JPH02117520A - Robot palletizer - Google Patents

Abstract

PURPOSE: To apply to low-speed and small-lot pallet loading work by adjusting the vertically and horizontally moving position of a clamper for clamping plural pieces of merchandise in a releasable manner with the positional detection of cargoes loaded on a pallet. CONSTITUTION: During palletizing work, first and second proximity detectors 62, 64 detect the relative positions of a clamper 20 to carton packaged article groups 12 loaded on a pallet 14. That is, the first proximity detector 62 and the second proximity detector 64 detect the vertical-direction relative position and the horizontal-direction relative position of the clamper 20, respectively, to be input to a controller 50. The controller 50 causes a horizontal arm 18 to be extended and moved up and down along a vertical supporting column 16, until these proximity detectors 62, 64 detect the loaded carton packaged article groups 12, and the clamper 20 to be moved in place. In this way, even a small quantity of low-speed merchandise is efficiently loaded on the pallet.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a palletizer, and more particularly to a robot palletizer that automatically loads a plurality of carton-packed products onto a pallet according to a preset pattern.

One of the final steps in many manufacturing processes involves loading the product into shipping containers onto a pallet. In high-speed production processes, manual pallet stacking is extremely labor-intensive, so various palletizers have been developed to automate this work.

Automating palletizing in high-speed mass production can save a lot of labor costs, so automation of palletizing is economically viable despite the relatively high cost and complex maintenance of palletizing machinery. It can be justified. However, for low-speed, low-volume production, the potential savings in labor costs are much smaller. Therefore, it is desired that the palletizer model be as simple in structure as possible and relatively low in price in order to provide significant economic benefits compared to manual palletization.

Conventional palletizers use electronic and mechanical encoders in combination with computerized control systems to track the pallet loading position of cartonized goods. Although this type of encoder is certainly effective, it significantly increases the cost of the palletizer and complicates maintenance techniques, making this type of palletizer economically unsuitable for low-speed, small-volume palletizing operations.

In view of the above circumstances, an object of the present invention is to provide a novel robot palletizer.

Another object of the present invention is to be economical in manufacturing and maintenance costs;
Another object of the present invention is to provide a robot palletizer that can be advantageously used for low-speed, small-amount pallet stacking work.

The present invention provides a robotic palletizer that automatically loads and arranges multiple items onto a pallet according to a preset pattern. A robotic palletizer according to the present invention includes a gripping device for releasably gripping one or more articles, the gripping device being capable of substantially independent vertical and horizontal movement. Contains a supporting device for supporting. Proximity sensing devices movable together with the gripper adjust the position and height of the gripper by detecting the presence or absence of accumulated goods on the pallet to load the goods onto the pallet.

Additionally, the present invention provides a telescoping horizontal arm for use in a robotic palletizer. The telescoping horizontal arm includes a rigid, hollow and elongate outer member having an axis. An elongated intermediate member has an axis substantially parallel to the axis of the outer member, is telescopically received within the outer member, and includes an elongated lower surface. The idler pulley is mounted within the intermediate member for rotation in a substantially vertical plane and extends partially below the lower surface of the intermediate member. An elongated inner member is telescopically received within the intermediate member, has an axis substantially parallel to the axis of the intermediate member, and engages the idler pulley.

By displacing the inner member relative to the intermediate member in a direction parallel to each axis, when the idler pulley is rotated, the idler pulley displaces the intermediate member and the inner member relative to the outer member. A displacement device is provided.

These and other features of the invention are set out in the claims. The various advantages of the present invention will now be described in detail with reference to the accompanying drawings.

Note that the same numbers in the drawings indicate the same parts.

The robotic palletizer (10) shown in the figures is one embodiment of the invention. The function of the robot palletizer (10) is to receive a plurality of shaped articles, such as shipping containers, cases or cartons (12), and then stack cartons (12) onto a shipping pallet (14) according to a preset pattern. It loads automatically.

The illustrated robotic palletizer (10) has vertical support columns (
16), ie, the Z'' axis, and a telescopic horizontal arm device (18), ie, the "°Y" axis, mounted so as to be movable up and down along the support column (16). A gripping device (20) releasably grips at least one, preferably a plurality of cartons (12), the gripping device (20) being connected to the telescoping end (22) of the horizontal arm device (18). )
It is attached to the top. Therefore, the gripping device (20) has a support column (16) and a horizontal arm assembly ffi (18) so as to be able to move independently in both vertical and horizontal directions.
supported above. The horizontal arm device (18) preferably comprises a telescoping horizontal arm as shown (patent filed for patent on September 12, 1988 under the title ``Double telescoping arm suitable for robot palletizers etc.''). There is.

The telescoping horizontal arm (18) contains an elongated outer member or box-shaped frame (19) having a substantially rectangular cross section and having an axis. m-long intermediate member (
23) is telescopically received within the outer member (19) and aligned substantially parallel to the axis of the outer member (19).

Furthermore, the telescoping horizontal arm (18) is connected to the intermediate member (2).
3) an elongated inner member (21) telescopically disposed therein;
Contains. The axis of the inner member (21) is parallel to the intermediate member (2
3) and the outer member (19).

The idler pulley (29) is mounted inside the intermediate member (23) for rotation in a substantially vertical plane about the axle (31). The axle (31) is connected to the intermediate member (2
3) is oriented substantially perpendicularly to the plane formed by the side wall (27) of. The idle pulley (29) is
A portion thereof is arranged to partially extend below the lower surface of the intermediate member (23) and contact the bottom inner surface (17) of the outer member (19). Also, the idle pulley (2
9) extends into contact with the lower surface (15) of the inner member (21) at a contact point substantially opposite to the contact point between the idler pulley (29) and the outer member (19).

The axle (31) has a pair of opposing vertical slots formed in the side wall (27) of the intermediate member (23) to allow limited up and down movement of the idler pulley (29) relative to the intermediate member (23). has been involved.

Further, the lower surface (15) of the inner member (21) is connected to the intermediate member (23).
) is supported on a support roller (33) mounted on the front end of the motor. As a result, the inner member (21)
3), it is supported by an idle pulley (29) and a support roller (23) so that it can expand and contract in the axial direction. The expansion and contraction movement of the inner member relative to the intermediate member (23) is performed by an electric friction wheel (35). The friction wheel (
35) is attached to the upper end of the intermediate member (23),
The upper surface (13) of the inner member (21) is arranged to engage with and come into pressure contact with the upper surface (13) of the inner member (21). A pair of brackets (31) include a friction wheel (35) and an associated drive motor 1 (36).
These brackets (37) extend along opposite sides of the intermediate member (23) and are attached to the intermediate member (23) so as to be movable up and down. .

Each bracket (37) is bolted to the intermediate member (23) with a nut-like tab extending through the bracket (31) and projecting outwardly from each side of the intermediate member (23). is inserted into. By tightening or loosening these bolts, the vertical position of the electric friction wheel (35) relative to the intermediate member (23) can be adjusted. Such an adjustment device allows the intermediate member (23) and the inner member (21) to be set substantially parallel to the outer member (19), respectively.

The intermediate member (23) is supported for transverse translational movement relative to the outer member (19). Part of this support device is a roller device (39) attached to the rear of the intermediate member (23), which roller device (39) is connected to the outer member (1).
9) engages with the upper inner wall (41). Intermediate member (23)
The remainder is supported by the idler pulley (29). The supporting force acting on the front surface of the intermediate member (23) is above the idler pulley (29), that is, the idler pulley (
29) and the lower inner wall of the outer member (19). The idle pulley (2) is connected to the intermediate member (23).
9) is not fixed in the vertical direction, the idler pulley (29) is made to float, and the upward contact force from the lower wall of the outer member (19) is applied to the lower surface of the inner member (21) by the idler pulley (29). (29). The contact force is then transmitted to the intermediate member (23) through the inner member (21), the AM wheel (35), the bolt group and the nut-shaped tab. Therefore, the tension between the friction wheel (35) and the inner member (21) is equal to the tension between the friction wheel (35) and the idler pulley (29).
) is maintained properly even if it wears out during use.

Next, the operation will be explained. When the i-friction wheel (35) is rotated, the inner member (21) moves laterally in translation relative to the intermediate member (23). The inner member (21) is connected to the intermediate member (23
) when moving in a particular direction with respect to the idle pulley (
29) rotates. As the idle pulley (29) rotates, the intermediate member (23) moves in the same direction relative to the outer member (19). During the telescopic movement of the horizontal arm (18), the friction wheel (35) is fixed relative to the intermediate member (23). Therefore, the intermediate member (23) is the outer member (19).
), the inner member (21) moves relative to the intermediate member (23). Inner member (2
The moving speed of 1) is approximately twice that of the intermediate member (23), and the reason for this is that the point of contact with the idler pulley (29), that is, on the axle of the idler pulley (29), and the idler pulley (29) This is because it is the outer periphery of

A guarantee device is provided to ensure that the velocity of the inner member (21) relative to the intermediate member (23) is equal to the velocity of the intermediate member (21) relative to the outer member (19).
23). To achieve this purpose, a pair of sprockets (4
4) is mounted on the opposite side of the idler pulley (29) so that it can rotate together with the idler pulley (29). The first chain (46), whose one end is attached to the rear of the inner member (21), connects to one sprocket (44).
is wrapped around. The other end of the first chain (46) is attached to a location behind the idler pulley (29) inside the outer member (19). One end of the inner member (2
A second chain (48) attached to the front end of 1) is wound around the other sprocket (44). Second chain (
48) The other end portion is attached to a location in front of the idler pulley (29) inside the outer member (19). During the telescopic movement of the horizontal arm (18), both the first and second chains (46), (48) cause the lateral translational movement of the inner member (21) relative to the outer member (19) to (19)
ensuring substantially twice the translational movement of the intermediate member (23) relative to the intermediate member (23).

The horizontal arm device (18) is supported so as to be movable up and down along the vertical support column (16) in response to a carriage (24) that is movable up and down along the vertical support column (16).

The chain (25) (Fig. 2) has one end attached to the carriage (
24) and the other end to a counterweight in a vertical support column (16). More chains (25)
is wrapped around a sprocket (28) located at the top of the vertical support column (16). The sprocket (28)
When driven by the electric II (30), the chain (2
5) is driven in one direction, so the carriage (24)
is raised and lowered along the vertical support column (16). An adjustable limit switch (32) is provided and the carriage (2)
4) is configured to detect when it reaches a preset lower limit position with respect to the vertical support column (16).

One end (34) of the horizontal arm arrangement (18) is always fixed horizontally to the vertical support column (16). The telescoping end (22) can be moved forward and backward relative to the vertical support column (16) by driving the electric motor 1 (36). The gripping device (20) includes an outer hand plate (38) and an inner hand plate (4o) which is displaceable and parallel to the outer hand plate (38). As a result, the gripping bag f& (20) grabs a series of carton-wrapped goods (12) and moves them onto the pallet (14), or moves the carton-wrapped goods (12) onto the pallet (14).
Can be released above. Adjustable limit switch (
42) (FIG. 2) is provided and configured to detect when the horizontal arm device (18) is extended to a predetermined limit position.

In addition, the robot palletizer (10) is connected to the supply conveyor (44).
), a pallet dispenser (46) for storing the empty pallet group (14), and an empty pallet group (14)
and a pallet conveyor (48) for transporting the pallet from the dispenser (46) to the loading position shown in FIG.

In order to control the operation of the palletizer (10), a control panel with suitable control circuitry is provided.

The supply conveyor (44) serves to weigh, arrange, and stack the carton-packed products (12) before loading onto the pallet (top). The supply conveyor (44) conveys carton-packed products from an upstream conveyor (not shown) such as a gravity conveyor.
12). The supply conveyor (44) has a low speed section (5
2) and a high-speed section (54) provided downstream of the low-speed section (52).
). Utilizing the speed difference between the high-speed section (54) and the low-speed section (52), the carton-packed product group (12) first transported to the low-speed section (52) is then transferred to the high-speed section (54). The distance will be maintained automatically. When you reach the end of the high speed section (54), you will see a group of carton-packed products (12).
is stopped and accumulated. The first optical detection device (56) detects the passage of each carton packaged product (12) and counts each time each carton packaged product (12) enters the high speed section (54) of the supply conveyor (44). This information is input to the control circuit. The carton product group (12) is a photodetector (58
) (which also detects the passage of each carton packaged product (12)) to the accumulation section of the supply conveyor (44), this information is also input to the control circuit, so that
The carton-packed product group (12) in the stacking section is confirmed for each loaded lot.

The supply conveyor (44) carries the carton packaged product group (12)
are accumulated for each lot, and the number of lot members is pallets (
14) When stacked on top, each stage is configured to form one row. Therefore, carton packaged product group (12)
are integrated in parallel as shown in FIG. Alternatively, the carton turning device (60) can be
54), and by operating the control circuit, the group of carton-packed products (12) can be stacked with their ends abutting each other.

The position of the carton packaged product group (12) and the pallet (14)
) is detected by a proximity detection device. The proximity detection device detects the presence or absence of the carton-packed product group (12) loaded on the pallet (14) and uses it as a gripping device during the pallet loading operation! (12) Position control is performed. For example, it is possible to use proximity detection devices (62), (64) mounted on a support (66) that projects horizontally from the gripping device (12).

In the illustrated embodiment, both the first and second proximity detection devices (62
), (64) each preferably contains an infrared detection device comprising a self-contained infrared light source and an infrared detection device. The arrangement of the horizontal supports (66) ensures that when the gripping device (20) is moved into position on the pallet (14)
4) It is set so as to extend near and parallel to the group of carton-packed products (12) loaded thereon. The support (66) is positioned approximately 25.40 tm (approximately 1") above the bottom surface of the carton packaged goods (12) being moved by the gripping device (20).

The first proximity detection device (62) is arranged substantially at the outermost end of the support (66) and is directed toward the side of the carton-packed products (12) loaded on the pallet (14). There is. The second proximity detection device (64) has an external hand boot (
A group of carton-packed products (38) protruding slightly outward and also loaded on the pallet (14)
12).

The first and second proximity detection devices (62
), (64) operate in conjunction with a control device such as a suitable control circuit centered around a microprocessor built into the control panel (50). These proximity detection devices 1 (62
) and (64) are for detecting the relative position of the gripping device (20) with respect to the group of carton-packed products (12) already loaded on the pallet (14). Specifically, the first proximity detection device (62) generates a first control signal indicating the vertical position of the gripping device (20). Therefore, the first proximity detection device (62) detects that the height of the gripping device (20) is the same as the group of carton-packed products (12) already loaded on the pallet and the group of carton-packed products being gripped by the gripping device (20). (12) Detected when sufficient vertical space is provided.

Similarly, the second proximity detection device (64) is connected to the gripping device (20
) generates a second control signal indicating the horizontal position of the second control signal. Therefore,
The second proximity detection device (64) is configured such that the horizontal extension distance of the horizontal arm (18)
In step 2), it is detected when the outer edge of the group of carton packaged products (12) being gripped is sufficient to be arranged along the inner edge of the top row.

The control circuit built into the control panel (50) controls the palletizer (
10) is controlled by the following signals. That is (a)
(b) various control signals created and preset by the user; (b) control signals from the aforementioned photodetection devices (56) (58) and proximity detection devices (62), (64);
C) limit switches (32) and (42). A preferred control system is a preprogrammed commercially available microprocessor-based circuit, such as the Allen Bradley Compa.
NY) manufactured SLC150 type PROTSA (part number 174
5-LP 153 ). The control device is programmed with predetermined operating data, such as the number of carton groups (12) per row, the orientation of each carton (12) in each row, and the spacing between adjacent cartons (12) in each row. (according to each user's request) the number of cartons (12) when fully loaded on the pallet (14). This predetermined operation data and control signal information are processed by a computer software program (the source code output of the program is shown in the attached software appendix). Therefore, the robot palletizer (10) is controlled in accordance with the execution of computer program instructions using predetermined operation data input by the user and control signal information as variable parameters. The carton packaged product group (12) is then conveyed to the low speed section (52) of the supply conveyor (44). When the number of carton-packed products (12) is large enough to form one row on the pallet (14), the gripping device (2)
0) closes and grips the assembled carton-packed product group (12).

When partially stacking on a pallet (14) as shown in FIG. Position on the pallet (14). The horizontal arm (18) is then extended until the limit switch (42) is activated.

Subsequently, when the vertical support column (16) is lowered to the position of the lower limit switch (32), the gripping device (20) releases the carton packaged goods (12) onto the pallet.

After the first row of carton-packed products (12) has been loaded onto the pallet (14) in this manner, the gripping device (20) is retreated to its original position above the supply conveyor (44). That is, the vertical support column (16) is raised according to the timer signal from the control circuit, and then the limit switch (
Retract the horizontal arm (18) until 42) is activated,
Subsequently, the vertical support column (16) is lowered until the limit switch (32) is activated.

When the second row of carton-packed products (12) is accumulated, the vertical support column (16) is raised for a predetermined time, and then the second photodetector (64) detects the inside of the loaded carton-packed products (12). Extend the horizontal arm (18) until the edge is detected. The vertical support column (16) is then lowered again until the limit switch (32) is activated. Finally, release the carton-packed product group (12) in the second row,
Place it on the pallet (14) so that it is in close contact with the first row. By repeating these operating procedures, loading of the first stage of carton-packed products (12) onto the pallet (14) is completed.

On the pallet (14) are the second row of carton-packed products (
12), first the first proximity detection device (6) is loaded.
2) until the horizontal arm (
18) is raised along the vertical support column (16).

After securing the required space above the loaded first stage, move the horizontal arm (1) until the limit switch (42) is activated.
8) and then lowering the vertical support arm (16) by a predetermined distance (this distance can be easily adjusted by adjusting a timer in the control circuit), the first row of the second stage is It is formed. After positioning and loading the first row of the second stage in this way, the second proximity detection device (
64) is the second stage loaded carton packaged product group (12
) is also successively formed by extending the horizontal arm (18) until the inner edge of the square is detected. The operation is repeated in this manner to form the required stacks on the pallet (14). Once the pallet (14) is fully loaded, it is removed from the pallet conveyor (48) and a new pallet is placed in the loading position.

If an interlocking stacking pattern is to be formed on the pallet (14), the control circuit activates the case turning device (601) by rotating the cartons (12) in alternating rows before stacking them. , palette (1
4) Form the desired interlock stowage pattern on top.

The robotic palletizer (10) of the present invention therefore has a number of significant commercial advantages. The position of each row of carton-packed products (12) on the pallet (14) is determined by the lit switch (42) or the first and second proximity detection devices (62).
), (64).

It is therefore unnecessary to monitor the actual position of the gripping device (20) during each loading cycle. This eliminates the need for expensive and complex encoding techniques (and associated hardware) to continuously detect the position of the gripping device (20). The overall economy and usefulness of the robot palletizer (10) of the present invention are due to these features. Furthermore, the robot palletizer (10) has a sturdy structure, so it can handle relatively heavy cartons, and it has a long useful life and is easy to maintain.

It will be appreciated by those skilled in the art that what has been described above are specific embodiments of the invention and that many changes and modifications can be made without departing from the spirit and scope of the invention.

[Brief explanation of the drawing]

FIG. 1 is a color-isolated box showing a robot palletizer of the present invention, and FIG. 2 is a cross-sectional view of the robot palletizer taken along line 2--2 in FIG. 10... Robot palletizer 12... Carton packaged product 16... Standing support column 18... Horizontal arm device 20... Gripping device 22... Telescopic end portion 24... Carriage table 25 ...Chain 2t...Counterweight 28...Subrocket

Claims (1)

[Scope of Claims] (1) A robotic palletizer configured to automatically load a plurality of objects onto a pallet in a predetermined pattern, the robot palletizer being capable of releasing one or more items. a gripping device for gripping; a support device for supporting the gripping device so that it can move independently in a substantially vertical direction and a substantially horizontal direction; and a proximity detection capable of cooperating with the gripping device. A robot palletizer comprising: a proximity detection device that detects the presence or absence of a stacked object on a pallet and adjusts the position of the gripping device to load the object onto the pallet. 2. The support device includes a substantially vertical column and a substantially horizontal arm device supported on the vertical column and movable up and down along the vertical column. robot palletizer. (3) The horizontal arm device includes a telescoping device, and the telescoping device has the gripping device attached to an end of the horizontal arm device opposite to the vertical column. The robot palletizer according to claim 2. (4) The robot palletizer according to claim 1, wherein the proximity detection device includes first and second proximity detection devices. (5) The robot palletizer according to claim 4, wherein the first and second proximity detection devices each include a photodetection device. (6) A robot palletizer that automatically loads a plurality of objects onto a pallet, comprising a vertical support column, and a horizontal support column supported on the vertical support column and movable up and down along the vertical support column. an arm device; a gripping device attached to the horizontal arm device so as to be movable in the horizontal direction with respect to the vertical support column; and a device that stores preset operation data and controls the operation of the robot palletizer. a first proximity detection device operable to cooperate with the gripping device and generating a first control signal indicative of a vertical position of the gripping device; a second proximity detection device that generates a second control signal indicative of the horizontal position of the device; and a second proximity detection device that moves the horizontal arm device up and down along the vertical support column in response to the first control signal and the actuation data. a first device that moves the gripping device horizontally and sets it at a predetermined horizontal position in response to the second control signal and the actuation data; and a second device for doing. 7. The horizontal arm arrangement includes a telescoping portion, and the gripping device is mounted on an end of the horizontal arm arrangement opposite the vertical support column. 6. The robot palletizer described in 6. (8) The first device includes a first electric motor that operates to raise and lower the horizontal arm device with respect to the vertical support column, and the second device extends and retracts the telescopic horizontal arm device. 8. The robot palletizer according to claim 7, further comprising a second electric motor for causing the robot to move. (9) The robot palletizer according to claim 6, wherein the first and second proximity detection devices both include a photodetection device. (10) a robotic palletizer comprising an elongated support extending outwardly from the gripping device substantially parallel to the horizontal arm device;
10. A robotic palletizer according to claim 9, characterized in that both proximity detection devices are mounted on said elongated support. (11) The first proximity detection device is mounted horizontally on the elongated support, and the vertical stopping distance is between the first proximity detection device and the object being gripped by the gripping device. The second proximity detection device is set to be approximately equal to the vertical gap with the lowermost edge, and the second proximity detection device is configured to close the gripping device by a distance approximately equal to the horizontal stopping distance of the gripping device. protrudes from the outermost edge of the case, and the stopping distance in the vertical and horizontal directions can be adjusted by changing the time delay via the control device to obtain an optimal gap and load the case. 11. Robotic palletizer according to claim 10, characterized in that it is easily adjusted to allow the robot to move. (12) the telescoping device has an elongated outer member having an axis; and an axis substantially parallel to the axis of the outer member and is telescopingly received within the outer member. an elongated intermediate member having an elongated base and an elongated bottom surface; and an idler wheel mounted within the intermediate member for rotation in a substantially perpendicular plane, the idler wheel having a portion below the bottom surface. an idler wheel extending into contact with the outer member; an idler wheel telescopically disposed within the intermediate member and having an axis substantially parallel to an axis of the intermediate member; an elongated inner member engageable with a vehicle; a device for displacing the inner member relative to the intermediate member in a direction substantially parallel to an axis of the inner member; 4. The robot palletizer according to claim 3, wherein the idler wheel includes a displacement device that displaces the intermediate member and the inner member relative to the outer member when the wheel is rotated. . (13) The displacement device has a motor pulley fixed to the intermediate member, and when the motor pulley is engaged with the inner member, the motor pulley is rotated in one direction. 12. The inner member extends relative to the intermediate member when the motor pulley is rotated, but the inner member retracts relative to the intermediate member when the motor pulley is rotated in the opposite direction. The robot palletizer described. (14) The robot pallet according to claim 13, wherein the inner member has an upper surface that serves as a follower wheel of the motor pulley, and a lower surface that serves as a master wheel of the idler wheel. Tyza. (15) Since the idler wheel is attached to the intermediate member so as to be movable up and down, the contact force between the inner member and the idler wheel is transmitted to the outer member via the idler wheel. The robot palletizer according to claim 14, characterized in that: 16. The robotic palletizer of claim 15, wherein the telescoping horizontal arm includes a tensioning device for adjusting the contact force between the motor pulley and the inner member. (17) The telescopic horizontal arm is
comprising a device for ensuring that the velocity of the inner member relative to the intermediate member is substantially equal to the velocity of the intermediate member relative to the outer member during extension and retraction of the telescoping horizontal arm; The robot palletizer according to claim 12. (18) The guarantee device has a pair of sprockets rotatable together with the idler wheel, and is wound around one of the sprockets and has one end connected to the vicinity of one end of the outer member; a first chain having one end connected to the inner member; a first chain wound around the other sprocket and having one end connected near the opposite end of the outer member; Claim 1, further comprising: a second chain having an end connected to the inner member.
7. The robot palletizer described in 7.