JPH07308880A - Automatic palletizing method by means of robot - Google Patents

Abstract

PURPOSE:To rapidly increase the treating capacity of palletizing without increasing the operational speed of a robot by simultaneously treating stacking articles with a plurality of holding claws. CONSTITUTION:Two stacking articles W, W on a stacking-article feeding conveyor 15 are simultaneously held by two pairs of holding claws 12a, 12b, and are moved on a pallet 2 in a specific position p1, and also the articles W, W are turned toward a prescribed direction. Then, the two pairs of holding claws 12a, 12b are simultaneously opened, so that the two stacking articles W, W are dropped on the pallet 2 in specific positions s10, s11. Successively, in the same way, next two stacking articles W, W are dropped on the pallet 2 in specific positions s12, s13, and further similarly subsequent two articles W, W are dropped on the pallet 2 in specific positions s14, s15. Thus, six stacking articles W are regularly arranged on the pallet 2 in the specific position p1. A plurality of layers of these stacking articles W are stacked on the pallet 2 in an arrangement condition of 7 to 10 pieces for each layer.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot automatic palletizing method which is carried out when stacking rectangular stacks on a pallet.

[0002]

2. Description of the Related Art It has been practiced in the past to stack square-shaped stacks on a pallet by a robot.

[0003]

In the conventional palletizing method, since the operating speed of the robot is limited, its processing capacity is naturally limited. In view of such circumstances, an object of the present invention is to dramatically increase the palletizing processing capacity without increasing the operating speed of the robot.

[0004]

In order to achieve the above object, in the automatic palletizing method by the robot of the present invention, when stacking rectangular stacks on a pallet, the supply conveyor of the stacks has a horizontally long part. A robot that performs a load operation by sending in series is provided with two pairs of grip claws for gripping a load through a rotatable receiving plate at the end of an arm of a fixed length. 4 pieces of 1 to 1 by simultaneously grasping two of the cargos of the above and releasing the grasping claws on the pallet at the same time or separately.
It is characterized in that a stack of a plurality of stages is performed for 0 array states.

[0005]

The two pairs of gripping claws simultaneously grip, move and stack a plurality of stacks, so that even if the operating speed of the robot is the same as that of the conventional robot, the pair of gripping claws can handle each load individually. Compared with the conventional case of processing, the palletizing processing capacity is dramatically increased.

Most of the robots are existing robots, which facilitates the implementation of the present invention.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A palletizing apparatus used for carrying out the method of the present invention is, for example, as shown in FIGS. 1 and 2, and is specifically as follows.

That is, 1 is a pallet stocker for storing the pallets 2 in a stacked state, 3 is a pallet carry-in conveyor, and 4 is pallet positioning for stopping the pallet 2 carried by the conveyor 3 at a predetermined position. A device 5 is a payout station for carrying out the pallets 2 after the rectangular stacks w are stacked to another place.

Reference numeral 6 denotes a robot which is operated by a computer control device (not shown), and has a vertical pivot shaft 7 provided at the tip of a robot arm 6a. The robot 6 may be the same as the conventional product except for a part of the computer control device and a hand described later.

Reference numeral 8 denotes a hand fixed to the lower end of the vertical turning shaft 7, and as shown in FIG. 2, a receiving plate 9 fixed to the vertical turning shaft 7 and two pairs of gripping claws 12a and 12b mounted on the lower surface thereof. And so on. Here, the specific structure of the pair of gripping claws 9, 9 and its drive mechanism is shown. As shown in FIG. 2, it is swingably held by a plurality of bearings 10 fixed to each side of the receiving plate 8a. A pair of grip claws 12 via the two support shafts 11 and 11.
a and 12b are swingably mounted and one gripping claw 12
A pneumatic cylinder device 13 for swinging and driving a is provided, and the operation of the gripping claw 12a is performed by the other gripping claw 12b.
A link member 14 for transmitting the signal to the vehicle is provided.

Reference numeral 15 is a supply conveyor for the stack w, which is provided with a load positioning device 15a at the end of the transfer.

When stacking rectangular stacks w with such a palletizing device, the stacks are operated in the following procedure, one example of which will be described below.

By operating the pallet carry-in conveyor 3, the pallet 2 at the lowest position of the pallet stocker 1 is moved in the direction of arrow f.
At the same time, the pallet positioning device 4 stops the pallet 2 at the specific position p1.

On the other hand, the product stack conveyor 15 supplies the product product w in the direction of the arrow f2, and the two product products w are provided at the end of the conveyance.
To stand by in a serial state along the horizontally long portion.

When the pallet 2 reaches the specific position p1, the robot arm 6a is actuated so that the two pairs of gripping claws 12a and 12b, 12a and 12b are waiting on the stack supply conveyor 15. The horizontally long parts of the stacks w and w are grasped at the same time and moved to the pallet 2 at the specific position p1.

Then, the vertical swivel shaft 7 is swung to orient the product w in a desired direction, and then the pair of gripping claws 12a and 12b are opened to place one product w on the pallet 2 at the specific position p1. It is dropped to a specific position s1 (see FIG. 3A). Subsequently, the hand 8 is moved to another specific position s2 on the pallet 2 and the vertical swivel shaft 2 is swung as necessary to orient the stack w again in a desired direction. The grasping claws 12a and 12b are opened, and the second stack w is dropped to the specific position s2 on the pallet 2.

On the other hand, the stacked body supply conveyor 15 is made to supply the next two packages w, w to the end of its conveyance, and is made to stand by in a serial state as described above.

Then, again, the robot arm 6a and the hand 8 are operated in the same manner as described above, that is, the two stacks w and w are simultaneously moved onto the pallet 2 and one of them is moved to each gripping claw 12a. By the operation of 12b or the like, the pallets 2 are individually dropped at specific positions s3 and s4. Thus, the four stacks w are arranged in order on the pallet 2 at the specific position p1.

Thereafter, by operating the respective parts in accordance with the above, a new stack w is stacked on the stack w already stacked on the pallet 2 in the arrangement as shown in FIG. 3 (b). Try to put it on. By doing so, the action of connecting the upper and lower stacked bodies w with each other by the cargo w itself occurs, and thus the collapse of the cargo can be prevented.

Thereafter, the above-described operation is repeated as many times as desired to carry out stacking or stacking of a plurality of stages, and the stacking stage of the stack w may be odd or even. Good.

Next, an example of the procedure for stacking as shown in FIG. 4 will be described below.

First, the two stacks claws 12a and 12b are moved to the pallet 2 at the specific position p1 while simultaneously grasping the horizontally long portions of the two stacks w and w supplied by the stack supply conveyor 15. After the vertical swivel shaft 7 is swung to orient the two stacked bodies w, w in a desired direction, two pairs of grip claws 12a,
12b are simultaneously opened, and these stacked bodies w, w are simultaneously dropped in series on the pallet 2 at the specific positions s5, s6 shown in FIG.

Then, again two pairs of gripping claws 12a and 12b are provided.
To grasp the two stacks w, w on the stack supply conveyor 15, move them to the pallet 2, and move the vertical swing shaft 7
After turning the stacks w and w in the required direction, the pair of gripping claws 12a and 12b are opened, one stack w is dropped to the specific position s7, and then the other pair of grips is held. Nail 12
After the a and 12b are moved to other specific positions on the pallet 2 and the vertical turning shaft 7 is turned as necessary, the stack w is directed in a desired direction, and then the gripping claws 12a and 12b.
b is opened and the stack w is dropped to the specific position s8.

Then, a pair of gripping claws 12a and 12b is provided.
After grasping one stack w on the stack supply conveyor 15 and moving it to the pallet 2 and directing it in the required direction,
The grip claws 12a and 12b are opened and dropped to a specific position s9 on the pallet 2. Thus, as shown in FIG. 4A, the five stacks w are arranged in order on the pallet 2 at the specific position p1.

After this, by operating each part in accordance with the above, a new stack w is placed on the stack w already stacked on the pallet 2, that is, an arrangement as shown in FIG. The array of FIG. 4A is stacked by rotating the array about the vertical axis by 180 degrees.

Next, an example of the procedure of loading as shown in FIG. 5 will be described below.

The two stacks of gripping claws 12a, 12b simultaneously grasp the two stacks w, w on the stack supply conveyor 15 and move them to the pallet 2 at the specific position p1 and stacks w, w.
The gripping claws 12a, 12b after pointing the desired direction.
Are simultaneously released to drop the two stacks w, w at specific positions s10, s11 on the pallet 2, and then the respective parts are similarly operated to move the next two stacks w, w to the pallet 2
In the same manner, the following two product bodies w, w are added to the specific positions s12, s13 on the specific positions s14, s14,
Make it fall to s15. Thus, the specific position p
As shown in FIG. 5A, the six stacked bodies w are arranged on the pallet 2 of No. 1 in an orderly manner. Even after this, the two pairs of gripping claws 12a and 12b are operated in accordance with the above procedure, and the arrangement as shown in FIG.
That is, the loads are loaded in the arrangement in which the arrangement of FIG.

Furthermore, when stacking the stacks w on the pallet 2 in a plurality of stacks in a state where one stack is arranged in the number of 7 to 10, it can be carried out in accordance with the above-mentioned example. The square stack is a box,
It does not matter whether it is a bag or not, and the gripping claws 12a, 1
2b uses an L-shaped fork in addition to the illustrated example.

In this embodiment, two pairs of gripping claws 12a, 12a are provided.
Since b holds the two stacks w, w closely contacted in series on the stack supply conveyor 15 as they are, even if these stacks are released on the pallet 2 at the same time, the two stacks are palletized. The two are arranged in a plane so as to be in close contact with each other, which enables proper and quick stacking.

[0030]

According to the present invention, since the stack is processed by two pairs of gripping claws at the same time, the processing capacity of palletizing can be dramatically increased without increasing the operating speed of the robot, and the conventional method is used. Can be implemented using most of the robots.

[Brief description of drawings]

FIG. 1 is a diagram of a palletizing device used to carry out the method of the present invention.

FIG. 2 is a view in which a hand used in the same device is viewed upside down.

FIG. 3 relates to a plane arrangement of stacks stacked on a pallet, (a) is a diagram showing a bottom arrangement, and (b) is an arrangement in which (a) is rotated 180 degrees around a vertical axis. It is a figure which shows the arrangement | positioning of a 2nd step.

FIG. 4 relates to a plane arrangement of stacks stacked on a pallet, (a) is a diagram showing a bottom arrangement, and (b) is an arrangement in which (a) is rotated 180 degrees around a vertical axis. It is a figure which shows the arrangement | positioning of a 2nd step.

FIG. 5 is a diagram showing a plane arrangement of stacks stacked on a pallet, (a) showing a bottom arrangement, and (b) showing the arrangement of (a) rotated by 180 degrees around a vertical axis. It is a figure which shows the arrangement | positioning of a 2nd step.

[Explanation of symbols]

 2 Pallet 6 Robot 6a Robot arm 7 Vertical rotation axis 9 Support plate 12a, 12b Grip claw 15 Product supply conveyor 17 Motor W Product

Claims (1)

[Claims] 1. When stacking rectangular stacks on a pallet, a conveyor for supplying stacks sends the stacks so that the horizontally long parts of the stacks are in series, and a robot that performs a load operation is Two pairs of grip claws for gripping a load are provided at the end of a fixed length arm via a rotatable receiving plate, and two of the loads on the supply conveyor are gripped at the same time and the grip claws are simultaneously released on a pallet. An automatic palletizing method by a robot, characterized in that a plurality of layers are stacked in an array state of 4 to 10 by individually releasing or arranging them separately.