JP3621518B2 - Equipment loading on pallet - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an apparatus for loading an article such as a signature on a distribution pallet by a robot in a factory.
[0002]
[Prior art]
In general, an on-site pallet is used for conveying articles in a factory, and a distribution pallet is used in a distribution process outside the factory. This is because various facilities in the factory make it easy to handle various distribution pallets with slight dimensional differences.
Conventionally, the distribution pallet is moved in a state where it is loaded on the pallet in the factory. Then, the distribution pallet placed on the in-site pallet is supplied to the article loading position by the conveyor, and after the article is loaded on the distribution pallet, it is carried out by the conveyor, and the in-field pallet positioning means is located on the side of the pallet conveying path. A distribution pallet positioning means is provided upstream of the article loading position, and an article loading robot is located outside the pallet conveyance path and is installed in the vicinity of the article loading position.
[0003]
[Problems to be solved by the invention]
By the way, in the above prior art, since the article loading robot is installed so as to extend outside the pallet conveyance path, the occupied space of the equipment becomes large, the layout of the equipment including the problem of securing the passage is very troublesome, the space There is a problem that it cannot be used effectively.
[0004]
The present invention has been made in view of the above-described actual situation, and the object of the present invention is to make the robot installation space on the pallet conveyance path, reduce the occupied floor area of the apparatus, facilitate the equipment layout, and effectively use the space. An object of the present invention is to provide an article loading device on a pallet that can improve the utilization and work efficiency.
[0005]
[Means for Solving the Problems]
In the present invention, in order to solve the above problems, the following technical means are taken.
That is, according to the present invention, the distribution pallet placed on the on-site pallet is supplied to the article loading position by the conveyor, and after the article is loaded on the distribution pallet, it is carried out by the conveyor. In the article loading apparatus on the pallet in which the pallet positioning means is provided and the article loading position or the distribution pallet positioning means is provided in the preceding stage, the article is positioned in the vicinity of the article loading position above the pallet conveying path. A loading platform for the loading robot is provided (claim 1).
[0006]
In this way, by arranging the article loading robot above the pallet conveyance path, the floor occupied area of the equipment is reduced, and the robot base does not protrude outside the pallet conveyance path, facilitating the layout of the equipment, A good-looking passage can be secured, workability is improved, and space can be used effectively.
The present invention is characterized in that the distribution pallet positioning means and the robot mounting base are provided on a common frame (claim 2). Therefore, the entire apparatus becomes compact.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 3 show the overall configuration of an article (signature) loading device on a pallet according to the present invention, which is provided in the center and three rows of pallet conveying paths 1, 2 and 3 arranged on the left and right sides thereof. The pallet vertical feed conveyors 4, 5, 6 and the pallet loading terminal, which are provided perpendicular to the conveyors 4 to 6, are vertically movable pallet horizontal feed roller conveyors 7, 8, 9; Of the pallet transport path 1 in the form of a bridge, a robot mounting base 11 provided on the base 10, and a distribution pallet PC provided inside the base 10 on the inside thereof. It is mainly composed of the positioning means 12, the guide rails 13, 14, 15, 16, 17 and the positioning stopper / guide rails 18, 19, 20 of the on-site pallet PW, and an article loading robot (not shown).
[0008]
The central pallet conveyance path 1 is for pallet loading, the left and right pallet conveyance paths 2 and 3 are for pallet unloading, and the starting end side of the conveyance paths 2 and 3 is set as an article loading position LP to the distribution pallet PC. At this position LP, the roller conveyors 8 and 9 transfer the on-site pallet PW received from the roller conveyor 7 onto the conveyors 5 and 6 so that the conveyors 5 and 6 are orthogonal and do not interfere with each other. ing.
[0009]
The conveyors 4 to 6 are roller chain conveyors, a plurality of rotating shafts 22 that are parallel-mounted on each conveyor frame 21, both ends of the rotating shafts 22, and a central portion in the longitudinal direction (excluding the conveyor 4 in the central pallet conveying path 1). ), A roller chain 24 wound around the sprocket wheel 23, and a roller chain support member 25. Since the conveyor 4 transports empty pallets, it has roller chains 24 at both left and right ends. However, since the conveyors 5 and 6 transport pallets loaded with articles, both left and right ends. And a roller chain 24 at the center. Each of these conveyors 4, 5, 6 is independently operated by a drive motor that is individually provided, although not shown.
[0010]
Each roller chain 24 is provided with an on-site pallet pusher (not shown).
In the roller conveyor 7, a plurality of rollers 7A parallel to the pallet loading direction are attached to a central conveyor frame 21 via an elevating frame 26 so as to be movable up and down. Each roller 7A is driven by a driving means (not shown). It is driven forward and reverse. The top end of the roller 7A is provided at a lower position so as to be slightly lower than the upper end of the conveyor 4. At the raised position, the lower surface of the in-field pallet PW is above the upper end of the conveyor 4. The conveyor 4 is not touched.
[0011]
The roller conveyors 8 and 9 are configured such that a plurality of rollers 8A and 9A parallel to the pallet carrying-out direction (parallel to the roller 7A) can be moved up and down via the lifting frames 27 and 28 on the left and right conveyor frames 21. Each roller 8A, 9A is rotationally driven in the direction of feeding the pallet PW outward in the left or right direction by a driving means (not shown).
[0012]
The top ends of the rollers 8A and 9A are located at a position slightly lower than the upper ends of the conveyors 5 and 6 at the lowered position, and at the raised position, above the conveyors 5 and 6 and the on-site pallet PW. The lower surface of the belt is not in contact with the conveyors 5 and 6. Further, intermediate transfer rollers 29, 29 parallel to the roller 7A are provided between the roller conveyors 7, 8, 9 so that the delivery of the on-site pallet PW can be performed smoothly.
[0013]
The frame 10 is provided at the terminal half of the pallet conveyance path 1 outside the central conveyor frame 21 and the top end member 10A is provided across the conveyance path 1 at a high position where the distribution pallet PC does not interfere. A robot mounting base 11 is provided on the pallet carrying side on the top end member 10 </ b> A, and an article loading robot (not shown) is mounted on the base 11. In this robot, a vertical articulated robot is provided at the upper end of a turning post erected on the gantry 11, and an article can be loaded into the distribution pallet PC carried into the left and right article loading positions LP. It is like that.
[0014]
Therefore, since no article loading robot is provided on the front, rear, left and right of the conveyance paths 1 to 3, space can be used effectively, such as providing a passage with a margin, and workability and work efficiency can be improved.
The guide rails 13, 14, and 15 are provided in parallel to each other on the left and right outer sides of each conveyor frame 21 for positioning the pallet PW in the left and right directions and guiding the feed in the longitudinal direction. These guide rails 13-15 are provided in the conveyance paths 1, 2, 3 excluding the roller conveyors 7-9. In addition, pallet lateral feed guide rails 16 and 17 are provided on the starting end side of each article loading position LP of the left and right conveyor frame 21 in the unloading direction.
[0015]
On the terminal end side of the central conveyor frame 21, the guide rail 18 for positioning stopper and lateral feed guide is provided. Further, the guide rails 19 and 20 for the positioning stopper and the vertical feed guide for the pallet PW are provided outside the article loading position LP of the left and right conveyor frames 21, following the guide rails 14 and 15 for the vertical feed. ing.
[0016]
Photo sensors 30, 31, and 32 for detecting pallets in the field are provided on the pallet carrying example of the guide rail 13 and the pallet carrying end side of the guide rails 14 and 15, respectively. Further, a pallet detection photosensor 33 is provided on the terminal end example of the guide rail 13 and the positioning stopper / guide rail 18. Furthermore, pallet detection photosensors 34 and 35 are also provided on the lateral feed guide rails 16 and 17 and the positioning stopper / guide rails 19 and 20 respectively close to them. These photosensors 30 to 35 perform operation control of the conveyors 4 to 9, positioning operation of the distribution pallet PC, and the like.
[0017]
4 to 10 show the distribution pallet positioning means 12. As described above, the positioning means 12 is provided on the lower surface of the top plate 10A of the frame 10 so as to be able to rotate in the horizontal direction via the vertical shafts 36, 37, 38, and 39, in front of and behind the pallet loading direction. A set of left and right pallet left and right positioning arms 40, 41, 42, and 43, and positioned on the lower surface of the top plate 10A in the front and rear direction of the pallet and positioned between the left and right arms 40, 41, 42, and 43 A pair of left and right positioning levers 50, 51, 52, 53 provided on the pivot brackets 44, 45, 46, 47 via horizontal shafts 48, 49, and arm driving fluid pressure (pneumatic pressure) The cylinder (54), a lever driving fluid pressure (pneumatic) cylinder (55), an arm and a lever driving mechanism, and the like.
[0018]
An example of the vertical shafts 36 to 39 is shown in FIG. 10. The upper ends of the vertical shafts 36 to 39 are respectively attached to the lower surface of the frame top plate 10A by fixing means such as bolts. A boss 56 is rotatably fitted via a bush 57, and the base ends of the arms 40 to 43 are fixed to the lower end portion of the boss 56, and swing levers 58, 59, 60, 61 are provided on the upper portion. Is fixed.
[0019]
At the free ends of the arms 40 to 43, contact rollers 63 to the distribution pallet PC are rotatably attached via vertical pins 62 extending downward, and the rollers 63 are attached to the left and right side surfaces of the distribution pallet. It pushes toward the center of the pallet conveyance path 1 to position the distribution pallet PC in the left-right direction. In addition, since the inside pallet PW is positioned by the above-described guide rail 13 and the positioning / guide rail 18, the distribution pallet PC is positioned with respect to the inside pallet PW.
[0020]
One end of each of the swing rods 64, 65, 66, 67 that can be expanded and contracted is connected to the swing levers 58 to 61 via a vertical pin 68 so as to be relatively rotatable. Lever mounting vertical shafts 69 and 70 are fixed to the lower surface of the top plate 10A of the frame 10 so as to be positioned between the left and right vertical shafts 36-37 and 38-39.
As shown in FIG. 9, a cylindrical boss 71 is rotatably fitted to the vertical shafts 69 and 70 via a bush 72. A drive lever 73 or a boss 71 is attached to the lower end of the boss 71. 74 is fixed, and two interlocking levers 75 or 76 are respectively fixed to the upper end of the boss 71 at a target position with respect to the shaft center, and the rocking rod 64 is attached to the free end of each interlocking lever 75, 76. The left and right opposite ends of .about.67 are connected via vertical connecting pins 77 and 78 so as to be relatively rotatable.
[0021]
The free ends of the front and rear drive levers 73 and 74 are interlocked and connected by an interlocking rod 81 that can be expanded and contracted via vertical connecting pins 79 and 80. A rod outer end hardware 82 of the arm driving fluid pressure cylinder 54 is pivotally connected to the rear drive lever 74 together with the interlocking rod 81 by the interlocking pin 80. (Refer to FIG. 9) Accordingly, the operation of the cylinder 54 causes the arms 40 to 43 to simultaneously reciprocate in the direction indicated by the arrow A in the figure to position the flow pallet PC in the left-right direction. it can.
[0022]
Further, as shown in FIGS. 4, 7 and 8, the fluid pressure cylinders 54 and 55 are connected to brackets 83 and 84 fixed to the rear lower surface of the frame top plate 10A, with bearings 85 and 86 and pivots, respectively. The coupling pins 87 and 88 are attached so as to be swingable.
At the left and right free ends of the positioning levers 50 to 53, contact bars 89, 90 for pushing the distribution pallet are fixed horizontally, and the bars 89, 90 are arranged before and after the distribution pallet PC is carried in the carrying direction. Positioning is performed. Further, swing levers 91 and 92 are fixed to the horizontal shafts 48 and 49, respectively.
[0023]
Further, left and right bearings 94 are attached to the lower surface of the upper horizontal member 10B of the previous example of the frame 10 via attachment plates 93, respectively, and a horizontal swing shaft 95 is supported by both bearings 94, 94. . Drive levers 96 and 97 are fixed to the swing shaft 95 and the horizontal shaft 49 at positions corresponding to the cylinder 55. And the front-end | tip of both the drive levers 96 and 97 is interlockingly connected by the interlocking rod 100 via the connection pins 98 and 99. FIG.
[0024]
A rod outer end hardware 101 of the lever driving fluid pressure cylinder 55 is pivotally connected to the tip of the rear drive lever 97 together with the interlocking rod 100 by the pin 99.
At the corresponding position of the horizontal shaft 48 and the swing shaft 95 on the front side, levers 102 and 103 are fixed in the same direction (backward) and in parallel, and the outer ends of both levers 102 and 103 are connected via connecting pins 104 and 105, respectively. The rod 106 is pivotally connected to form a parallelogram link.
[0025]
Accordingly, the operation of the fluid pressure cylinder 55 causes the contact bars 89 and 90 to swing back and forth as shown by arrows B in FIG. Positioning in the front-rear direction with respect to the on-site pallet PW can be performed.
In the above embodiment, when an article is loaded on the distribution pallet PC, the distribution pallet PC is first loaded into the on-site pallet PW by a forklift or the like, and the on-site pallet PW is input to the pallet conveyance path 1 of the apparatus of the present invention by the forklift. Is placed at a predetermined position on the conveyor 4 starting end. Then, the on-site pallet PW is detected by the photosensor 30, and the operation of the conveyor 4 is started by the detection signal, and is sent in a vertical feed.
[0026]
When the on-site pallet PW comes into contact with the positioning stopper / guide rail 18 at the end of the pallet conveying path 1, the photo sensor 33 detects the pallet PW, and the conveyor 4 is stopped. The contact rollers 63 and the contact bars 89, 90 are in contact with the front, rear, left and right side surfaces of the in-house pallet PW, and the distribution pallet PC is positioned with respect to the in-house pallet PW.
[0027]
When the positioning of the distribution pallet PC is completed, the roller conveyor 7 rises, and at the same time, the left or right (vertical direction in FIG. 1) roller conveyor 9 or 8 rises, and the rollers 7A and 9A or 8A are in the same direction (rollers 8A, 9A is rotationally driven in one direction in the left and right outer directions), and the in-field pallet PW is laterally fed from the roller conveyor 7 onto the adjacent roller conveyor 8 or 9. The in-place pallet PW is laterally fed to the empty article loading position LP.
[0028]
The on-site pallet PW is guided by the guide rail 16 or 17 and contacts the positioning stopper / guide rail 19 or 20 and at the same time, the photo conveyor 34 or 35 stops the roller conveyor 7, 8 or 9, and the roller conveyor 7, 8 or 9 9 descends and is placed on the conveyor 5 or 6 of the pallet conveying path 2 or 3.
Next, the articles are loaded into the distribution pallet PC by the robot provided on the robot mounting base 11.
[0029]
When the loading of the articles is completed, the operation of the conveyor 5 or 6 is started, and the distribution pallet PC loaded with the articles together with the on-site pallet PW is vertically fed toward the outlets of the pallet conveying paths 2 and 3. When the on-site pallet PW is detected by the photo sensor 31 or 32, the conveyor 5 or 6 is stopped by the detection signal. The on-site pallet PW stopped at the exit of the pallet conveyance path 2 or 3 is carried out to a predetermined place together with the distribution pallet PC by a forklift or the like.
[0030]
During the loading of articles on the distribution pallet PC, the on-site pallet PW loaded with another distribution pallet PC is carried into the pallet transport path 1 by the above-described operation, and the distribution pallet PC is moved to the on-site pallet PW by the positioning means 12. Positioning is performed, and the in-place pallet PW is laterally fed to the empty article loading position LP to prepare for article loading.
[0031]
Therefore, when the loading at one article loading position LP is completed, the article loading at the other article loading position LP can be subsequently performed, the operating rate of the robot can be increased, and the article loading efficiency can be improved.
The present invention is not limited to the above-described embodiment. For example, the vertical feed and the horizontal feed conveyors are other types of conveyors, the robot mounting frame is integrated with the conveyor frame, and the distribution pallet positioning is further performed. The design can be changed as appropriate, for example, by arranging the means at the article loading position.
[0032]
【The invention's effect】
The article loading device on the pallet according to the present invention is provided with a loading platform for the article loading robot located above the pallet conveyance path and in the vicinity of the article loading position, so the floor area for installing the robot is omitted. The occupied floor area of the device (equipment) can be reduced, the facility layout is easy, the space can be effectively used, and the work efficiency can be improved.
[0033]
According to the second aspect of the present invention, since the distribution pallet positioning means and the robot mounting base are provided on a common frame, the structure becomes simple and the equipment cost can be reduced.
[Brief description of the drawings]
FIG. 1 is an overall schematic plan view showing an embodiment of the present invention.
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a right side view of FIG. 1;
FIG. 4 is an overall plan view of a distribution pallet positioning means in the same embodiment.
FIG. 5 is a right side view of FIG. 4;
6 is a left side view of FIG. 4. FIG.
7 is a view taken along line AA in FIG.
8 is a view taken along line BB in FIG.
9 is a cross-sectional view taken along the line CC in FIG. 4;
10 is a cross-sectional view taken along line DD in FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Pallet conveyance path 2 Pallet conveyance path 3 Pallet conveyance path 4 Pallet vertical feed conveyor 5 Pallet vertical feed conveyor 6 Pallet vertical feed conveyor 7 Pallet horizontal feed roller conveyor 8 Pallet horizontal feed roller conveyor 9 Roller conveyor 10 for lateral feed of pallets Frame 11 Article loading robot mounting platform 12 Distribution pallet positioning means 13 Guide rail 14 Guide rail 15 Guide rail 16 Guide rail 17 Guide rail 18 Pallet stopper / guide rail 19 Pallet stopper / guide rail 20 Pallet Stopper and guide rail LP Goods loading position CP Distribution pallet PW In-house pallet

Claims (2)

The distribution pallet placed on the pallet in the field is supplied to the article loading position by the conveyor, and after the article is loaded on the distribution pallet, it is carried out by the conveyor, and the pallet positioning means in the field is provided on the side of the pallet conveying path. In addition, in the article loading apparatus to the pallet in which the distribution pallet positioning means is provided in the article loading position or the preceding stage,
An article loading device on a pallet, wherein a loading platform for an article loading robot is provided above the pallet conveyance path and in the vicinity of the article loading position. The apparatus for loading articles onto a pallet according to claim 1, wherein the distribution pallet positioning means and the robot mounting base are provided on a common frame.

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