JP2710016B2 - A method for automatic palletizing of a rectangular body by a robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatic palletizing by a robot, which is carried out when stacking a rectangular stack on a pallet.

[0002]

2. Description of the Related Art It has been practiced to stack a rectangular stack on a pallet by a robot.

[0003]

In the method of palletizing a rectangular stack, the processing speed of the robot is naturally limited due to the limitation of the operating speed of the robot. In view of such circumstances, it is an object of the present invention to dramatically increase the processing capacity of palletizing and to be able to freely arrange odd and even numbers without increasing the operating speed of the robot. .

[0004]

In order to achieve the above object, the present invention provides a method for stacking a rectangular stack on a pallet, wherein the feed conveyor for the stack is such that the horizontally long portions of the stack are in series. In response to this, the robot that performs the loading operation opens and closes the rectangular plate of approximately the same length as the side wall of the stack through the rotatable receiving plate at the end of a fixed length arm. Two pairs of gripping claws to be made are arranged side by side in the horizontal direction, and two pieces of the cargo on the supply conveyor are simultaneously gripped, and the two pairs of gripping claws are simultaneously opened or separately opened on a pallet. Then, a plurality of stages are stacked while four to ten square products are arranged in one stage.

[0005]

A pair of gripping claws, each of which has a rectangular plate of substantially the same length as the side wall of the stacked body facing each other, are arranged side by side in the lateral direction, and the two pairs of gripping claws simultaneously grip a plurality of stacked bodies. Even if the operating speed of the robot is the same as before, the palletizing can be performed more stably and reliably than in the conventional case where a pair of gripping claws process each load one by one. The processing capacity will be dramatically increased.

[0006] Most of the robots are those that have existed in the past, which facilitates the implementation of the present invention.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The palletizing apparatus used in carrying out the method of the present invention is, for example, as shown in FIGS. 1 and 2. Specifically, the palletizing apparatus is as follows.

More specifically, 1 is a pallet stocker for storing the pallets 2 in a stacked state, 3 is a pallet loading conveyor, and 4 is a pallet positioning for stopping the pallets 2 loaded by the conveyor 3 at a fixed position. The device 5 is a dispensing station for unloading the pallets 2 after the rectangular piles w are stacked.

Reference numeral 6 denotes a robot which is operated by a computer control device (not shown). The robot 6 has a vertical turning shaft 7 provided at the tip of a robot arm 6a. The robot 6 may be the same as the conventional robot except for a part of the computer control device and a hand described later.

Reference numeral 8 denotes a hand fixed to the lower end of the vertical pivot shaft 7, and as shown in FIG. 2, a receiving plate 9 fixed to the vertical pivot shaft 7 and mounted on the lower surface thereof in a state where the cargo is juxtaposed in the horizontal direction of the load. And two pairs of gripping claws. Here, the specific structure of the pair of gripping claws and the driving mechanism thereof is shown. As shown in FIG. 2, two swinging claws are held by a plurality of bearings 10 fixed to each side of the receiving plate 8a. A pair of gripping claws 12a and 12b, which make a rectangular plate having substantially the same length as the side wall of the stacked body facing each other, are swingably mounted via the support shafts 11 and 11 and one gripping claw 12a is swung. A pneumatic cylinder device 13 for driving is provided, and the operation of this gripping claw 12a is controlled by the other gripping claw 1
2b is provided with a link member 14 for transmission to the second member 2b.

Reference numeral 15 denotes a conveyor for supplying the stacked body w, which is provided with a package positioning device 15a at the end of transportation.

When stacking a rectangular stack w by such a palletizing apparatus, the stack is operated in the following procedure. An example will be described below.

The pallet carry-in conveyor 3 is operated to move the pallet 2 at the lowest position of the pallet stocker 1 in the direction of arrow f.
1 and the pallet positioning device 4 stops the pallet 2 at the specific position p1.

On the other hand, the stack w is supplied to the stack supply conveyor 15 in the direction of arrow f2, and two stacks w
In a state of being connected in series along the horizontal portion.

In connection with the pallet 2 reaching the specific position p1, the robot arm 6a is actuated, and the two pairs of gripping claws 12a and 12b, 12a and 12b are waiting on the stack feeding conveyor 15 for the two pairs. The horizontally long portions of the stacked bodies w and w are simultaneously grasped and moved on the pallet 2 at the specific position p1.

Then, after turning the vertical turning shaft 7 to turn the stacked body w in a required direction, the pair of gripping claws 12a and 12b are opened and one stacked body w is placed on the pallet 2 at the specific position p1. It is dropped to a specific position s1 (see FIG. 3A). Subsequently, the hand 8 is moved to another specific position s2 on the pallet 2 and the vertical turning shaft 2 is turned as necessary to turn the stacked body w in a required direction again. Are released, and the second stack w is dropped to the specific position s2 on the pallet 2.

On the other hand, the next two packages w, w are supplied to the conveying end of the stacked body supply conveyor 15 and are made to stand by in series as described above.

Then, the robot arm 6a and the hand 8 are operated again in the same manner as described above, that is, the two piles w, w are simultaneously moved onto the pallet 2, and each of the grips 12a, By the operation of 12b or the like, the pallet 2 is individually dropped to each of the specific positions s3 and s4. Thus, the four stacks w are arranged neatly on the pallet 2 at the specific position p1.

Thereafter, by operating the respective parts according to the above, a new stacked body w is stacked on the stacked body w already stacked on the pallet 2 in an arrangement as shown in FIG. I will put it on. In this manner, an effect of connecting the upper and lower stacked bodies w with each other by the load body w itself is generated, and the collapse of the load is prevented.

Thereafter, the above-described operation is repeated a desired number of times to perform a plurality of stages of stacking.
In this case, the number of stacked products w in each stage is 4 to 1
In the range of 0, the number of stacking stages may be odd or even.

Next, an example of the procedure of stacking as shown in FIG. 4 will be described as follows.

First, the two piles w, w supplied by the pile supply conveyor 15 to the two pairs of gripping claws 12a, 12b are simultaneously grasped on the pallet 2 at the specific position p1 while grasping the horizontally long portions of the piles w, w. After turning the vertical turning shaft 7 to turn the two stacked bodies w, w in a required direction, two pairs of gripping claws 12a,
12b are simultaneously opened, and these stacked bodies w, w are simultaneously dropped in series on the pallet 2 at specific positions s5, s6 shown in FIG.

Subsequently, two pairs of gripping claws 12a and 12b are again formed.
The two piles w, w on the pile supply conveyor 15 are grasped, moved on the pallet 2 and the
Is turned to orient the stacked bodies w and w in a required direction, the pair of gripping claws 12a and 12b are opened, one stacked body w is dropped to a specific position s7, and then the other pair of gripping sections is gripped. Nail 12
a and 12b are moved to another specific position on the pallet 2 and the vertical turning shaft 7 is turned as necessary to turn the stacked body w in a required direction.
b is released and the product w is dropped to the specific position s8.

This time, a pair of gripping claws 12a, 12b
After grasping one stack w on the stack supply conveyor 15 and moving it on the pallet 2 and turning it in a required direction,
The grip claws 12a and 12b are released and dropped to a specific position s9 on the pallet 2. Thus, on the pallet 2 at the specific position p1, as shown in FIG. 4 (a), five stacked bodies w are arranged in an orderly manner.

Thereafter, by operating the respective parts in accordance with the above, a new stacked body w is arranged on the stacked body w already stacked on the pallet 2 as shown in FIG. The arrangement shown in FIG. 4A is stacked in an arrangement rotated 180 degrees around the vertical axis.

Next, an example of the procedure for stacking as shown in FIG. 5 will be described as follows.

The two pairs of gripping claws 12a and 12b simultaneously grasp the two piles w and w on the pile feeding conveyor 15 and move them onto the pallet 2 at the specific position p1, and simultaneously pile the piles w and w.
After turning in the required direction, two pairs of gripping claws 12a, 12b
At the same time to drop the two piles w, w to the specific positions s10, s11 on the pallet 2 and then operate the respective parts in the same manner to move the next two piles w, w to the pallet 2
Similarly, the next two products w, w are placed at the specific positions s12, s13 on the pallet 2 at the specific positions s14,
Drop it to s15. Thus, the specific position p
As shown in FIG. 5A, six pallets w are arranged on one pallet 2 in an orderly manner. Thereafter, the two pairs of gripping claws 12a and 12b are operated in accordance with the previous procedure, and the arrangement shown in FIG.
That is, the packages are stacked in an arrangement in which the arrangement in FIG. 5A is rotated 180 degrees around the vertical axis, and the above procedure is repeated an appropriate number of times thereafter.

Further, the stacking of the stacked bodies w in a plurality of stages on the pallet 2 in an arrangement of 7 to 10 stages can be performed according to the above-described example. In addition, a square product is a box,
It does not matter which of the baggage is used.
2b also uses an L-shaped fork as appropriate in addition to the illustrated example.

In this embodiment, two pairs of gripping claws 12a, 12
b holds the two stacked bodies w, w which are closely connected in series on the stacked body supply conveyor 15 as they are, so that even if these stacked bodies are simultaneously released on the pallet 2, the two stacked bodies are palletized. It is arranged in a plane close to each other on the two, which enables accurate and quick stacking.

[0030]

According to the present invention, two pairs of gripping claws are provided, in which the rectangular cladding is formed in such a manner that the rectangular cladding having a rectangular plate having substantially the same length as the side wall of the lamination is opposed to each other and arranged in the horizontal direction. With the configuration, the stack is gripped and processed at a time, so that the palletizing processing capacity can be increased safely and reliably without increasing the operating speed of the robot, and can be dramatically increased. It can be implemented inexpensively by simply remodeling the part.

[Brief description of the drawings]

FIG. 1 is a diagram of a palletizing apparatus used for carrying out the method of the present invention.

FIG. 2 is a view of a hand used in the apparatus when viewed upside down.

FIGS. 3A and 3B relate to the planar arrangement of the stacked products stacked on the pallet, in which FIG. 3A shows the lowermost arrangement, and FIG. 3B shows the arrangement of FIG. 3A rotated 180 degrees around the vertical axis. It is a figure showing arrangement of the second stage.

4A and 4B are diagrams showing the arrangement of the lowermost tier in relation to the planar arrangement of the stacked products stacked on the pallet, and FIG. 4B is a view obtained by rotating the arrangement of FIG. It is a figure showing arrangement of the second stage.

5 (a) is a view showing the lowermost arrangement of the stacked products stacked on the pallet, and FIG. 5 (b) is a view obtained by rotating the arrangement of (a) by 180 degrees around the vertical axis. It is a figure showing arrangement of the second stage.

[Explanation of symbols]

 2 Pallet 6 Robot 6a Robot arm 7 Vertical turning axis 9 Receiving plate 12a, 12b Gripping claw 15 Stack supply conveyor 17 Motor W Stack

Claims (1)

(57) [Claims] 1. When stacking a rectangular stack on a pallet, a feeding conveyor for the stack is sent such that the horizontally long portions of the stack are in series, and a robot performing a loading operation is A pair of gripping claws for opening and closing the rectangular plate having a length substantially equal to the side wall of the stack by a rotatable receiving plate at the tip of a fixed length arm and operating the pair of gripping claws in a laterally long direction 2
A pair of parallel loading, simultaneously holding two pieces of cargo on the supply conveyor, and simultaneously releasing or separately opening the two pairs of gripping claws on the pallet, four square pieces in one stage A method for automatically palletizing a rectangular product by a robot, wherein a plurality of stages are stacked while being arranged in a state of 10 to 10.