JP3005740B2 - Tile loading equipment of different types - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for loading a group of completed and bound tiles on a pallet for transportation. In particular, the present invention relates to an apparatus for identifying a group of different types of tiles that have been bound and stacking the group of tiles on a pallet in an upright state.

Further, the present invention also refers to a means for supplying a cushioning sheet for protecting a group of tiles loaded on a pallet.

[0003]

2. Description of the Related Art The inventor is not aware of such prior art.
The means of loading different types of tiles that are commonly practiced are manual operations.

Usually, about three to four tiles are bundled and conveyed in a horizontal state, but the work of stacking the bundled tiles on a pallet in an upright state still depends on humans. It is a fact.

[0005] However, the weight of one tile is at least 4k.
Since the number of tiles is about g, manual execution of a group of tiles consisting of about four sheets requires a great deal of labor, which has been a major bottleneck in tile production. In particular, heavy labor has limited the ability to rely on human labor.

[0006]

SUMMARY OF THE INVENTION An object of the present invention is to identify a group of different types of tiles that have been bound and mechanically carry out a work of displacing the group of tiles on a pallet in an upright state. In addition to the failure, the group of tiles loaded on the pallet will be damaged during transportation.

[0007]

According to the present invention, there is provided a robot mechanism provided with identification means for identifying the type of a tile group beside a transport mechanism, and having clamp means for a tile and supply means for a buffer sheet. Is connected to the transport mechanism, a buffer material sheet and a pallet are provided beside the robot mechanism,
Equipped with a program to control the robot mechanism for multi-axis operation
A control mechanism is provided.
The steps are connected via signal transmission means, and the robot mechanism
Clamping means for roof tiles based on the program of the control mechanism
The function of holding a group of tiles through the
The ability to load tiles on pallets and the provision of cushioning sheets
Supply cushioning material sheets to tile groups on pallets via supply means
Invention of a different type of tile loading device characterized by having a function of causing

[0008] A discriminating means for discriminating the type of the tile group is provided beside the transport mechanism.
The robot mechanism provided with the supply means for the impact material sheet is a transporter
Tile clamps are provided on one side
To the stationary holding piece via the opening / closing means on the stationary holding piece and the other side
It consists of a movable holding piece that is swingably
Sheet supply means is provided for the stationary holding piece and the movable holding piece.
A suction cup that is mounted , a cushioning sheet and a pallet are provided beside the robot mechanism , and the robot mechanism is
A control mechanism with a program for controlling multi-axis operation is provided.
The control mechanism of the robot mechanism and the identification means signal transmission
Robotic mechanism connected to the control mechanism
Based on the gram, the group of tiles is grasped through the clamping means for tiles.
Pallets can be grouped according to the functions and the type of roof group
Via the loading function for the cushioning material sheet
Has a function to supply cushioning sheets to tile groups on the pallet
An invention of different types of tiles loading device, characterized by.

[0009]

The bundle of roofed tiles is transferred to the robot mechanism by the transport mechanism and stopped. At that time, the type of the tile group is identified by the identification means during the transfer, the information is transmitted to the control mechanism, and the operation of the robot mechanism is controlled by a program provided in the control mechanism.

The group of tiles conveyed to the side of the tile clamping means is gripped by the clamping means provided in the robot mechanism, and the group of tiles is aligned and loaded on a pallet in a vertically stacked state.

Therefore, the tile groups are loaded one row at a time, and when the first tile group in the second row to be successively loaded is loaded, it is loaded first through the supply means for the cushioning sheet. One cushioning sheet prepared in advance between the first row of roof tiles and the second row of first roof tiles is vertically inserted by the buffer sheet supply means.

Thus, the side surfaces of the group of tiles arranged in a row are protected by the cushioning sheet inserted in the vertical direction.

[0013] The cushioning sheets are sequentially inserted vertically between the roof tiles stacked in each row. When the first group of tiles is fully loaded on the pallet, one of the other types of cushioning sheets prepared in advance is placed horizontally on the upper surface of the pallet via the cushioning sheet supplying means. Is done.

Thus, the upper surface of the first group of tiles and the lower surface of the second group of tiles are protected by the cushioning sheet placed in the horizontal direction.

Hereinafter, by repeating this operation repeatedly,
The identification of the group of tiles, the placement on the pallet and the supply of the cushioning material sheet are performed in order, and the stacking of the group of tiles completes the loading of the tiles.

[0016]

[Embodiment 1] This embodiment is an apparatus for displacing and loading a group of tiles W carried in a horizontal posture to a standing posture. FIG. 1 is a side view of the present invention, and a control mechanism in which a program for controlling the operation of a vertical raising mechanism 10 and a robot mechanism 14 for erecting a group of tiles W in a horizontal state from left to right in the drawing is set. 11. A transport mechanism 2 for transporting the roof tile group W displaced to the standing posture to the roof clamp means 18 of the robot mechanism 14.
A robot mechanism 14 comprising a main body 22 provided with a clamp means 18 for roof tiles and a supply means 24 for cushioning sheet.
Are provided, and 2 is provided beside the robot mechanism 14.
The state in which the cushioning sheets 26 and 28 are arranged according to the type of form is shown.

FIG. 2 is a plan view of FIG. 1. In addition to the configuration shown in FIG. 1 , identification means 12 for identifying a group of tiles W provided in the vertical raising mechanism 10 and Signal transmitting means 16 and 17 for connecting the discriminating means 12 and the robot mechanism 14 to the control mechanism 11 are shown. On both sides of the robot mechanism 14, different types of tile groups W are loaded on the pallet 30 and the tiles are shown. A state in which the cushioning material sheets 26 are placed horizontally on the group W is shown, and a state in which cushioning material sheets 26 and 28 of different sizes are prepared adjacent to the pallets 30 on both sides is shown. I have.

FIG. 3 is a front view showing a state in which the tile group W is placed on the pallet 30.

FIG. 4 shows a clamp means 18 for holding a group of tiles W bound by a band 55 at the tip of the main body 22 of the robot mechanism 14, and a suction cup 54 constituting a supply means 24 for the cushioning sheets 26, 28. It is a side view of the principal part showing the state where was provided.

FIG. 5 is a front view of FIG.

FIG. 6 shows a side view of a robot mechanism having a clamp means 18 and a supply means 24 for a cushioning sheet.

Therefore, an embodiment of the present invention will be described below by referring to a tile group W
Will be described according to the order of the loading operation steps.

[Upright mechanism 10 for roof tiles] The upright mechanism 10 is supported on a frame 32. FIG.
In this example, two types of a tile group of the type “Wa” and a tile group of the type “Wb” are displayed in a horizontal state as a group of four tiles bound together. Note that reference numerals “Wa” and “Wb” are shown in FIG. 1 for convenience of description of the invention, but are collectively represented as reference “W” unless otherwise noted.

Of course, the number of types of tiles is not limited, and the inventor also plans to identify and load three or more types of tile groups.

These tile groups W are bound by a well-known binding machine (not shown) and introduced into the carry-in conveyor 34 on the frame 32 by appropriate means.

The vertical raising mechanism 10 is provided so as to be rotatable from a horizontal state to a vertical state with the support shaft 37 as a fulcrum as shown by a chain line, and to be able to sandwich the tile group W from both sides. As means for sandwiching the tile group W, an arm or the like which can expand and contract inward from both sides is provided.

The horizontal raising mechanism 1 shown by the chain line
On the right side of 0, the vertical raising mechanism 10 with the group of tiles W sandwiched from both sides stands by a solid line.

The vertical raising mechanism 10 is provided with an identification means 12 for identifying the type of the tile group W (see FIG. 2). The identification means 12 employs a sensor such as a contact type or non-contact type switch as a specific example. The sensor detects the difference in height or width of the tile group W or the mark for identification.
The type of the tile group W is identified by identifying the type of the tile.

However, the identification means 12 is not necessarily limited to being provided at the position of the vertical raising mechanism 10 as shown in the figure.

The purpose of the discriminating means 12 is to discriminate different types of tile groups W. The discriminating means 12 may be discriminated before the clamping means 18 for the tiles of the robot mechanism 14 starts operating. May be provided at any position between the upright mechanism 10 for the roof tile and the robot mechanism 14.

As a means for transmitting the information identified by the identification means 12, a signal transmission means 16 is provided so as to connect the identification means 12 and the control mechanism 11 of the robot mechanism 14. Is the electrical wiring.

[Regarding the transport mechanism 20] Vertical raising mechanism 1
A transport mechanism 20 is provided as a means for introducing the group of tiles W erected from 0 to the clamp means 18 for the tiles.

The transport mechanism 20 has a pair of endless chains suspended from a pair of front and rear sprockets 36. The endless chain is provided with a large number of slats. It is provided to synchronize with the operation of the mechanism 14.

[Robot Mechanism 14] The robot mechanism 14 is multi-axis controlled in accordance with a preset program, and has a function of gripping different types of tile groups W and a function of supporting different types of tile groups W. And a function of supplying different types of cushioning sheets 26 and 28 to the tile group W.

As is clear from the drawing, the robot mechanism 14 is different from the control mechanism 11 in which a program for controlling necessary operations such as loading of the identified group of tiles W is incorporated and another signal transmitting means. 17 are connected.
The signal transmission means 17 is also specifically an electric wiring (see FIG. 2).

As is known, the main body 22 of the robot mechanism 14 is composed of an arm having multiple joints, and in this embodiment, it has six degrees of freedom.

At the tip of the main body 22 of the robot mechanism 14, a clamp means 18 for roof tiles is provided.

The concrete construction of the clamp means 18 for roof tiles will be described. Referring to FIGS.
A stationary holding piece 38 is suspended from one side of a horizontal member 42 rotatably attached to the main body 22.

On the other side of the horizontal member 42, a pair of movable holding pieces 40 are provided via a connecting piece 41 which are opposed to the stationary holding piece 38 on one side and are movable toward the stationary holding piece 38. Have been.

The main body 2 of the pair of movable holding pieces 40
The second side is supported by a support shaft 44 so that the movable holding piece 40 can swing in the left-right direction on the drawing.

Then, the movable holding piece 40 is moved to the stationary holding piece 38.
The movable holding piece 40 and the stationary holding piece 38
An opening / closing means 48 such as an air cylinder is provided between them. In this embodiment, an air cylinder which is an example of the opening / closing means 48 is provided with a rod 46 for performing an expansion / contraction operation toward the stationary holding piece 40. I have.

Thus, the movable holding piece 40 constituting the main part of the clamp means 18 is controlled by the air cylinder as the opening / closing means 48 while using the support shaft 44 of the main body 22 as a fulcrum.
The group of tiles W is gripped or released according to the expansion and contraction operation of the rod 46.

The cushioning piece 5 made of hard rubber or plastic is provided inside each of the movable holding piece 40 and the stationary holding piece 38 so as not to be damaged when the tile group W is held.
0 and 52 are mounted.

As described above, since only the movable holding piece 40 swings toward the stationary holding piece 38, the tile group W sandwiched between the pair of movable holding pieces 40 and the stationary holding piece 38.
Is gripped in a state of being inclined toward the movable holding piece 40 as shown in FIG.

The detailed reason why the group of tiles W can be placed on the pallet 30 while being tilted toward the movable holding piece 40 in this manner will be described later. Intended to be aligned.

[Regarding supply means 24 for cushioning sheet]
The present invention further provides a tile group W mounted on a pallet 30.
In order to prevent damage during transportation, a cushioning sheet 26 such as a step ball is horizontally placed on the upper surface of the tile group W, or another cushioning sheet 28 is placed between the tile groups W. Supply means 24 for the cushioning sheet is provided so that it can be inserted in the vertical direction.

The supply means 24 for the cushioning sheet of the present invention.
Is provided at the distal end of the main body 22 of the robot mechanism 14 together with the clamp means 18 described above. As can be understood with reference to FIGS. 4 to 6, one movable holding piece 40 and the stationary holding piece 38 are provided with a total of five so-called suction cups 54.

These suction cups 54 are provided with vacuum hoses 5.
6 and the hose 56 releases the air and releases the suction.
It is configured to be able to adsorb 6, 28 and release the adsorption.

On the other hand, one of the cushioning sheets 26 is generally a pallet 3
It corresponds to the size of 0. The other cushioning sheet 28 corresponds to the length and height of one row of the tile group W placed on the pallet 30.

Of course, since these suction cups 54 are provided in the clamp means 18 controlled by the robot mechanism 14, the operation thereof is controlled by a preset program similarly to the robot mechanism 14.

Thus, the supply means 24 for the cushioning sheet is provided.
Is a cushioning sheet 2 arranged beside the robot mechanism 14.
6 and 28 are adsorbed and the adsorption is released.

Next, the specific operation of the first embodiment of the present invention will be described.

The group of tiles W in the horizontal state thus bound is displaced from the horizontal state to the standing state by the vertical raising mechanism 10. It is necessary to be in a horizontal state during the work of binding the tile group W, but the tile is thin and easily broken, but it is strong against vertical stress, and it is advantageous to make it stand up when transported. , Just to be erect.

The vertical raising mechanism 10 has an identification function based on the sandwiching action of the tile group W. Specifically, the vertical raising mechanism 10 is identified by a sensor as identification means 12 provided in the vertical raising mechanism 10 (see FIG. 2). reference).

When the group of tiles W is displaced from the horizontal state to the upright state by the vertical raising mechanism 10, the group of tiles W is pinched, and the type of the group of tiles W is identified together with the holding. This identification is performed by a sensor reading the moving distance of the arm provided when the arm provided in the vertical raising mechanism 10 holds the tile group W.

The group of tiles W displaced to the upright state is transported by the transport mechanism 2
0, the sheet is intermittently transported to the tile clamp means 18 supported on the tip of the main body 22 of the robot mechanism 14 and stopped at the position of the tile clamp means 18.

Prior to the tile group W reaching the position of the clamp means 18, the type of the tile group W is identified by the identification means 12 provided in the vertical raising mechanism 10 for tiles, and necessary information is obtained. The signal is transmitted to the control mechanism 11 through the signal transmission means 16.

Next, a preset program is executed based on the information from the identification means 12, and the information based on this program is transmitted to the robot mechanism 14 through the signal transmission means 17, and the main body 22 of the robot mechanism 14 The operation of the clamping means 18 is sequentially started.

Thus, the movable holding piece 40 constituting the clamping means 18 swings toward the stationary holding piece 38 by the operation of the air cylinder which is the opening / closing means 48, so that the tile group W is slightly inclined toward the movable holding piece 40. It will be grasped in the state where it was done.

Then, identification is performed for each type of the group of held tiles W, the tiles are sorted for each type of the group of tiles W, and loading is performed on the transport pallet 30 sequentially in an inclined state line by line.

In this case, as described above, the tile group W is placed on the pallet 30 in a state of being slightly inclined to the movable holding piece 40 side. It becomes easy to make the base of the group of tiles W closer to the stationary holding piece 38 that is inclined to the base of the group W closer to the pallet 30 abut.

Therefore, when the base of the group of tiles W to be loaded comes into contact with the base of the group of tiles W previously loaded on the pallet 30, the clamping means 18 is released, so that the tilted group of tiles W becomes its own weight. As a result, the center of gravity moves toward the tile group W loaded earlier, so that the tile group W is restored to the vertical state without any gap between the adjacent tile groups W, and loading is performed without any gap.

Therefore, the tile group W is loaded in each row, and the first tile group W in the second row is successively loaded.
Is loaded between the first row of tiles W and the first row of tiles W in the second row. It is sucked by the suction cup 54 constituting the 24 and is drawn down in the vertical direction.

The cushioning sheet 28 dropped in the vertical direction has a rectangular shape corresponding to the length and height of one row of the tile group W. Therefore, its height is relatively low,
Since it is elongated, the cushioning sheet 28 is easily bent when sucked by the suction cup 54.

For this reason, even if the suction cup 54 is brought into contact with the deflected cushioning material sheet 28 to perform the suction operation, it is impossible to avoid the possibility that suction leakage may occur.

Therefore, in order to avoid this leakage, the present invention has been devised. When the bent portion of the cushioning sheet 28 is viewed locally, the local portion is far from the bent form and can be recognized as being close to a horizontal state. Therefore, by taking care to concentrate the suction cups 54 locally, it is possible to suppress the occurrence of the leakage of the absorption of the cushioning sheet 28.

In the present invention, as a means for locally concentrating the suction cup 54, as described above, the movable holding piece 40 provided with the suction cup 54 constituting the clamping means 18 is directed toward the stationary holding piece 38 provided with the suction cup 54. Rocks and narrows the distance between them.

The narrowing of the distance between the two holding pieces 38 and 40 means that the distance between the suction cups 54 provided therein is narrowed, and the plurality of suction cups 54 are concentrated. Therefore, the concentrated state of the suction cups 54 corresponds to the cushioning sheet 2
8 can be dealt with, and adsorption is enabled.

Needless to say, this operation is controlled by a program built in the control mechanism.

When the tile group W is lined up on the pallet 30, another cushioning sheet 26 prepared in advance is provided on the upper surface thereof.
Is placed via supply means 24 for a cushioning sheet.

In this case, unlike the above-described cushioning sheet 28, the cushioning sheet 26 has a size substantially corresponding to the area of the upper surface of the pallet 30, so that the clamping means 18
Is adsorbed by the open state.

That is, since the area of the cushioning sheet 26 in this case is large, the supporting area of the suction cup 54 is increased by opening the clamp means 18 to increase the cushioning sheet.
In this way, the suction function of the port 26 is ensured.

The above operation is repeatedly and continuously performed, so that different types of tile groups W carried in a horizontal state are provided.
Are identified and the cushioning sheets 26, 2
8 are introduced vertically while being stacked.

[0074]

[Embodiment 2] This embodiment is essentially different from the invention of Embodiment 1 in that there is little difference. In the first embodiment, the tile group W in the horizontal state
Has been described as a device that is displaced to an upright state and loaded on a pallet 30 by a vertical raising mechanism 10 for tiles, but in this embodiment, a group of bound horizontal tiles transferred by a transport mechanism 20 is described. W upright mechanism 10 for tile
There is disclosed an apparatus for holding a group of tiles W in a horizontal state by a robot mechanism 14 and displacing the tile group W in an upright state and loading the same on a pallet 30 without displacing the tile group W in an upright state via a robot.

However, this embodiment is not intended to disclose an apparatus for loading and displacing only the tile group W in a horizontal state only by the robot mechanism 14 to be in an upright state. In the illustrated example, the tile group W is carried into the transport mechanism 20 in a horizontal state.
The inventor of course also plans a case where the roof tile group W is carried into the transport mechanism 20 in an upright state. Therefore, in this embodiment, the posture at the time of loading the group of tiles W into the transport mechanism 20 should not be limited.

However, the configuration of this embodiment has few points different from that of the first embodiment. Therefore, the description of the first embodiment will be applied to the common components, and the configuration that is particularly different will be described. Therefore, the description of the second embodiment is common to that of the first embodiment unless otherwise specified.

FIG. 7 is a side view of this embodiment, and shows a transport mechanism 20 for transporting a group of tiles W in a horizontal state from the left side to the right side in the drawing, and identification means 1 beside the transport mechanism 20.
2. Clamping means 18 and supply means 24 for cushioning sheet
A robot mechanism 14 including a main body 22 provided with a robot mechanism is provided.
The state in which different types of cushioning sheets 26 and 28 are arranged is shown.

FIG. 8 is a front view showing how to hold the group of tiles W bound together by the clamping means 18 in a horizontal state.

The configuration of the second embodiment will be described below.

As is apparent from FIG. 8, the transport mechanism 20 is provided with sprockets 36 on both sides thereof at a predetermined interval, and the sprockets 36 are each provided with an endless chain 23.

A large number of slats having a smaller width than those of the previous embodiment are attached to these endless chains 23.
Consideration is given so that the vicinity of both ends of the tile group W can be supported.

By providing a space between these slats, a movable holding piece 40 of the clamp means 18 described later is provided.
Are configured to operate in the space.

That is, the group of tiles W in a horizontal state bound by the band 55 is conveyed while being supported by the endless belts 23 on both sides.
0 swings from the lower side to the stationary holding piece 38 located above by the operation of the opening / closing means 48, so that the tile group W is held by the holding pieces 38 and 40 (FIGS. 4 to 8). See).

An identification means 12 for identifying the type of the tile group W to be carried in is provided beside the transport mechanism 20, and a specific example of this identification means 12 is the height of the tile group W. It is a sensor that reads the height.

The supply means 24 for the cushioning sheet is different from the previous embodiment in that five suction cups are provided on the stationary holding piece 38 side (see FIGS. 7 and 8).

In addition to the above configuration, the robot mechanism 14 and the clamping means 18 in this embodiment are the same as those in the first embodiment.

Next, a specific operation of the second embodiment of the present invention will be described. However, most of the operation is the same as the operation of the first embodiment, and therefore, a different operation will be described.

The bound tile group W in the horizontal state is transported to the robot mechanism 14 by the transfer mechanism 20 in the same posture, and the type of the tile group W is changed through the sensor as the identification means 12 on the way. Be identified.

The roof tile group W is intermittently transported by the transport mechanism 20 to the roof clamp means 18 supported on the tip of the main body 22 of the robot mechanism 14 and stopped at the position of the roof clamp means 18. You.

Before the tile group W reaches the position of the clamp means 18, the type of the tile group W is identified by the identification means 12 and necessary information is sent to the control mechanism 11 in the same manner as in the previous embodiment. Is transmitted.

Next, a preset program is executed based on the information from the identification means 12, and information based on this program is transmitted to the robot mechanism 14, and the main body 2
2 and the operation of the tile clamping means 18 are sequentially started.

In this manner, the movable holding piece 40 constituting the clamping means 18 swings toward the upper stationary holding piece 38 by the operation of the air cylinder as the opening / closing means 48, so that the tile group W is held by the two holding pieces 38, 40. Is gripped by

The tiles W are sorted by the type of the group of held tiles W, and the group of tiles W in the horizontal state is displaced in the vertical direction by the clamping means 18 and is slightly inclined on the transport pallet 30 sequentially in one row. Loading is performed in the state.

The following operation is the same as that of the first embodiment except that the clamp means 18 does not open and close when the cushioning sheet 28 is attracted.

[0095]

Since the present invention has the above configuration, it has the following advantages. (1) A robot mechanism provided with a transport mechanism, a clamp means for roof tiles, and a supply means for a cushioning sheet is provided, and an identification means and a signal transmission means for a control mechanism are provided between the robot mechanisms. Therefore, it is possible to mechanically carry out the identification and the loading operation of different types of tile groups, which could not be conventionally performed, and mechanically supply the cushioning sheet to the tile groups loaded on the pallet. (2) An identification means is provided beside the transport mechanism, a stationary holding piece is provided on one side, and a movable holding piece which is swingable toward the stationary holding piece is provided on the other side via opening / closing means, And a robot mechanism in which a suction cup is attached to each of the stationary holding piece and the movable holding piece is connected to the transfer mechanism,
A buffer material sheet is provided beside the robot mechanism, and the identification means and the robot mechanism are connected to a control mechanism having a program for controlling the operation of the robot mechanism via signal transmission means. A series of operations consisting of supplying the cushioning sheet together with the identification of the group and loading on the pallet can be performed mechanically, and the supply of the cushioning sheet corresponds to the type of the cushioning sheet. Can be supplied reliably.

[Brief description of the drawings]

FIG. 1 is a side view according to an embodiment of the present invention.

FIG. 2 is a plan view according to the embodiment of the present invention.

FIG. 3 is a front view according to the embodiment of the present invention.

FIG. 4 is a side view of the clamping means.

FIG. 5 is a front view of the clamping means.

FIG. 6 is a side view of a main part of a clamping means and a supply means for a cushioning sheet.

FIG. 7 is a side view of another embodiment.

FIG. 8 is a front view of a main part of another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Control mechanism 12 Identification means 14 Robot mechanism 16 Signal transmission means 18 Clamp means 20 Transport mechanism 24 Buffer material sheet supply means 26 Buffer material sheet 28 Buffer material sheet 38 Stationary holding piece 40 Movable holding piece 48 Opening / closing Means 54 Sucker

Claims (2)

(57) [Claims] An identification means for identifying the type of a group of tiles is provided beside the transport mechanism, and a robot mechanism having a clamp means for tiles and a supply means for a buffer sheet is provided in the transport mechanism. A buffer sheet and a pallet are provided beside the robot mechanism, and a program for controlling the multi-axis operation of the robot mechanism is provided.
A control mechanism is provided, and the control mechanism of the robot mechanism and the identification means serve as signal transmission means.
Is connected through the robot mechanism for the tiles based on the program of the control mechanism
A function to hold a group of tiles through the clamping means of the above, and a function to load the group of tiles on a pallet according to the type of the group of tiles
And the cushioning material sheet is palletized through the cushioning material sheet supply means.
A different type of tile loading device having a function of supplying a group of tiles on a tile . 2. An identification means for identifying a type of a tile group beside a transport mechanism, and a clamp means for the tile is provided.
Robot mechanism with supply means for cushioning sheet transported
A stationary clamping piece connected to a mechanism and having a clamp means for tiles on one side and another
On the side so that it can swing freely toward the stationary holding piece via opening / closing means.
The obtained consists of a movable gripping piece, feed means for cushioning material sheet wherein the stationary gripping piece and a movable clamping
A suction cup mounted on a holding piece, provided with a buffer material sheet and a pallet beside the robot mechanism, and provided with a program for controlling the multi-axis operation of the robot mechanism.
A control mechanism is provided, and the control mechanism of the robot mechanism and the identification means serve as signal transmission means.
Is connected through the robot mechanism for the tiles based on the program of the control mechanism
A function to hold a group of tiles through the clamping means of the above, and a function to load the group of tiles on a pallet according to the type of the group of tiles
And the cushioning material sheet is palletized through the cushioning material sheet supply means.
A stacking device for different types of tiles, which has a function of supplying to a group of tiles on a tile .