position of the hand assembly 20. Thus, the second proximity detector 64 senses when the horizontal extension o~ the horizontal arm 18 is sufficient to place the outermost edge of the grasped cartons 12 adjacent the innermost edge 68 of the top row of the cartons 12 already in place.
Within the control panel 50, the control circuitry operates to control the palletizer 10 in accordance with: (a) various user-generated predetermined control inputs, (b) by the inputs, or control signals, provided by the above discussed photodetectors 56, 58 and the proximity ~etectors Ç2, 64 and (c) by the various limit switches 32, 42.
Preferably, the control system comprises a programmed commercially available, microprocessor-based circuit, such as the "SLC150" Processor manufactured by Allen Bradley Company as part no. 1745-LP 153.
Programming of the control system involves entering various predetermined operat:ional data, such as the number of cartons 12 per row; the orientation of each of the cartons 12 within the row, spacing (per user requirements) between the adjacent cartons 12 within the row and the total number of the cartons 12 for a fully loaded form of the pallet 14 This predetermined operational data and the con1:rol signal information is manipulated by a computer software program (the source code output of the program is set forth in the Software Appendix). Control of the robotic palletizer 10 is thus effectuated in accordance with the execution of the computer program instructions which utilize the predetermined operational data input by the user and the control signal information as the variable parameters.
The cartons 12 are then conveyed onto the low-speed section 52 of the infeed conveyor 44. When a sufficient number of the cartons 12 have been accumulated to form one row on the pallet 14, the hand assembly 20 closes to grip the accumulated cartons 12.
With the reference to the partially loaded pallet 14 as shown in Fig. 1, when the pallet 14 is initially empty, the first row of the cartons 12 is positioned on the pallet 14 by raising the "Z" axis for a predetermined time, then extending the "Y" axis assembly 18 until the limit switch 42 associated therewith is activated. The "Z" axis is then lowered to the position of a "home" limit switch 32, and the hand assembly releases the cartons 12 onto the pallet 14. After the first row of the cartons 12 is thus deposited on the pallet 14, the hand assembly 20 is withdrawn to the initial, or "home", position over the infeed conveyor 12 ~3~
44. That is, the "Z" axis raises in accordance with a timer signal from the control circuitry, the "Y" axis retracts until the "home" limit switch 42 is actuated, and the "Z" axis lowers until the "home" limit switch 32 is actuated. When the next row of the cartons 12 has been accumulated the "z" axis raises for a prsdetermined time then the "Y" axis assembly 18 is extended until the second photodetector 64 detects the inner edge of the previously deposited first row of the cartons 12. The "Z" axis is then again lowered until the "home" limit switch 32 is actuated. The second row of the cartons 12 is then released and is deposited on the pallet 14 in close proximity to the firs~ row. Operation in this manner continues until the first layer of the cartons 12 on the pallet 14 is completed.
To form the second layer of the cartons 12 on the pallet 14, the horizontal arm 18 is first raised along the "Z" axis 16 until the first proximity detector 62 clears the top of the first layer. Once sufficient vertical clearance over the previously deposited layer is established, the first row of the second layer is constructed by extending the "Y" axis assembly 18 until the limit switch 42 associ`ated therewith is actuated, which will then lower the "Z" axis a predetermined distance. (This distance is readily adjustable by adjusting a timer in the control circuitry.) After the first row o~ the second layer is thus positioned and deposited, subsequent rows are constructed by extending the "Y" axis assembly 18 until the second proximity detector 64 detects the inner ed~e of the cartons 12 already in place in the second layer. Operation continues in this manner until the requisite layers ha~e been formed on the pallet 14. Once the pallet 14 is fully loaded, it is removed from the pallet conveyor 48; and a new pallet is brought into the loading position.
13 ~3~
If it is desired to Eorm an interlocking loading pattern on the pallet 14, the control circuitry actuates the case turner 60 so as to turn the carton~ 12 in alternate rows prior to accumulation and thereby form a desired interlocking loading pattern on th0 pallet 14.
The robotic palletizer 10 therefore includes a number of significant commercial advantages. ~he position of the cartons 12 in each row on the pallet 14 is determined either by the limit switch 42 or by actuation of the first and second proximity detectors 62 and 64. It is therafore unnecessary to monitor the actual position of the hand assembly 20 during each loading cycle. This eliminates the need ~or costly and complex encoding techniques (and associated hardware) for continuously sensing the location of the hand assembly 20. These features thus contribute to the overall economy and serviceability of the robotic palletizer 10. The structure of the robotic palletizer 10 also results in a rugged apparatus which can handle relatively heavy cartons and allows long term performance and straightforward servicing.
While a particular embodiment of the invention has been shown and described, it will be obvious to those skilled in the art that changes and modifications may be made without departing from the invention in its broader aspects, and, therefore, the aim in the appended claims is to cover all such changes and modifications as fall within the true spirit and scope of the invention.
sackaround of the Invention This invention relates generally to palletizers and more particularly, to robotic palletizers operable to automatically lift and place cartons onto a pallet in a predetermined pattern or arrangement.
As one of the final steps in many manufacturing operations it is necessary to load containers of manufactured products onto pallets for shipment from the manufacturing facility. In high speed, high volume, manufacturing operations, such loading or "palletizing"
can be very labor-intensive if performed manually; and a variety of machines or "palletizers" have been developed for automatically per~orming this function.
Because substantial savings in labor costs can be realized when automatic palletizing is utilized in high speed, high volume operations, such palletizing can be economically ~ustified despite a relatively high initial cost and demanding service requirements for each such palletizing machine. In low speed, low volume operations, however, the potential labor cost savings are far lower, and an automatic palletizer should have a simpler construction and have a relatively lower initial cost if it is to provide a significant economic advantage over manual palletizing.
Prior palletizers have utilized electronic and mechanical encoders, in combination with a computer-based control system, to keep track of the actual position of a carton as it is transported and placed onto a pallet. Although effective, the use of such encoders significantly increases the cost of such prior palletizers, requires service skills of experts and renders such palletizers economically unsuitable for use in low speed, low volume palletizing applications.
In Vi8W of the foregoing, it is a general ob~ect of 11 3 ~ 2 the present invention to provide a new and improved robotic palletizer.
It is a more specific object of the present invention to provide a new and improved robotic palletizer which can be economically manufactured and serviced and which can be advantageouslY utilized in low speed, low volume palletizing operations.
Summary of the Invention The invention provides a robotic palletizer operable to automatically place and arrange a plurality of objects in a predetermine~ pattern on a pallet. The robotic palletizer includes a hand assembly adapted to releasably grasp one or more of the objects and further includes a support assembly operable to support the hand assembly for independent movement in a substantially vertical direction and also in a substantially horizontal direction. Proximity detector, movable with the hand assembly, sense the presence and absence of accumulated objects on the pallet to control the position and elevation of the hand assembly for placing objects on the pallet.
The invention also provides a telescoping horizontal arm for use in the robotic palletizer. The telescoping horizontal arm comprises a rigid, hollow, elongate outer member having an associated longitudinal axis. An elongate intermediate member, having a longitudinal axis aligned substantially parallel with the longitudinal axis of the outer member, is telescopically receiYed in the outer member and includes an elongate lower surface. An idler wheel is mounted within the intermediate member for rotation in a substantially vertical plane and extends partly below the lower surface of the intermediate memberO An elongate inner member, telescopically disposed within the intermediate member and having a longitudinal axis aligned substantially parallel with the longitudinal axis of the intermediate member, engages the idler wheel.
Means are provided for displacing the inner member relative to the intermediate member in a direction substantially parallel to the longitudinal axis of each so as to rotate the idler wheel and thereby cause the idler wheel to displace the intermediate member, and the inner member, relative to the outer member.
According to an aspect of the invention, a robotic palletizer for automatically placing and arranging a plurality of objects in a predetermined pattern of rows and columns on a pallet, comprising a vertical support column, a vertically displaceable support assembly slidably mounted to the support column, a horizontally displaceable arm assembly slidably mounted to the support assembly, a hand assembly mounted to an outboard end of the arm assembly and having outboard and inboard plates for grasping the objects therebetween, and a detector means for sensing the presence and absence of objects on the pallet, characterized in that the detector means is carried by the hand assembly and comprises a first proximity detector means for controlling the vertical position of the hand assembly and a second proximity detector means for controlling the horizontal position.
Brief Description of the Drawings The features of the present invention are set forth with particularity in the appended claims. The invention, together with the objects and advantages thereof, can best be understood by reference to the following description taken in conjunction with the accompanying drawings wherein like reference numerals identify like elements, and;
Figure 1 is an isometric view of a robotic palletizer embodying various features of the invention;
and Figure 2 is a cross~sectional view of the robotic palletizer illustrated in Fig. 1 taken along line 2-2 thereof.
t3~9~
Description of the Pre~erred Embodiment A robotic palletizer 10 embodying one form of the invention is illustrated in the Figures. The robotic palletizer 10 functions to receive a plurality of regularly shaped objects, such as shipping packages, cases or cartons 12, and automatically place the cartons 12 in a predetermined pattern on a shipping pallet 14.
As illustrated, the robotic palletizer 10 includes a vertical support column, or "Z'i axis 16, and an extendable horizontal arm or "Y" axis assembly 18 mounted for bi-directional vertical movement along the "Z" axis 16. A hand or grasping assembly 20, adapted to releasably grasp at least one and preferably a plurality of the cartons 12, is mounted to an extendable end 22 of the "Y" axis assembly 18. The hand assembly 20 is thus supported by the "Z" axis 16 and by the "Y" axis assembly 18 for independent movement in both the vertical and horizontal directions. Preferably, the "Y" axis assembly 18 comprises a telescoping horizontal arm.
The "Y" axis assembly 18 is supported for vertical movement along the "Z" axis 16 by means of a carriage 24 movable along the vertical column 16. A chain 25 (Fig.
2) is attached at one end to the carriage 24 and at the other end to a counterweight 26 within the vertical column 16. The chain 25 is also reeved over a sprocket 28 located at the top of the column 16. When the sprocket 28 is turned by means of an electric motor 30, the chain is driven in one direction or the other to cause the carriage 24 to move up or down along the vertical column 16. An adjustable limit switch 32 is provided for sensing when the carriage 24 has reached a predetermined lower limit relative to the vertical column 16.
The "Y" axis assembly 18 includes one end 34 which remains horizontally stationary relative to the vertical column 16. The extendable end 22 is driven horizontally inwardly or outwardly relative to the vertical column 16 ~ 3 ~ 2 4a under the power of an electric drive motor 36. The hand assembly 20 includes an outer hand plate or palm 38 and a parallel inner hand plate or palm 40 which can be driven toward or away from the outer hand plate 36. The hand assembly 20 can thereby grasp a row of the cartons 12 for placement onto the pallet 14, or can release the /
/
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cartons 12 onto the pallet 14. An adjustable limit switch 42 (Fig. 2) is provided for sensing when the "Y"
axis assembly 18 has been extended to a prede~ermined limit.
The telescoping horizontal arm 18 includes an elongate outer member or box frame 19, which is of substantially rectangular cross-section and has associated therewith a longitudinal axis. An elongate intermediate member, or carriage 23, is telescopically received in the box frame and is aligned substantially parallel with the longitudinal axis of the box frame 19.
The telescoping horizontal arm 18 further includes an elongate inner member or hand tube 21, which is telescopically disposed within the intermediate member or carriage 23. The longitudinal axis of the hand tube 21 is aligned substantially parallel with the longitudinal axes of the carriage 23 and the box frame 19 .
An idler wheel or roller 29 (Fig. 2) is mounted within the carriage 23 for rotation in a substantially vertical plane around an axle 31 oriented substantially perpendicularly to the planes formed by side walls 27 o the carriage 23. The idler wheel 29 is positioned so that a portion of the wheel extends partly below the lower surface of the carriage 23 and into contact with the bottom interior surface 17 of the box frame 19. Tha idler wheel 29 also extends into contact with an undersurface 15 of the hand tube 21 at a point substantially diametrically opposed to the point of contact between the idler wheel 29 and the box frame 19.
The axle 31 rides in a pair of opposed vertical slots formed in the side walls 27 of the carriage 23 so as to permit limitad vertical movement of the idler wheel 29 relative to the carriage 23.
The undersurface 15 of the inner member or hand tube 21 also rests on a support roller 33 mounted to the 6 ~ 6 ~
forward end of the carriage 23. In this manner, the inner member 21 is supported b~ the idler wheel 29 and the support roller 33 for axial extension or retraction relative to the carriage 23.
The inner member 21 is extended or retracted relative to the carriage 23 by means of a motor-driven friction or drive ~heel 35 mounted to the upper end of the carriage 23 and positioned so as to engage and bear against the upper surface 13 of the inner member 21.
The drive wheel 35, together with its associated drive motor 36, is mounted between a pair of brackets 37 which extend along opposite sides of the carriage 23 and which are vertically movable relative thereto. Each of the brackets 37, in turn, is affixed to the carriage 23 by means of a bolt extending through the bracket 37 and into a nut-like tab extending outwardly from each side of the carriage 23. By tightening or loosening the bolts, the vertical position of the motorized drive wheel 35 can be changed relative to the carriage 23.
This adjustment allows th user to make the carriage 23 and the hand tube 21 substantially parallel with the box frame 19.
The intermediate member of the carriage 23 is supported for lateral translation relative to the outer member or box frame 19. Part of this support is by means of a roller assembly 39 mounted at the rear of the carriage 23 and engaging the upper interior wall 41 of the box frame 19. The remainder of the carriage 23 is ultimately supported by the idler wheel 29. The supporting force to the front of the carriage 23 is applied upward to the idler wheel 29 at the point where it contacts the lower interior wall of the box frame 19.
The vertical position of the idler wheel 29 relative to the carriage 23 is not fixed. ~ather, the idler wheel 29 is permitted to float, and the upward contact force from the lower wall of box frame 19 is transmitted 7 1 3 ~ 2 directly through the idler wheel 29 to the underside of the inner member 21. This force is then transmitted through the inner member 21 to the carriage 23 via the drive wh~el 35, the bolts and the nut-like tabs.
Accordingly, the traction between the drive wheel 35 and the inner member 21 can be reliably maintained even as the drive wheel 35 and the idler wheel 29 wear during operation.
In operation, rotation of the friction or drive wheel 35 results in lateral translation of the inner member or hand tube 21 relative to the carriage 23.
Movement of the inner member 21 in one direction relative to the carriage 23 causes the idler wheel 29 to rotate. Such rotation of the idler wheel 29 causes the carriage 23 to move in the same direction relative to the outer member or box frame 19. During extension or retraction of the horizontal arm 18, the motorized drive wheel 35 is fixed relative to the carriage 23.
Therefore, the inner member 21 moves relative to the carriage 23 while the carriage 23 moves in the same direction relative to the box frame 19. The inner member 21 moves at about twice the speed of the carriage 23 due to the locations of contact with the idler wheel 29 - one contacting the other at the idler wheel 29 at the axle and the other at the outer ~iameter thereof.
Means are provided for ensuring that the speed of the inner member 21 relative to the carriage 23 is substantially equal to the speed of the carriage 23 relative to the box frame 19. To this end, a pair of sprockets 44 are mounted on opposite sides of the idler wheel 29 so as to be co-rotatable therewith. A first chain ~6, having one end attached to the rear of the inner member 21, is reeved over one of the sprockets 44.
The opposite end of the first chain 46 is attached to the interior of the box frame 19 at a point located rearwardly of the idler wheel 29. A second chain 48 is ~ 3 ~
connected at one end to the forward end of the inner member 21 and is reeved over the other one sprocket 44.
The second chain 48 is attached, at its opposite end, to the interior o~ the box frame l9 at a point located forwardly of the idler wheel 29. During extension or retraction of the horizontal arm 18, the chains 46 and 48 function to ensure that the lateral translation of the inner member 21 relative to the box frame lg is substantially twice the translation of the carriage 23 relative to the box frame 19.
The robotic palletizer l`urther includes an infeed conveyor 44l a pallet dispenser 46 in which empty pallets 14 are stored, and a pallet conveyor 48 which conveys the empty pallets 14 from the dispenser 46 to a loading position shown in Fig. 1. A user control panel 50, containing suitable control circuitry, is provided for controlling operation of the palletizer 10.
The infeed conveyor 44 functions to meter, orient and accumulate the cartons 12 prior to loading onto tha pallet 14. The infeed conveyor 44 receives the cartons 12 from an upstream conveyor (not shown), such as a gravity or low back pressure conveyor. The infeed conveyor 44 includes a low-speed section 52 and a high-speed section 54 downstream of the low speed section 52. Because of the speed differential between these high-speed and low-speed sections, the cartons 12, which have been initially conveyed onto the low speed section 52, automatically become spaced apart, as they encounter the high-speed section 54. Upon reaching the end of the high-speed section 54, the cartons 12 are stopped and accumulated. A first photodetector 56, responsive to the passage of each of the cartons 12, counts the cartons 12 as each enters the high-speed section 54 of the conveyor 44. This information is provided to the control circu.itry. As the cartons 12 pass the photodetector 5~ (also responsive to the 9 ~ 3 ~
passage of each of the cartons 12) into the accumulation area of the conveyor 44, this information is also provided to the control circuitry for determining completion of a row of the cartons 12 in the accumulation area.
The infeed conveyor 44 is configured so that a sufficient num~er of the cartons 12 are accumulated at one time to form one row in each layer on ~he loaded pallet 14. The cartons 12 can thus be accumulated in side-by-side relationship as shown in Fig. 1. In the alternativs, a carton turning mechanism 60, located adjacent the inlet end of the high-speed section 54, can be actuated by the control circuitry to place the cartons 12 in end-to-end relationship as they are accumulated.
The positions of the cartons 12 and the hand assembly 20 relative to the pallet 14 are sensed by proximity detector means. The proximity detector means senses for sensing the presence and absence of the accumulated cartons 12 on the pallet 14 to control the position of the hand assembly 20 for placing the cartons 12 on the pallet 14. For example, one can use a pair of proximity detectors 62 and 64 mounted on a support 66 which extends horizontally outwardly from the hand assembly 20. In the illustrated embodiment, the first and second proximity detectors 62 and 64 each preferably comprise an infrared photodetector system including a self-contained infrared source and infrared detector.
The horizontal support 66 is located such that when the hand assembly 20 is in position ovsr the pallet 14, the support 66 extends adjacent and along side the cartons 12 in place on the pallet 14. The support 66 is also positioned to be roughly one inch above the bottom surface of the cartons 12 being carried by the hand assembly 20.
lo ~3~
The first proximity detector 62 ia located substantially at the outermost end of the support 66 and faces toward the sides of the cartons 12 in place on the pallet 14. The second proximity detector 64 is positioned slightly outboard of the outer hand member 38 and also faces toward ths sides of the cartons 12 in place on the pallet 14.
During a pallet loading operation the first and second proximity detectors 62 and 64 operate in conjunction with control means, such as suita~le microprocessor based control circuitry in the control panel 50. These proximity detectors 62 and 64 function to sense the position of the hand assembly 20 relative to the cartons 12 already in place on the pallet 14. In particular, the first proximity detector 62 operates to generate a first control signal characteristic of the vertical position of the hand assembly 20. Thus, the first proximity detector 62 senses when the height of the hand assembly 20 is sufficient to provide vertical clearance between the cartons 12 already in place on the pallet 14 and the cartons 12 in the ~rasp of the hand assembly 20. Similarly, the second proximity detector 64 operates to generate a second control signal characteristic of the horizontal position of the hand assembly 20. Thus, the second proximity detector 64 senses when the horizontal extension o~ the horizontal arm 18 is sufficient to place the outermost edge of the grasped cartons 12 adjacent the innermost edge 68 of the top row of the cartons 12 already in place.
Within the control panel 50, the control circuitry operates to control the palletizer 10 in accordance with: (a) various user-generated predetermined control inputs, (b) by the inputs, or control signals, provided by the above discussed photodetectors 56, 58 and the proximity ~etectors Ç2, 64 and (c) by the various limit switches 32, 42.
Preferably, the control system comprises a programmed commercially available, microprocessor-based circuit, such as the "SLC150" Processor manufactured by Allen Bradley Company as part no. 1745-LP 153.
Programming of the control system involves entering various predetermined operat:ional data, such as the number of cartons 12 per row; the orientation of each of the cartons 12 within the row, spacing (per user requirements) between the adjacent cartons 12 within the row and the total number of the cartons 12 for a fully loaded form of the pallet 14 This predetermined operational data and the con1:rol signal information is manipulated by a computer software program (the source code output of the program is set forth in the Software Appendix). Control of the robotic palletizer 10 is thus effectuated in accordance with the execution of the computer program instructions which utilize the predetermined operational data input by the user and the control signal information as the variable parameters.
The cartons 12 are then conveyed onto the low-speed section 52 of the infeed conveyor 44. When a sufficient number of the cartons 12 have been accumulated to form one row on the pallet 14, the hand assembly 20 closes to grip the accumulated cartons 12.
With the reference to the partially loaded pallet 14 as shown in Fig. 1, when the pallet 14 is initially empty, the first row of the cartons 12 is positioned on the pallet 14 by raising the "Z" axis for a predetermined time, then extending the "Y" axis assembly 18 until the limit switch 42 associated therewith is activated. The "Z" axis is then lowered to the position of a "home" limit switch 32, and the hand assembly releases the cartons 12 onto the pallet 14. After the first row of the cartons 12 is thus deposited on the pallet 14, the hand assembly 20 is withdrawn to the initial, or "home", position over the infeed conveyor 12 ~3~
44. That is, the "Z" axis raises in accordance with a timer signal from the control circuitry, the "Y" axis retracts until the "home" limit switch 42 is actuated, and the "Z" axis lowers until the "home" limit switch 32 is actuated. When the next row of the cartons 12 has been accumulated the "z" axis raises for a prsdetermined time then the "Y" axis assembly 18 is extended until the second photodetector 64 detects the inner edge of the previously deposited first row of the cartons 12. The "Z" axis is then again lowered until the "home" limit switch 32 is actuated. The second row of the cartons 12 is then released and is deposited on the pallet 14 in close proximity to the firs~ row. Operation in this manner continues until the first layer of the cartons 12 on the pallet 14 is completed.
To form the second layer of the cartons 12 on the pallet 14, the horizontal arm 18 is first raised along the "Z" axis 16 until the first proximity detector 62 clears the top of the first layer. Once sufficient vertical clearance over the previously deposited layer is established, the first row of the second layer is constructed by extending the "Y" axis assembly 18 until the limit switch 42 associ`ated therewith is actuated, which will then lower the "Z" axis a predetermined distance. (This distance is readily adjustable by adjusting a timer in the control circuitry.) After the first row o~ the second layer is thus positioned and deposited, subsequent rows are constructed by extending the "Y" axis assembly 18 until the second proximity detector 64 detects the inner ed~e of the cartons 12 already in place in the second layer. Operation continues in this manner until the requisite layers ha~e been formed on the pallet 14. Once the pallet 14 is fully loaded, it is removed from the pallet conveyor 48; and a new pallet is brought into the loading position.
13 ~3~
If it is desired to Eorm an interlocking loading pattern on the pallet 14, the control circuitry actuates the case turner 60 so as to turn the carton~ 12 in alternate rows prior to accumulation and thereby form a desired interlocking loading pattern on th0 pallet 14.
The robotic palletizer 10 therefore includes a number of significant commercial advantages. ~he position of the cartons 12 in each row on the pallet 14 is determined either by the limit switch 42 or by actuation of the first and second proximity detectors 62 and 64. It is therafore unnecessary to monitor the actual position of the hand assembly 20 during each loading cycle. This eliminates the need ~or costly and complex encoding techniques (and associated hardware) for continuously sensing the location of the hand assembly 20. These features thus contribute to the overall economy and serviceability of the robotic palletizer 10. The structure of the robotic palletizer 10 also results in a rugged apparatus which can handle relatively heavy cartons and allows long term performance and straightforward servicing.
While a particular embodiment of the invention has been shown and described, it will be obvious to those skilled in the art that changes and modifications may be made without departing from the invention in its broader aspects, and, therefore, the aim in the appended claims is to cover all such changes and modifications as fall within the true spirit and scope of the invention.
Claims (15)
1. A robotic palletizer for automatically placing and arranging a plurality of objects in a predetermined pattern of rows and columns on a pallet, comprising a vertical support column, a vertically displaceable support assembly slidably mounted to the support column, a horizontally displaceable arm assembly slidably mounted to the support assembly, a hand assembly mounted to an outboard end of the arm assembly and having outboard and inboard plates for grasping the objects therebetween, and a detector means for sensing the presence and absence of objects on the pallet, characterized in that the detector means is carried by the hand assembly and comprises a first proximity detector means for controlling the vertical position of the hand assembly and a second proximity detector means for controlling the horizontal position.
2. The robotic palletizer according to Claim 1, characterized in that the first and second proximity detectors are mounted to a horizontal support arm longitudinally spaced from the hand assembly and extending outwardly normal to the plane of the outboard plate, wherein the first proximity detector means is mounted to an outboard end of the support arm for sensing the vertical height of the objects in place on the pallet for providing a vertical clearance between the grasped objects and the objects in place on the pallet, and the second proximity detector means is mounted to an inboard end of the support arm for sensing the horizontal position of the hand assembly for placing an outermost edge of the grasped objects adjacent to an innermost edge of the objects in place on the pallet; and wherein the detector means include a limit switch for controlling the maximum horizontal extension of the arm assembly for positioning the hand assembly and grasped objects above an outboard side of the pallet.
3. The robotic palletizer according to Claims 1 or 2, characterized in that a control means having stored operational data is provided for controlling the operation of the robotic palletizer in response to signals generated by the proximity detector means, and that a first means is activated by the control means responsive to a control signal from the first proximity detector means for raising the support assembly and the horizontal arm assembly along the vertical support column until reaching a vertical position determined by the operational data; and that a second means is activated by the control means responsive to a control signal from the second proximity detector means for horizontally displacing the arm assembly and the assembly until reaching a horizontal position determined by the operational data.
4. A robotic palletizer in accordance with Claim 3 characterized in that said first means includes a first electric motor operable to raise and lower said horizontal arm assembly relative to said vertical support column, and wherein said second means includes a second electric motor operable to extend and retract said telescopic horizontal arm assembly.
5. A robotic palletizer in accordance with Claim 1 characterized in that said robotic palletizer further includes an elongate support extending outwardly from said hand assembly in a direction substantially parallel to said horizontal arm assembly and wherein said first and second proximity detectors are mounted on said elongate support.
6. A robotic palletizer in accordance with Claim 5 characterized in that said first proximity detector is mounted on said elongate support at a level whereas the vertical stopping distance is substantially equal to the vertical distance between said first proximity detector and the lowermost edge of said objects carried by said hand assembly and wherein said second proximity detector is displaced from the outermost edge of said hand assembly by a distance substantially equal to the horizontal stopping distance of said hand assembly, the vertical and horizontal stopping distance readily adjusted for providing optimum clearance and carton placement by changing time delays using said control means.
7. A robotic palletizer in accordance with Claim 2 or 6 characterized in that each of said first and second proximity detectors comprises a photodetector system.
8. The robotic palletizer according Claim 7, characterized in that the first and second proximity detector means face in the direction of the pallet.
9. The robotic palletizer according to Claim 1 wherein the telescopic assembly comprises:
an elongate outer member having an associated longitudinal axis;
an elongate intermediate member having a longitudinal axis aligned substantially parallel with said outer member longitudinal axis and telescopically received in said outer member, said intermediate member including an elongate lower surface;
an idler wheel mounted within said intermediate member for rotating in a substantially vertical plane, said idler wheel extending partly below said lower surface into contact with said outer member;
an elongate inner member telescopically disposed within said intermediate member and having a longitudinal axis aligned substantially parallel with said intermediate member longitudinal axis and said inner member engaging said idler wheel; and means for displacing said inner member relative to said intermediate member in a direction substantially parallel to said inner member longitudinal axis, said displacing means rotating said idler wheel and said idler wheel displacing said intermediate member and said inner member relative to said outer member.
an elongate outer member having an associated longitudinal axis;
an elongate intermediate member having a longitudinal axis aligned substantially parallel with said outer member longitudinal axis and telescopically received in said outer member, said intermediate member including an elongate lower surface;
an idler wheel mounted within said intermediate member for rotating in a substantially vertical plane, said idler wheel extending partly below said lower surface into contact with said outer member;
an elongate inner member telescopically disposed within said intermediate member and having a longitudinal axis aligned substantially parallel with said intermediate member longitudinal axis and said inner member engaging said idler wheel; and means for displacing said inner member relative to said intermediate member in a direction substantially parallel to said inner member longitudinal axis, said displacing means rotating said idler wheel and said idler wheel displacing said intermediate member and said inner member relative to said outer member.
10. The invention in accordance with Claim 1 wherein said means for displacing comprises a motorized wheel fixedly mounted relative to said intermediate member and engaging said inner member so as to extend said inner member relative to said intermediate member in response to rotation of said motorized wheel in one direction and to retract said inner member relative to said intermediate member in response to rotation of said motorized wheel in the opposite direction.
11. The invention in accordance with Claim 1 wherein said inner member includes an upper surface engaged by said motor driven wheel and further includes a lower surface engaging said idler wheel.
12. The invention in accordance with Claim 1 wherein said idler wheel is vertically displaceable relative to said intermediate member so that contact forces between said inner member and said idler wheel are transmitted through said idler wheel to said outer member.
13. The invention in accordance with Claim 1 wherein said telescoping horizontal arm further includes tensioning means for adjusting the contact force between said motorized wheel and said inner member.
14. The invention in accordance with Claim 1 wherein said telescoping horizontal arm further includes means for ensuring that the speed of said inner member relative to said intermediate member is substantially equal to the speed of said intermediate member relative to said outer member during extension and retraction of said telescoping horizontal arm.
15. The invention in accordance with Claim 1 wherein said ensuring means includes a pair of sprockets co-rotatable with said idler wheel, a first chain reeved around one of said sprockets and having one end connected to said outer member adjacent one end thereof and another end connected to said inner member, and a second chain reeved over the other one of said sprockets and having one end connected to said outer member adjacent the opposite end thereof and another end connected to said inner member.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US07/242,669 | 1988-09-12 | ||
| US07/242,671 US5098254A (en) | 1988-09-12 | 1988-09-12 | Proximity detection means on a palletizer hand assembly |
| US07/242,671 | 1988-09-12 | ||
| US07/242,669 US4954042A (en) | 1988-09-12 | 1988-09-12 | Double telescoping arm for robotic palletizers and the like |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1319162C true CA1319162C (en) | 1993-06-15 |
Family
ID=26935243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000610771A Expired - Fee Related CA1319162C (en) | 1988-09-12 | 1989-09-08 | Robotic palletizer |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JPH07100540B2 (en) |
| CA (1) | CA1319162C (en) |
| DE (1) | DE3930464A1 (en) |
| FR (1) | FR2636319A1 (en) |
| GB (1) | GB2222573B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6253907B1 (en) * | 1999-05-07 | 2001-07-03 | Eisenmann Corporation | Conveying system for work pieces |
| CN101177207B (en) * | 2007-03-28 | 2011-05-11 | 福建海源自动化机械股份有限公司 | Stacker with mechanical hand protecting means |
| CN109502358A (en) * | 2018-12-12 | 2019-03-22 | 长沙长泰智能装备有限公司 | Carton stacker robot fixture |
| CN109703819A (en) * | 2019-03-12 | 2019-05-03 | 天津华帅科技股份有限公司 | A kind of lifting mobile device of recrater |
| CN110540075A (en) * | 2019-10-10 | 2019-12-06 | 河南宾康智能装备有限公司 | Guide post type stable lifting device with auxiliary cylinder for brick stacking machine |
| JP7251808B2 (en) * | 2020-12-23 | 2023-04-04 | 株式会社アイナックシステム | Conveyor |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3901392A (en) * | 1973-05-11 | 1975-08-26 | Thomas E Streckert | Material handling machine |
| DE2620535C3 (en) * | 1976-05-10 | 1979-01-18 | Robert Bosch Gmbh, 7000 Stuttgart | Pallet loading device |
| NO140922C (en) * | 1976-09-03 | 1979-12-12 | Nor Mar A S | TELESCOPIC ARM. |
| SE444428B (en) * | 1981-05-23 | 1986-04-14 | Okura Yusoki Co Ltd | palletizing |
| FR2512357A1 (en) * | 1981-09-10 | 1983-03-11 | Thibault Jacques | METHOD, APPARATUS AND MEANS OF USE FOR MAKING A CHOICE OF PARCELS AMONG A LOT OF PARCELS AND HANDLING THEM |
| US4419035A (en) * | 1982-04-21 | 1983-12-06 | Stobb, Inc. | Method and apparatus for moving bundles of sheets |
| FR2530526B1 (en) * | 1982-07-23 | 1985-11-08 | Ind | ROBOT ARM |
| DE3501692A1 (en) * | 1985-01-19 | 1986-07-24 | Maschinenfabrik Fr. Niepmann GmbH u. Co, 5820 Gevelsberg | DEVICE FOR UNLOADING SINGLE BOBINS FROM A PAD |
-
1989
- 1989-09-08 CA CA000610771A patent/CA1319162C/en not_active Expired - Fee Related
- 1989-09-11 JP JP23550089A patent/JPH07100540B2/en not_active Expired - Lifetime
- 1989-09-11 GB GB8920491A patent/GB2222573B/en not_active Expired - Lifetime
- 1989-09-12 FR FR8911922A patent/FR2636319A1/en active Granted
- 1989-09-12 DE DE19893930464 patent/DE3930464A1/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| FR2636319B1 (en) | 1997-02-28 |
| GB2222573A (en) | 1990-03-14 |
| JPH02117520A (en) | 1990-05-02 |
| DE3930464C2 (en) | 1993-07-01 |
| JPH07100540B2 (en) | 1995-11-01 |
| FR2636319A1 (en) | 1990-03-16 |
| DE3930464A1 (en) | 1990-04-12 |
| GB2222573B (en) | 1992-07-29 |
| GB8920491D0 (en) | 1989-10-25 |
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