JP2934877B2 - Automatic palletizing system for cylindrical workpieces - 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 manufacturing a product such as a gravure-printed raw paper roll, a plastic film roll for packaging, a sheet roll, and the like in a factory for manufacturing a cardboard core shaft (paper tube). The present invention relates to an automatic palletizing system that sorts cylindrical works (roll products) of various sizes around which a plastic film or a sheet is wound, and stacks them on a pallet.

[0002]

2. Description of the Related Art As described above, cylindrical workpieces of various sizes manufactured in a factory are sorted by size before loading into a storage warehouse, and a plurality of the cylindrical workpieces are stacked on a pallet. The product is managed so that it is stored in the warehouse. FIG. 9 schematically shows a palletizing process of the palletizing system for such a roll product. As shown in the drawing, a cylindrical shape transferred from a manufacturing process in a factory to a receiving conveyor line in an inverted posture. The work (roll product) 1 first raises the cylindrical work 1 that has been transported in the inverted position from the inverted position to the upright position, and then parallel-stacks or staggers the pattern on the pallet 2 at the pallet station. To be stacked side by side. In addition, a full pallet in which a predetermined number of cylindrical workpieces are stacked on the pallet,
The cylindrical work is transported from the pallet station to the storage warehouse, where the cylindrical workpieces are sorted and stored in the warehouse.

Here, a product example of the cylindrical workpiece 1 is shown in FIG.
(A) and (b). That is, the cylindrical work 1 is made of a plastic film and a hollow shaft core 1a called a paper tube.
After the sheet 1b is wound, a protective side plate 1c is applied to both end surfaces of the roll, and caps 1d are fitted to both ends of the shaft core 1a. After being wound, the tape is wrapped with an adhesive tape 1f stuck to the end of the roll and the periphery of the roll. The weight of the large-sized one can reach 300 kg, depending on the size.

On the other hand, in recent years, palletizing robots have been introduced and spread in the field of cargo handling of various products. As a hand portion of the robot, a gripper grips a cylindrical work from both sides and a gripper claw is formed into a cylindrical work. Various types of hands are known, such as a method of hooking or supporting a cylindrical work from below with a fork.

[0005]

Conventionally, there is no automatic palletizing system capable of automatically performing a series of palletizing processes from receiving a work of this type to stacking on a pallet. When stacking a cylindrical work 1 wrapped with paper on a pallet 2,
Conventionally, a cylindrical work is placed on the receiving conveyor line in an inverted position (there is a risk of falling during transport and falling off the conveyor if transported in an upright position) and transported to the front of the pallet station, where it is removed from the conveyor. After the cylindrical work is erected in an upright position, a worker manually holds the cylindrical works one by one and places them on a pallet, and furthermore, pallets the bottom periphery of the cylindrical work by a method commonly called drum feeding. The method of arranging in a predetermined stacking position while rolling on a surface is widely adopted.However, such a manual method requires a large number of workers to handle a large amount of cylindrical work, and furthermore, a heavy load. Moving a cylindrical workpiece involves heavy labor, which poses a risk to palletizing work.
In the handling operation, a large load is concentrated on the bottom peripheral edge of the cylindrical work, and the end of the product is deformed, which causes a high incidence of defective products.

Further, when handling a cylindrical work 1 in an upright posture using a conventional palletizing robot, first, as shown in FIGS.
(A) In the figure, a cylindrical work 1 of a rolled product is inserted into a hollow shaft core (see FIG. 10) of a robot work, inserted into a hollow shaft core, gripped and pulled upward as indicated by an arrow, and wound around the shaft core. The plastic sheet (small frictional resistance between the sheets and slippery) slips under its own weight as shown in the figure, and hangs down, resulting in a defective product. Also, as shown in FIG.
Is gripped from both sides, and conversely, the inner peripheral side shifts down due to the weight of the sheet and hangs down, which has a problem.

[0007] Further, if a method is adopted in which the cylindrical work 1 is gripped in an upright posture by sandwiching it with the hand 3 from above and below as shown in FIG. When stacking cylindrical works 1 of different sizes of various sizes on a pallet 2 in parallel or in a staggered pattern, a lower hand 3 (fork, for example) supports the cylindrical work 1 from the bottom side. If the width is larger than the outer diameter of the work 1 and a part thereof protrudes to the side of the cylindrical work 1, or if the tip of the hand 3 projects forward from the cylindrical work 1, the constant on the pallet first. Since the hand 3 holding the cylindrical work 1 to be loaded from now on hits the cylindrical work 1 stacked at the position and interferes with the hand, the cylindrical work 1 stacked first falls down. Or, or it is difficult to the cylindrical workpiece 1 side by side with almost no gaps therebetween put loading well space efficiency cylindrical workpiece 1 on the pallet of a predetermined size. Also, the hand 3 on which the cylindrical work 1 is placed is moved to the pallet 2
When the hand 3 is retracted and pulled out from the bottom surface of the cylindrical work 1 after landing on the hand, the hand 3 bears the weight of the cylindrical work 1 as it is.
The roll product is easily damaged due to the fact that the bottom surface of the cylindrical work 1 is rubbed by the hand 3 and the film or sheet is broken. In particular, when the cylindrical work 1 is wrapped as shown in FIG. 10, the adhesive tape is peeled off by rubbing with the hand 3 and the wrapping paper is broken, which often causes a product defect. As described above, when the cylindrical work 1 intended for a heavy roll product or the like is palletized by handling with a robot, the above-described problem is encountered.

[0008] The present invention has been made in view of the above points, and an object thereof is to solve the above-mentioned problems, and to deal with films, sheet roll products, and the like without damaging the products in a handling process, and Conventionally, parallel or staggered stacking of workpieces on a pallet with almost no gap between them with good space efficiency, and a series of palletizing processes from receiving the workpiece to stacking on the pallet can be performed fully automatically. It is to provide a new palletizing system that is not available.

[0009]

According to the present invention, there is provided a work inverting machine for receiving a cylindrical work carried in from a receiving conveyor line and erecting the work from an inverted posture to an upright posture. A palletizing robot that receives a cylindrical work from a work inverting machine, sorts the cylindrical work according to size, and loads the pallet on standby at a pallet station; and a pallet transport cart that carries out a full pallet and replenishes an empty pallet. A palletizing robot with a retractable fork that supports the cylindrical workpiece from below and a shaft holding member that presses the center of the upper surface of the cylindrical workpiece from above Part on the pallet with the cylindrical work in an upright posture gripped between the fork and the shaft center holding member. Lowered into stowage position, and further has a forked cylindrical workpiece in a state of slightly by toes Tilt stoop was so put loading and pull backward.

Further, the work inverting machine is provided with a V-shaped carrier roller for receiving a cylindrical work in an inverted posture, and a work mounting table for holding the cylindrical work in an upright posture, distributed to a side or a bottom. With a swinging work mounting table in the shape of a letter, and with the work mounting table laid in the inverted position, the cylindrical work conveyed from the receiving conveyor line is received on the carrier roller in the inverted position,
Next, the work mounting table is raised to the upright position, and the cylindrical work is configured to stand upright on the table, and the table is a rotary disk having a plurality of ribs arranged in parallel on the upper surface thereof. It comprises a table, and further includes a positioning correction mechanism for moving a part of the peripheral surface of the cylindrical work placed on the table so as to overlap the outer peripheral edge of the table.

In addition, the palletizing robot includes a traveling vehicle that moves along the pallet station, a hand platform mounted on the traveling vehicle, a retractable fork that moves forward or backward, and a cone-shaped shaft core holding member. It consists of a lifting / lowering, forward-tilting type hand unit equipped on the front side of the hand stand so as to grip the cylindrical work from above and below, and a fork carrying the cylindrical work is landed on the pallet in the hand unit. A work tilting mechanism that pushes the cylindrical work forward from its upper rear surface and tilts forward to a toe-standing posture in a retracted state, and a stopper that supports the cylindrical work from the back side when the fork is pulled out.

Further, the hand part of the palletizing robot is provided with a plurality of sets of accessable forks which are selectively used so as not to protrude from the bottom surface thereof to the side according to the diameter of the cylindrical work. Things.

Further, the outer diameter of the cylindrical work is set in advance.
Attach a barcode that displays data such as length size, read this barcode on the conveyor line's transport path, and based on this data information,
The palletizing robot is totally controlled to perform a series of palletizing processes fully automatically.

[0014]

According to the present invention, a cylindrical work carried into a system through a receiving conveyor line is transferred from the end of the conveyor line to a carrier roller of the work inverting machine in an inverted posture, and then the work mounting table of the inverted machine is transferred. Swinging from the inverted position to the upright position,
The bottom surface of the cylindrical work rides on the rotary table and assumes an upright posture. Further, at this position, based on the data of the outer diameter size of the cylindrical work, a part of the peripheral surface of the cylindrical work overlaps with the outer peripheral edge on the table regardless of the diameter size of the cylindrical work by operating the positioning correction mechanism. When the table is rotated 90 ° in the circumferential direction after positioning at such a position, the ribs arranged on the upper surface of the table move in a direction parallel to the fork of the palletizing robot, and the cylindrical work faces the fork on the robot side. Move to the rear end side of the table so that the axis center thereof coincides with the left and right centers of the table. Therefore, in this state, the fork of the palletizing robot accesses the work inverting machine from the front and positions the fork so that the center of the fork coincides with the center of the table. By inserting between the ribs of the table until the position coincides with the rim, and further inserting the cone-shaped shaft core holding member into the hollow shaft from above on the top side of the cylindrical work and holding it with the fork from above and below, the cylindrical The workpiece is delivered to the robot hand while the fork tip does not protrude from the cylindrical workpiece while the workpiece remains in the upright posture. In this case, the number of divided forks to be used is selected according to the outer diameter size of the cylindrical work, and the fork does not protrude to the side of the cylindrical work while the cylindrical work is gripped. Shall be set. This achieves handling in which the axial center of the cylindrical work and the center of the fork coincide with each other, and the tip and the left and right ends of the fork are held within the range of the bottom surface area of the cylindrical work.

On the other hand, the palletizing robot travels to the position of the pallet station corresponding to the outer diameter size of the cylindrical work while holding the cylindrical work, and here, accesses the cylindrical work to a predetermined stacking position on the pallet. To transfer the cylindrical work. When loading this work, lower the robot's hand part to the loading position on the pallet while tilting it slightly forward, and then push the upper edge of the cylindrical work from behind using a pusher to slightly move the cylindrical work. When the cylindrical work is inclined forward, the cylindrical work is in a so-called toe-tip state, and almost the entire surface area of the bottom surface rises from the upper surface of the fork. Therefore,
In this state, if the fork is retracted while holding the back surface of the cylindrical work with the stopper, the fork can be pulled out in a free state without rubbing the bottom surface of the cylindrical work. In this case, the forward inclination angle of the work is about 5 °, and there is no possibility that the cylindrical work itself falls down forward. Moreover, as described above, the tip of the fork, which supports the cylindrical work from the lower surface, and both left and right sides do not protrude from the bottom surface area of the cylindrical work. There is no danger of interference with the fork holding the cylindrical work to be stacked on the stack. This not only prevents the cylindrical work previously stacked from tipping over, but also arranges the work in a state where they are close to each other with almost no gap. They can be stacked on a pallet in a space efficient manner in parallel or in a staggered pattern.

In this way, the palletizing process of sorting various cylindrical workpieces having different outer diameters according to size and loading them on the pallet waiting at the pallet station proceeds, and the pallet becomes full. Is transferred onto a pallet transport trolley that travels between the pallet station and the entry line to the work storage warehouse, and the transport trolley supplies empty pallets to the pallet station and the full pallets are unloaded to the warehouse. You. This series of palletizing processes is performed fully automatically by the system control unit, and data information such as the outer diameter and length size of the cylindrical work is displayed as a barcode for each cylindrical work. At the end of the receiving conveyor line into the system, the bar code is read and provided to the general controller.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. First, FIG. 1 is a schematic explanatory view of the entire palletizing system. In the illustrated embodiment, two palletizing lines A and B are provided in the system. In the figure, reference numeral 4 denotes a conveyor line for carrying the cylindrical work 1 received from the roll packaging machine 5 in the factory into the palletizing system 6, and reference numeral 7 denotes an inverted work arranged at the end of the branch conveyor line connected to the receiving conveyor line 4. 8 is a self-propelled palletizing robot that runs on a rail 9 laid on the side of the work inverting machine 7, and 10 is arranged on the opposite side of the work inverting machine 7 along the traveling path of the palletizing robot 8. A pallet station with a pallet transfer mechanism (the pallet station is divided into a plurality of sections according to the type of cylindrical work manufactured at the factory side), 11 is a pallet placed in each section of the pallet station 10, 12 Is a pallet transport common to the A and B lines traveling on rails laid along the pallet station 10. Car, empty pallet supply magazine for supplying empty pallets to the pallet conveying carriage 12 13, 14 cylindrical workpiece 1 by transshipping the stowage already full palette of the cylindrical workpiece 1 came carried in the pallet conveying carriage 12
This is a stocking line that sends out to a storage warehouse (not shown) in which a palletizing system is constructed.

FIG. 2 is an explanatory view of the palletizing process of the cylindrical work 1 performed through the receiving conveyor line 4, the work inverting machine 7, the palletizing robot 8, and the pallet station 10 in FIG. That is, the cylindrical work 1 that has been conveyed to the sideways inverted position through the receiving conveyor line 4 is transferred from its end to the work inverting machine 7 as shown in the process, where the cylindrical work 1 is erected from the inverted position. After raising the posture, the cylindrical workpiece 1 is transferred to the palletizing robot 8 in an upright posture in the process. Next, the palletizing robot 8 is moved to the designated section of the pallet station 10 and, at this position, the handling operation of the robot 8 is performed as in a process.
Pallet 11 waiting at pallet station 10
And the cylindrical work 1 is stacked at a predetermined position. Then, the cylindrical work 1 stacked on the pallet 11
Is full, the full pallet is transferred from the pallet station 10 to the pallet transport carriage 12 (see FIG. 1) running on the side of the pallet in the process, and then sent out to the entry line to the storage warehouse through the process.

It should be noted that the work inverting machine 7, the palletizing robot 8, the pallet station 10, the pallet carrier 1
The operation of 2 and the like is controlled by a command from the system control device. For the cylindrical work 1 to be carried into the system, data information such as the outer diameter and length size is displayed on a barcode, and the barcode 1 is previously assigned to each cylindrical work 1.
g, a bar code is read by a bar code reader 4a installed at the end of the receiving conveyor line 4, and the data information is provided to the control device. Based on this information, a series of palletizing processes are performed as described below. Automatically.

Next, FIGS. 3A to 3D and FIG.
As shown in (a) to (c), the work inverting machine 7 has a base frame 71 and an L-shape that is pivotally mounted on the base frame 71 and changes its position to an inverted position and an upright position by operating a cylinder. Oscillating work mounting table 72 to be structured
A V-shaped carrier roller 73 arranged on one side of a work mounting table 72 which is L-shaped on an extension of the receiving conveyor line 4, a rotary disk-shaped table 74 arranged on the other side of the mounting table, A pusher-type work positioning / correction mechanism 75 is provided at the center of the corner of the work mounting table 72 in parallel with the rollers 73. On the upper surface of the table 74, a plurality of ribs 76 are arranged in parallel on the table. (The ribs 76 are for inserting a fork of a palletizing robot between the ribs to scoop up the cylindrical work 1 as described later). Reference numeral 77 denotes a swing shaft connected to the work mounting table 72, which is connected to an operating cylinder or a drive motor installed on the side of the base frame 71, and is connected to the work mounting table 7
2 is operated to swing to the inverted position and the upright position.

The operation of the work inverting machine 7 will be described. First, in the standby state, as shown in FIG. 3A, the work mounting table 72 is tilted to the inverted position where the carrier roller 73 is horizontal, and the table 74 is held in a state where the ribs 76 are oriented vertically. The cylindrical work 1 that has been carried on the receiving conveyor line 4 and transported in the inverted position is transferred to the work inverting machine 7 from the end of the conveyor line 4 and has a V-shaped carrier roller as shown in FIG. 73 and is received in the inverted posture. In this case, the table 74 functions as a stopper for receiving the distal end surface of the cylindrical work 1. continue,
(C) As shown in the figure, the work mounting table 72 is pivoted by 90 ° from the inverted position to be raised to the upright position. As a result, the cylindrical work 1 is changed from the inverted posture to the upright posture, and is placed and held on the table 74. FIG. 4A shows a plan view in this state. In FIG. 4, the cylindrical work 1 placed on the table 74 (shown by a chain line)
Is smaller than the outer diameter of the table 74. Next, the pusher-type positioning correction mechanism 75 is operated in the state of FIG. 3C, and the cylindrical work 1 partially protruding from the table 74 as shown in FIG.
Is pushed out toward the center of the table, and the position is corrected by bringing the cylindrical work 1 such that the peripheral surface thereof coincides with and overlaps the outer peripheral edge of the disk-shaped table 74. Next, after the positioning correction mechanism 75 is retracted, FIG. 3D and FIG.
The table 74 is rotated clockwise by 90 ° as shown in FIG. As a result, the cylindrical work 1 is
And the direction of the rib 76 laid on the upper surface side of the table 74 also changes from left and right to front and rear,
Further, at this position, the center O1 of the table 74 and the axis O2 of the cylindrical work 1 are aligned, and the center of the fork of the palletizing robot 8 is opposed to each other.

On the other hand, as shown in FIG. 5, the palletizing robot 8 travels along a rail 9 in the X-axis direction.
1, a hand base 82 traversing in the Y-axis direction is mounted. On the front side of the hand base 82, a hand unit 83 is supported via a chain drive mechanism 84 so as to be movable up and down in the Z-axis direction. 84a is a chain drive mechanism 84
Is a counterweight suspended from Hand part 8
Reference numeral 3 denotes an elevating body 83a which is connected to the chain driving mechanism 84 and is supported on the front surface of the hand mount 82 by a guide, and which is supported on the front side of the elevating body 83a by a support shaft 83b so as to be tiltable forward in the θ direction. With the structure composed of the combined hand frame 83c as a base, a retractable fork 8 that moves forward and backward in the front-rear direction (Y-axis) is provided below the hand frame 83c.
5 and the frame 83 located above the fork 85
c, a V-shaped stopper 86 is provided at the center of the hand frame 83. Further, an upper frame of the hand frame 83 is provided with an elevating frame 87 protruding forward from the frame and moving up and down in the Z-axis direction. The lifting frame 87 has a front-rear direction (Y
(A shaft), a cone-shaped shaft core holding member (fitted into a shaft core cap 1d of the cylindrical work 1 (see FIG. 10) to support the top of the cylindrical work 1) 88 and a pusher 89 for tilting the work. Equipped.

Although not shown, the hand unit 83 includes an operating cylinder for tilting the hand frame 83c in the θ direction, a driving unit for operating the fork 85 to enter and exit, a stopper 8
And a drive unit for moving the lifting frame 87 in the Z-axis direction in accordance with the length of the cylindrical work 1; And a drive unit for individually moving the axis center holding member 88 and the work tilting pusher 89 in the Y-axis direction on the elevating frame 87 in accordance with the outer diameter of the fork 85. In order to support the weight of the cylindrical work 1 placed on the tip end side of the fork, its base is stored in a rigid sheath and guided and supported so as to be able to be pulled out.

Next, the palletizing operation of the cylindrical work 1 of the palletizing robot 8 will be described with reference to FIGS. First, (a) shows the palletizing robot 8
Accesses the front position of the work inverting machine 7, and FIG.
The fork 85 protruding forward from the hand portion 83 of the robot 8 is inserted into the lower surface side of the cylindrical work by inserting the fork 85 into the cylindrical work 1 placed on the table of the inverted machine 7 in the upright posture described above. The state immediately before the transfer is shown in which the lower surface of the work 1 is applied to the lower surface of the work 1, the elevating frame 87 of the hand unit 83 is further lowered, and the shaft core holding member 88 is fitted into the hollow shaft of the cylindrical work 1 from above. Here, based on the bar code data information described above, the shaft center holding member 88 is attached to the cylindrical workpiece 1.
Is moved to the center position, and the elevating frame 87 is further lowered to move the shaft holding member 88 (the shaft holding member is provided with a vertical movement adjusting mechanism with respect to the lifting frame 87) to the cylindrical work 1.
Into the hollow shaft. Further, the stopper 86 and the tilting pusher 89 are advanced from the standby position based on the workpiece outer diameter data and brought into contact with the rear side of the cylindrical workpiece 1. Thus, the hand unit 83 of the robot 8 grips the cylindrical workpiece 1 from above and below while maintaining the upright posture. Subsequently, as shown in FIG. 3B, the hand portion 83 of the robot 8 is lifted to lift the cylindrical work 1 from the inverted machine 7, and then the palletizing robot 8 travels on the rail 9 to move the cylindrical work 1 on the rail 9. The pallet is moved to the pallet station 10 specified by the outer diameter size.

In this position, the pallet 1 waiting on the pallet station 10 as shown in FIG.
1, a work stacking position (virtual on the pallet 11) determined by the control device based on the work stacking state on the pallet (the pallet is empty or the preceding cylindrical work is stacked). The traveling cart 81 of the robot 8 in accordance with the address specified on the XY coordinate system
The cylindrical work 1 gripped by the hand unit 83 is accurately positioned in the axial direction and the hand gantry 82 in the Y-axis direction, and then the hand unit 83 is further lowered to temporarily reach the pallet 11 just before landing. Stop and at this position the hand unit 8
3 is tilted slightly forward so that the tip of the fork 85 lands on the surface of the pallet.

Subsequently, as shown in FIG.
Work the pusher 89 slightly forward on the cylindrical work 1
Press forward. At this time, the shaft center holding member 88 slightly moves forward following the movement of the pusher 89 while holding down the hollow shaft of the cylindrical work 1. Thus, the cylindrical work 1 is tilted forward (the forward tilt angle is, for example, about 5 °) with the front edge of the lower end thereof standing on the tip of the fork 85 at the tip.
And the bottom area of most of the cylindrical work 1 is
From the upper surface of the Then, in this state, when the fork 85 is retracted from the pallet 11 by retracting the fork 85 while pressing the back surface of the cylindrical work 1 with the stopper 86, the tip of the cylindrical work 1 moves onto the pallet 11 in the toe posture. As a result, the fork 85 is separated from the bottom surface of the cylindrical work 1 to be in a free state in which no load is applied, so that the fork 85 does not rub against the bottom surface of the cylindrical work 1 and therefore smoothly without damaging the cylindrical work. It can be retracted to the retracted position.

When the stopper 86 and the work tilting pusher 89 are retracted after the fork 85 is retracted, the cylindrical work 1 returns from the forward inclined posture to the upright posture by its own weight as shown in FIG. It is stacked at a designated position on the pallet 11. (E) shows a state in which the hand unit 83 is lifted and the hand gantry 2 is further retracted and returned to the origin position on the traveling carriage 81.

When the cylindrical work 1 is stacked on the pallet 11 by the robot operation as described above, the palletizing robot 8 travels again to the position of the work inverting machine 7 and receives the next cylindrical work. The operation of stacking on the pallet 11 specified by the outer diameter size is repeated.
Further, the palletizing process proceeds, and the pallet station 10
When the pallet 11 becomes full with the cylindrical workpiece 1,
The full pallet is transferred from the pallet station 10 to the pallet transport cart 12 (see FIG. 1), and the empty pallets supplied to the pallet transport cart 12 are transferred to the pallet station instead.
Next, the pallet transport carriage 12 is moved toward a warehouse entry line.

On the other hand, the hand section 8 of the palletizing robot 8
When the fork 85 mounted on the fork 3 transfers the cylindrical workpieces 1 of various sizes having different outer diameters from the workpiece inverting machine 7 to the hand unit 83, the fork sides are laterally located from the bottom surface area of the cylindrical workpiece 1. In order not to protrude, the fork 85 is divided into a plurality of divided forks, and selectively used in accordance with the outer diameter of the cylindrical work 1. This will be described in (b). That is, as shown in the figure, the fork 85 is divided into a three-piece split fork 85a and a two-piece split fork 85b arranged on both sides thereof, and the two-piece split fork 85b is connected via the clutch mechanism 85c. The split fork 85a is detachably connected to the split fork 85a, and the split fork 85a is operated alone or the split forks 85a and 85b are linked in and out by operating the access operation mechanism (operation cylinder) 85d of the fork 85. The clutch mechanism 85
c, the split forks 85a and 8
5b can be connected to independent operation cylinders, and each operation cylinder can be operated independently and in cooperation.

Here, as shown in FIG. 3A, the width of the combination of the three-piece split fork 85a and the two-piece set 85b is set to, for example, 440 mm. The cylindrical work 1 of 440 to 580 mmφ can be handled without protruding. The width of the three-piece split fork 85a is 270 mm, and the three-piece split fork 85c is retracted to the standby position as shown in FIG.
If only one is used selectively, outer diameter size is 270-420
The cylindrical work 1 of mmφ can be handled without protruding.

When the divided forks 85a and 85b are selectively used in accordance with the outer diameter of the cylindrical work 1, when the cylindrical works 1 are stacked on the pallet 11, the preceding ones arranged on the pallet are arranged. The cylindrical work to be stacked and the fork 85 holding the cylindrical work to be stacked next do not interfere with each other, so that the works can be arranged in a state where the works are arranged close to each other with almost no space and the space can be efficiently stacked.

FIGS. 8 (a) to 8 (i) exemplify a stacking pattern of cylindrical works 1 of various sizes, large and small, to be stacked on the pallet 11 by employing the above-described palletizing method. It can be seen that a plurality of cylindrical workpieces 1 can be stacked in parallel or in a staggered pattern on a pallet 11 having a specified size, and the workpieces can be stacked with good space efficiency so that the workpieces are almost in close contact with each other.

Although the palletizing system for film and sheet roll products has been described above, it should be noted that the palletizing system of the present invention can be applied to cylindrical or columnar products other than the roll products. Of course. When handling cylindrical products,
It is assumed that the shaft center holding member described above is applied to the center position of the upper surface of the cylindrical work 1 and held from above.

[0034]

As described above, according to the palletizing system of the present invention, when handling cylindrical workpieces for films and sheet roll products of various sizes, such as large and small, manufactured in a factory. Rolls can be stacked in parallel in a space-efficient manner, or in a staggered pattern, and can be stacked in an upright position. A highly functional and versatile new palletizing system capable of automatically performing a series of palletizing processes from sorting to cylindrical work by size and stacking on a pallet can be provided.

In particular, when the cylindrical work is transferred to the palletizing robot in an upright posture by adopting the work inverting machine according to the second aspect of the present invention, the cylindrical work can be transferred regardless of the outer diameter size of the cylindrical work. The robot can be stably loaded by aligning it with the fork on the robot side and accurately aligning it with its center position.

Further, by configuring the palletizing robot as in claim 3, when the cylindrical work is transferred to and stacked on the pallet, the fork can be attached to the cylindrical work without rubbing against the cylindrical work. Can be pulled out from the bottom,
This prevents the roll product from being damaged and improves the yield.

Further, the fork mounted on the hand of the palletizing robot is divided into a plurality of groups so that the forks are selectively used according to the outer diameter of the cylindrical work, so that the cylindrical work is stacked on the pallet. At the time of attaching, the cylindrical work can be prevented from falling down by avoiding the interference between the preceding cylindrical work already stacked on the pallet and the fork, and the works can be brought close to each other so that the work can be efficiently stacked.

Further, a bar code indicating data such as an outer diameter and a length size is attached to the cylindrical work in advance as described in claim 5, and the bar code is received and read on the conveying path of the conveyor line. Thus, based on this data information, the work inverting machine and the palletizing robot are comprehensively controlled, and a series of palletizing processes are performed automatically.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory diagram of an entire palletizing system according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram of a palletizing process performed via a receiving conveyor line, a work inverting machine, a palletizing robot, and a pallet station in FIG.

FIGS. 3A to 3D are explanatory views of the structure and operation of the work inverting machine in FIG. 1; FIGS. 3A to 3D show a state in which a cylindrical work is received from a cylindrical work, and is raised upright before being transferred to a palletizing robot; FIG. 4 is a perspective view showing a series of operations up to a mounting positioning step in the order of steps.

4A to 4C are explanatory diagrams of a cylindrical workpiece placing / positioning operation performed by the workpiece inverting machine of FIG. 3; FIGS. 4A to 4C illustrate a case where the cylindrical workpiece is moved to an upright posture and transferred to a palletizing robot; It is the top view showing a series of operation | movement until the mounting positioning stage just before mounting in order of process.

FIG. 5 is a configuration perspective view of the palletizing robot in FIG. 1;

6 is an explanatory view of the operation of the palletizing robot shown in FIG. 5; (a) to (e) show a series of operations until a cylindrical work received from a work inverting machine is stacked on a pallet; It is the side view represented in order.

FIG. 7 is an explanatory view showing the configuration of a split type fork mounted on a hand portion of a palletizing robot and its correlation with the outer diameter size of a cylindrical workpiece. FIG. 7 (a) shows two sets of split forks. (B) is a plan view of a state in which one set of split forks is selectively used.

FIG. 8 is a schematic view of a stacking pattern of cylindrical works stacked by size using the palletizing robot of the embodiment of the present invention, wherein (a) to (i) have different outer diameter sizes, respectively. It is explanatory drawing showing the state of stacking of cylindrical workpieces.

FIG. 9 is an explanatory view schematically showing a basic palletizing step of a cylindrical work.

10 is a structural view showing an example of a roll product to be a target of the cylindrical work in FIG. 9, (a) is a sectional side view, and (b) is an end view.

FIG. 11 is an explanatory view showing the behavior of a cylindrical workpiece when a conventional robot hand handles a roll product in an upright posture. FIGS. 11A to 11C show different types of hands. FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Cylindrical work 1g Barcode 4 Receiving conveyor line 6 Palletizing system 7 Work inverting machine 72 Work mounting table 73 Carrier roller 74 Work mounting table 75 Positioning correction mechanism 76 Rib 8 Palletizing robot 81 Traveling trolley 82 Hand mount 83 Hand unit 85 Forks 85a, 85b Split fork 86 Stopper 87 Elevating frame 88 Shaft center holding member 89 Work tilting pusher 9 Travel rail 10 Pallet station 11 Pallet 12 Pallet transport cart

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B65G 57/20

Claims (5)

(57) [Claims] 1. A cylinder for sorting cylindrical works such as film rolls and sheet rolls of various sizes carried in an inverted posture through a receiving conveyor line according to size and arranging them on a pallet in a parallel or staggered pattern in an upright posture. An automatic palletizing system for workpieces, a work inverting machine that receives a cylindrical work carried in from a receiving conveyor line and rises from an inverted posture to an upright posture, and receives a cylindrical work from the work inverted machine and receives the cylindrical work. A system is constructed by combining a palletizing robot that sorts workpieces by size and loads them on pallets that are waiting at the pallet station, and a pallet transport cart that carries out full pallets and replenishes empty pallets. In-and-out ceremony to support workpieces from below Elevated cylinder equipped with a fork and an axis holding member that presses the center part of the upper surface side of the cylindrical work from above, a cylinder with an upright posture gripped between the fork and the axis holding member A cylindrical work, wherein the work is lowered to a predetermined stacking position on a pallet, and further, the cylindrical work is tilted slightly in a forwardly inclined posture, and the fork is pulled backward and stowed in a state where the toe stands, thereby stacking the cylindrical work. Automatic palletizing system. 2. The automatic palletizing system according to claim 1, wherein the work inverting machine receives the cylindrical work in an inverted posture, and a work mounting table for holding the cylindrical work in an upright posture. And an L-shaped oscillating work mounting table, which is distributed to the side or the bottom, and the cylindrical work transferred from the receiving conveyor line with the work mounting table laid in the inverted position. The workpiece is received on the carrier roller as it is, and then the work mounting table is raised to the upright position so that the cylindrical work is set upright on the table, and the table is arranged in parallel with the upper surface thereof. Made as a rotating disk-shaped table with ribs,
An automatic palletizing system for a cylindrical work, further comprising a positioning correction mechanism for moving a part of the peripheral surface of the cylindrical work placed on the table so as to overlap the outer peripheral edge of the table. 3. The automatic palletizing system according to claim 1, wherein the palletizing robot includes a traveling vehicle that moves along the pallet station, a hand platform mounted on the traveling vehicle, and a retractable fork that moves forward or backward. , Comprising a lifting and lowering, forward tilting hand unit equipped on the front side of the hand stand so as to grip the cylindrical work from above and below with a cone-shaped shaft core holding member, and further, the hand unit has a cylindrical shape A work tilting mechanism that pushes the cylindrical work forward from its upper rear surface while the fork on which the work is placed on the pallet and tilts it forward to a toe-standing posture, and a stopper that supports the cylindrical work from the back side when the fork is pulled out And an automatic palletizing system for cylindrical workpieces. 4. The palletizing system according to claim 3, wherein the hand portion of the palletizing robot is divided into a plurality of sets selectively used so as not to protrude laterally from the bottom surface thereof in accordance with the diameter of the cylindrical work. Automatic palletizing system for cylindrical workpieces, characterized in that it comprises a removable fork. 5. The automatic palletizing system according to claim 1, wherein a bar code indicating data such as an outer diameter and a length size is attached to the cylindrical work in advance, and the bar code is received. An automatic palletizing system for cylindrical workpieces, in which a series of palletizing processes are read out on the conveyor line's transport path, and the workpiece inverting machine and palletizing robot are comprehensively controlled based on this data information, and a series of palletizing processes are performed automatically. .