JPH06329250A - Work positioning device for robot palletizer - Google Patents

Abstract

PURPOSE:To provide a work positioning device with simple structure in a work palletizing origin position for a robot palletizer. CONSTITUTION:A work positioning device for robot palletizer is comprised of the first conveyor 1 for taking in a work W, a guide member 2 consisting of a rotational part 2a for rotating the work W, a guide part 2c for guiding the work W parallelly and straightly, and a stopper part 2b for stopping the work W in the predetermined position, on one side face in the conveyor 1 conveying direction A, and the second conveyor 5 for bringing the work W into contact with the guide part 2c.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work positioning device for an industrial robot palletizer.

[0002]

2. Description of the Related Art For example, a general product packing line in a manufacturing factory or the like first creates a cardboard box for storing products and then, in a "box-making" step of sealing the lower surface of the box, packing the products in the cardboard box. From the series of flow steps of the "case packing" process of inserting, the "sealing" process of sealing the upper side of this cardboard box and the "palletizing work" process of loading this cardboard box (work) on a pallet etc. for warehouse or shipping Made of

For this type of palletizing work, industrial robots such as so-called robot palletizers are widely used, and high positioning accuracy is required for these, so that
For example, a work sent from a conveying means such as a conveyor needs a means for accurately positioning the work in a constant carry-in direction in order to hold the work at the start position of the palletizing operation.

Therefore, in the case of this type of packing line, it may be necessary to change the direction in which the carrying-in direction of the sealed work is regulated. For this purpose, a "carton direction changing device" has been proposed and disclosed in, for example, Japanese Utility Model Laid-Open No. 61-11619.

In this proposed example, a direction changing device of this kind is provided in the middle of the "sealing" / "palletizing work" step to change the direction, and then the work positioning device is used to perform accurate positioning before the work is performed by the palletizer. Was gripped and loaded on the pallet.

[0006]

However, in the above-mentioned conventional proposals, when the robot palletizer of this type is used, the work rotating mechanism and the positioning mechanism as described above are provided at the palletizing origin position of the work. Since it was necessary, there was a tendency for the cost to increase. The present invention has been made in view of the above circumstances, and has a simple structure for performing work rotation and work positioning for keeping the work transfer direction constant, and performing these operations with a single device. The purpose is to provide a device that can.

[0007]

Therefore, in the present invention, a work positioning device for a robot palletizer of this type is provided with first conveyor means for carrying in a work,
A rotating part for changing the directionality of the work on one side of the conveying direction of the conveyor means, a guide part for regulating the lateral position of the transfer of the work, and a stopping part for stopping the work at a predetermined position. The object is achieved by comprising a position control means including a stopper portion and a second conveyor means for bringing the work into contact with the guide portion.

[0008]

With the above-described structure of the present invention, the direction / positioning of the work for valletizing can be performed easily and reliably at low cost without requiring a complicated mechanism or control device.

[0009]

EXAMPLES The present invention will be described below based on examples. FIG. 1 shows a schematic top view (a) and side view (b) of an embodiment of a work positioning apparatus according to the present invention.

(Structure) 1 indicates a work (not shown) by an arrow A.
1 is a first motor conveyor consisting of a plurality of conveyor rollers for carrying in a direction. Reference numeral 2 denotes a guide member for positioning the work (work position control), which is formed of, for example, a round bar. The other end of the guide member 2 serves as a stopper portion 2b in a direction parallel to the conveyor roller in order to change the direction and direct the conveyor to the regulated posture, and to stop the work conveyed in this posture. It is bent, and the intermediate part (guide part) between the rotating part / stopper parts 2a / 2b at these both ends
2c is fixed to the end portions of the respective support rods 3 attached to a plurality of guide fixing bases 4 arranged on the conveyor frame in a direction parallel to the direction of arrow A.

The reference numeral 5 draws the work forward along the guide member 2 side in the traveling direction A of the first motor conveyor 1, so that the side opposite to the mounting portion of the guide member 2 is slightly inclined in the forward direction. A second motor conveyor composed of a plurality of conveyor rollers arranged parallel to each other and having a very simple structure as a whole.

(Operation) FIG. 2 shows a work transfer operation sequence (a) in the work positioning apparatus of FIG.
3A and 3B show respective upper surfaces for explaining an example of (b) and (c);
In the figure, each work W sent from the direction of arrow A
Is conveyed on the first motor conveyor 1 in the direction of arrow B, which is the same direction as arrow A, and when the front end of the work W comes into contact with the guide portion 2a of the guide member 2, the contact portion is stopped, Since the other end is continuously fed by the conveyor 1,
As shown in (b), the work W is rotated around the guide portion 2a to change its directionality and is regulated in a predetermined direction.

When the rotation of the workpiece is completed, the loaded workpiece W is brought into contact with the linear guide portion 2c of the guide member 2 by the second motor conveyor 5 composed of rollers inclined in one side surface direction of the conveyor frame. While being transported along this, toward the stopper portion 2b at the other end,
(C) As shown in the figure, it is positioned by abutting against the stopper portion 2b in a state in which the rotational direction is regulated at a predetermined predetermined palletizing origin position in the lateral direction and the conveying direction.

(Other Embodiments) The structures of the guide member 2, the first / second motor conveyor 1/5, etc. in the above embodiments are not limited to the illustrated examples, but may be other modifications. Of course, it doesn't matter. Further, the motor conveyors 1, 5 and the like as the transfer means are not limited to the motor driven type, and may be a non-powered gravity type utilizing the weight of the work.

[0015]

As described above, according to the present invention, the positioning of the palletizing origin of the work in the robot palletizer of this type can be accurately and surely performed by an extremely simple means.

[Brief description of drawings]

FIG. 1 is a schematic top view and side view of an embodiment.

FIG. 2 is a top view for explaining the work transfer operation sequence in FIG.

[Explanation of symbols]

 1/5 First / second motor conveyor 2 Guide member (position control means) 2a Rotating part 2b Stopper part 2c Guide part W Work

Claims (1)

[Claims] 1. A first conveyor means for carrying in a work, a rotating part for changing the directionality of the work to one side surface of the conveyor means in the carrying direction, and a lateral position for carrying the work. A position control means composed of a guide portion for setting, a stopper portion for stopping the work at a predetermined position, and a second conveyor means for bringing the work into contact with the guide portion. Work positioning device for robot palletizer.