JPH085961Y2 - Robot system for article palletizing - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention This invention relates to an article palletizing system using an industrial robot.

[0002]

2. Description of the Related Art Various kinds of articles are piled up on individual pallets for each kind, and a desired number of desired kinds are picked up from individual bullets to obtain various kinds of goods on a specific empty pallet. There is palletizing work that mixes and loads.

[0003] Then, by automating such work, the articles are picked up from individual pallets and piled up on empty pallets accurately, and the piled state on the pallets that have been loaded is tidy. In addition, it is difficult to realize with a so-called automatic warehouse type system equipped with a stacker crane or a picking crane, and it is convenient to use an industrial robot because high accuracy can be easily obtained. In particular, if the shape of the article is a special shape such as a bucket that fits vertically with each other so that it can be stacked in multiple stages, high positioning accuracy is required, so an industrial robot must be used. Is not feasible.

However, when the above-mentioned palletizing work is attempted to be performed by, for example, a cylindrical coordinate type robot mounted on a traverse carriage, it has been found that there are the following drawbacks.

That is, as shown in the schematic diagram of FIG. 5, if a normal cylindrical coordinate type robot (1) is used to perform traverse movement, the articles (3) from the individual pallets (2) are sure.
The picking up operation (picking or depalleting operation) and the stacking operation (palletizing operation) on the empty pallet (4) for final stacking are accurately performed, and the articles (3) are stacked in an orderly manner without a load collapse or the like. On the other hand, the number of articles that can be conveyed in one conveyance operation is limited to at most 2-3, and the robot itself traverses (5) each time it picks up 2-3 articles. Since it has to be transported to the empty pallet (4), the processing efficiency per unit time is extremely low.

Further, when the industrial robot is used as described above, the moving range of the robot arm must be taken into consideration to make it an exclusive space in the building of the palletizing system. There is a drawback that the occupied space in the building is large compared to an automatic warehouse type system using a stacker crane or a picking crane that does not have a direction overhanging device.

That is, specifically, in the case of the system shown in FIG. 5 of the above example, as shown in the plane of FIG. 6, at least the article (3) at the innermost position on the pallet (2) is reached. The reciprocating and revolving arm (1a) in the plane direction, which must have a length, moves along a large movement trajectory (T), and other obstacles or workers are also present in the movement trajectory (T). You can't enter, and you have a dead space. (1b) is a robot hand.

When a Cartesian coordinate type robot (6) as shown in FIG. 7 is used instead of the cylindrical coordinate type robot (1), a vertical direction provided on a horizontal moving frame (6b) is used. The elevating arm (6a) has to draw a large movement trajectory (T), and the ceiling height of the building must be set high. In any case, the whole system is occupied in the building compared to the automated warehouse type system. A large space is needed. In other words, when the system is installed in the same building, the system using the robot can store a smaller amount of articles than the automatic warehouse type system.

[0009]

SUMMARY OF THE INVENTION The present invention proposes a robot system which solves the above-mentioned drawbacks when the palletizing work as described above is attempted to be automated by using an industrial robot.

[0010]

A robot system according to the present invention, which has solved the above-mentioned problems, has an opening at the upper surface and a handle hole.
Individual pallets equipped with cases of different varieties each having are arranged in line along the traverse movement path of the palletizing robot, and the palletizing robot is connected to the loading conveyor carriage of the final stacking pallet ,
A system for transferring into the palletizing robot to pick cases of each appropriate number of traverse movement allowed while each individual pallet on the final stacked pallet on, the palletizing robot arm portion is a pantograph-like link mechanism , The hand part of the above case
It is characterized by comprising a grip claw that engages with the handle hole from the inside of the case .

[0011]

EXAMPLE Next, a palletizing system of a plastic case in which appropriate articles (bottled beverages, etc.) are stored will be described as an example. In the palletizing system of this example, as shown in a plan view in FIG. 2, 17 locations (A) in which a substantially rectangular parallelepiped plastic case (7) accommodating articles is provided on both sides of a moving rail (9) of a robot (8). (B) (C) ---- (Q) large pallets (11) each with an appropriate number of palletizing robots (8) depalletizing, and a conveyor integrally connected to the traverse carriage (12) of the robot (8). It is a system that mixes various small pallets (final stacking pallets) (14) on the trolley (13) and stacks them, and each large pallet (A) (B) (C) ── (Q ) The types of the above items are different from each other, and the palletizing robot (8) is a case from the upper pallet (11) to the small pallet (14) in the number instructed by the upper control device (not shown). Grab (7) and lift to transfer.

(15) is a large pallet storage area (A) (B) (C)-
─ It is a trolley for moving and carrying in and out of the large pallet (11) running in parallel with (Q), and the loading of the large pallet (11) onto the dolly (15) is performed by a forklift or the like, and the trolley (1
5) Transfer of each position (A) (B)-(Q) from the top to the large pallet storage area is performed by the roller conveyor (16) on the carriage (15). A large number of free balls (17) are provided on the upper surface of each large pallet storage area (Fig. 1).

Further, (18) is a slat conveyor as a loading / unloading station for the small pallets (14) provided at one end of the large pallet (11) storage area.
8), a small empty pallet (1) onto the conveyor carriage (13) of the robot (8) stopped moving to the position indicated by the chain line in FIG.
4) is carried in and the small pallets (14) loaded with the case (7) and being in a full state are carried out from the conveyor carriage (13) (chain line in FIG. 2). The small pallets (14) are carried in and out of the slat conveyor (18) by a forklift or the like. Reference numeral (19) is a temporary placing table for case transfer, which will be described in detail later.

The palletizing robot (8) will be described below. That is, the robot body mounted on the traverse trolley (12) swings around the vertical axis (21), and the vertical and horizontal support control device (2) for the arm (22).
3) (24) and the support control device (23) (24), and the amount of expansion and contraction in the vertical and horizontal directions, that is, the movement of the tip hand (25) is controlled by a pantograph-shaped arm ( 22) and rotation about a vertical axis attached to the tip of the arm (22), that is, the hand (25) whose direction is controlled by an actuator (26) such as a servomotor. , The arm part (22) is connected between two sets of parallel links (27a) (27b), (28a) (28b) and the links (27a) (28a) and connected (29) (31) It consists of links (32) (33), but the ends of one set of parallel links (28a) (28b) are connected to the same vertical lifting member (34) in the vertical support controller (23) (35) ( 36) and the other end of the parallel link (27a) (27b) is connected to the lock (37) (38) (39) by collecting the hand (25), so that the arm (22) Even if any expansion and contraction state hand (25)
Always looks straight down. (40) is an intermediate connecting member.

The vertical elevating member (34) is connected to the member (3
A vertical support member (23) for the arm is constituted by a ball screw (41) threaded through the screw 4) and a rotary drive servomotor (42) connected to the ball screw (41) to form a vertical lifting member. By rotating the motor (42) to stop the movement of (34) to an appropriate height, the hand (25)
The height of the horizontal slide member (44) supported by the shaft (43) at the connecting points of the long and short links (32) and (33). A ball screw (45) screwed through the slide member (44) and a servomotor (46) connected to the ball screw (45) constitute a horizontal arm support control device (24). By moving the horizontal slide member (44) to an appropriate horizontal position by rotating the motor (46) and stopping the movement, the horizontal position of the hand (25) (that is, the front-rear position) is set within the range shown by the two-dot chain line in FIG. It can be moved back and forth within (W).

In this embodiment, the vertical lifting member (34)
Also, since the servo motors (42) (46) and ball screws (41) (45) are used to drive the horizontal slide member (44), it is possible to precisely move and stop any member (34) (44). It can be controlled, and therefore the movement and stop of the hand (25) can be precisely controlled, but other actuators such as hydraulic cylinders may be used instead of the servo motors (42) (46) and ball screws (41) (45). .

Also, vertical and horizontal support control devices (23)
Movement range (W) of the hand (25) moved by (24) (however, the range (W) shown by the chain double-dashed line in FIG. 1 is represented by the connection (38) point on the hand mounting block (37) as a representative. The case (7) on each large pallet (11)
Is of course prepared to exist.

Next, the case gripping hand (25) will be described. The hand (25) is rotatable about the vertical axis via the loader actuator (26) on the mounting block (37) as described above. The orientation of the hand (25) can be changed according to the frontage of the upper surface of the case, but the plastic case (7) on each large pallet (11) has a relatively rough mounting position (positioning accuracy ( The hand (25) picks up the case (7) loaded with this rough positioning accuracy without hindrance, and the small pallet after movement, because the hand (25) is placed in the horizontal plane with a deviation amount of about ± 20 mm). (14) Above must be piled up in a predetermined accurate position, and the bottom and top of the case (7) are shaped to fit into each other (7a). all The upper case (7) must be loaded in the lower case (7) in a fitted state (FIG. 3), and the hand (25) of this embodiment is as follows in order to satisfy the above requirements. It has a unique structure.

That is, as shown in FIGS. 3 and 4, the hand (25) is a so-called double hand, and a pair of grip claws (4) which are driven to open and close by a cylinder (47).
Moving frame (51) (52) that supports 8 (49) and moving frame (51) (5)
2) A support frame (53) that slidably supports itself in the direction orthogonal to the opening and closing direction of the grip claws (48) (49).
A mounting block (37) is connected to the support frame (53) via a rotary actuator (26).

Reference numerals (51a) and (52a) are guide rods that form a part of the moving frames (51) and (52), and (53a) is a guide rod that forms a part of the support frame (53). (51a) (52
A stopper part (54) is provided in the middle part of a), and depending on the stopper part (54), the moving end (close width) when the grip claws (48) (49) are closed by the opening / closing cylinder (47). Not only is the positioning cylinder (55) in which the grip claws (48) and (49) are open and the case (7) is gripped while the grip claws (48) and (49) are open and the case (7) is integrated. As shown in FIG. 3 of the case (7) with respect to the hand (25), so that the right-hand end when moving to the right in FIG.
The rightward position is regulated.

That is, when the left-right direction in FIG. 3 is the X-axis direction, the case (7) held by the grip claws (48) (49) is located at the position of the cylinder (55) in the X-axis direction with respect to the hand (25). The gripping claw (48) is positioned by the abutment of the base end of the grip claw (48) with the stopper (54) by the retracting operation.

Reference numeral (56) is a mounting bracket for a positioning cylinder (55) projecting from the moving frames (51) and (52).

Further, a compression spring (57) is interposed between the moving frame (52) and the support frame (53), and a space between the moving frame (51) and the support frame (53) in the left-right direction in FIG. When the cylinder (58) that expands and contracts in the Y-axis direction is connected and the cylinder (58) contracts, in the state shown in FIG. 4, the case (7), the grip claws (48) (49), and the moving frame (51). ) (52) is moved as a whole in the right direction in FIG. 4, and the inner surface of the case (7) supported by the moving frame (52) is vertically positioned from the supporting frame (53). ) Is abutted against and positioned.

Reference numerals (61) and (62) are stopper portions provided on the guide rod (53a), respectively, and the moving frames (51) and (52) shown in FIG. 4 when the cylinder (58) and the spring (57) are extended. The leftward position (Y-axis direction position) is restricted.

The hand (25) is designed so that the outer edges of the case (7) in plan view are smaller than the outer edge of the case (7), and the hand (25) is separated around the desired case (7) to be gripped. Even when the cases (7) are stacked high, the hand (25) can descend and approach the position directly above the desired gripping case (7).

The positioning of the case (7) gripped by the grip claws (48) (49) with respect to the hand (25) in the X-axis direction may be performed by extending the positioning cylinder (55). (7a) is a fitting portion on the bottom surface of the case (7).

Next, the conveyor carriage (13) will be explained. The conveyor carriage (13) is integrally connected to the traverse carriage (12) of the robot as described above, and the robot (8) moves on the moving rail (9). Although it moves together, the conveyor cart (13) does not have a drive source (motor etc.) for driving the conveyor, and the slat conveyor (63) is provided on the side surface.
When the traverse carriage (12) moves to the right end position of the rail shown by the alternate long and short dash line in FIG. 2 when the input shaft of is projected as the clutch piece (64), the rotation output provided on the clutch piece (64) and the floor. The clutch piece (65) as a shaft meshes with each other, and in this state, the slat conveyor (63) on the carriage (13) is rotated and run for the first time.

It is preferable that the conveyor carriage (13) is separated from the traverse carriage (12) and is always connected with a releasable connecting device such as a hook so that only the robot can move independently. When the time is shortened (for example, when most of the small pallets have been loaded at the right end position in FIG. 2 and the remaining one or two cases have to be moved to the left end in FIG. 2) ) Or the like, the hook connection may be removed to allow only the robot (8) to move independently.

In addition to the conveyor carriage (13), another carriage is integrally connected to the left side surface of the traverse carriage (12) in FIG. 2 and the carriage (8) is connected to the large pallet (1) by the robot (8).
Grasp the case (7) from 1) and lift the small pallet (14)
It may be used as a temporary table for transferring the sheet to the upper side (detailed later).

Next, the operation of the palletizing system will be described. That is, first, prior to the operation of the system, the carriage (15) is used to set the positions (A), (B),-(Q).
The large pallet (11) loaded with a large number of cases (7) is loaded and placed in the large pallet storage area.

At this time, according to the order of high frequency of handling in the system, the items are loaded in order from the right side to the left side in FIG. 2, that is, from the side close to the slat conveyor (18) as the loading / unloading station. The moving distance of the robot (8) can be further shortened.

The product types in the case (7) on the large pallet (11) at the respective positions loaded as described above will be described below in accordance with the respective positions (A) (B) --- (Q). Variety, B type --- Q type.

The empty small pallet (14) is also loaded onto the slat conveyor (63) of the conveyor carriage (13) using the slat conveyor (18) of the loading / unloading station.

That is, the robot (8) is moved to the position shown by the chain line in FIG. 2, and the clutch pieces (64) and (65) are engaged with each other, and then carried in and out with the conveyor (63) on the conveyor carriage (13). The slat conveyor (18) as a station is simultaneously driven, and the empty small pallets (14) on the slat conveyor (18) are loaded onto the conveyor carriage (13).

After preparing the above initial state, the palletizing robot (8) and the traverse carriage (1
Make 2) operate according to the program by the host controller.

That is, for example, there are 15 cases of type A and B
8 types of products, 9 types of C products, small pallet (14)
When loading up, first move the robot to the position of each large pallet (11), and sequentially load the number of integral multiples of 2, that is, 14 cases from position A, 8 cases from position B, from position C. Transfer the 8 cases onto the small pallet (14) (Of course, grip each two pieces, lift, and unload.)

With the above operation, most of the loading except the fraction of the number of loading cases for each product type is completed, and then the cases for the fractional number (in the case of the robot hand (25) of this example, it is a double hand). , And the fraction is always one).

That is, after the loading of the cases other than the fractions of the above-mentioned C type is completed, at the same (C) position,
The hand (25) picks up one case (7) and unloads it from the small pallet (14), then moves to the (A) position, and similarly at the (A) position, 1
The individual cases (7) are loaded, but when the trolley of the robot (12) and the trolley of the temporary stand are integrally connected as described above, the loading of the fraction case is as follows. To reduce the distance traveled by the robot.

That is, after the loading of the cases other than the fractions of the C type is completed, when loading one case (7) for the fraction at the (C) position, the two cases ( 7) Grasp and hold one side of the grasped case (7) on the temporary stand, and rest the remaining case (7) on the case on the already stacked small pallet (14). After stacking, the robot (8) is moved to the position (A), and the hand (25) similarly picks up the two cases (7) at the position, and the case (7) is grasped. Place one on the temporary table,
Keep the remaining case (7) in a small pallet (14)
Since the above-mentioned operations are completed and the fraction processing is completed, the above-mentioned operation causes a predetermined number of cases (15 kinds of A kinds, 8 cases of B kinds, 9 kinds of C kinds) on the small pallet (14).
Cases are loaded and one case each of A type and C type is placed on the temporary placing table that moves together with the robot (8), but a full pallet (14) Is again held at the right side position shown in the chain line in FIG. 2 and is carried out by driving the conveyors (63) and (18) as described above, and several cases (7) on the temporary placing table are used in the next new loading process. To be done.

That is, assuming the case of loading, for example, 15 cases of A type, 9 cases of B type, and 8 cases of C type in the next loading process, the same procedure as the previous time is applied to 2 cases.
The number of products that is an integral multiple of, that is, 14 types of A type, 8 types of B type, and 8 types of C type are loaded prior to the rounding process. After the operation is finished, A type and B type are loaded one by one. It is necessary to stop the robot (8) at the (B) position for that purpose, and pick up two cases (7) of type B with the hand (25), one case (7) of which is the temporary stand. Temporarily placed on top of the other B
While holding the case (7) of the product type, it is temporarily placed on the temporary placement table by the free grip claws (48) (49).
The case (7) of the variety is picked up, and in this manner, the hand (25) holds one case (7) of the variety different from the A variety and the B variety at the same time, and holds it in the small pallet (14). ) It is transferred to the top and placed collectively.

Therefore, one case (7) of B type and one type (7) of C type remain on the temporary placing table, and the case (7) of B type and C type is also used in the subsequent palletizing work.

Next, the hand (25) picks up the case (7) (picking or depalleting),
And the placing operation (palletizing operation) on the small pallet (14) will be described. That is, as described above, the plastic cases (7) are stacked on the large pallet (11) with a positioning accuracy of about ± 20 mm, and the top and bottom surfaces thereof are fitted (7a) with each other. As a result, the hand (25) closes the grip claws (48) (49), and the moving frames (51) (52) descend while abutting against the left end of FIG. 4, respectively, and the grip claws (48) (49). First insert the tip into the case (7), feed low pressure hydraulic oil to the open / close cylinder (47) to open the grip claws (48) (49) at low pressure, and open the handle hole of the case (7). Engage with part (7b).

Case (7) of this grip claw (48) (49)
Of the grip claws (48) and (49) in the horizontal plane (movements in both the X and Y axes) during engagement with the guide rods (51
a) (52a) (53a) keeps it movable (cylinders (55) (58) freely expand and contract at this point),
Even if the position of the case (7) deviates from the normal position, adjust the grip claw (4
8) (49) are opened and the case (7) is fitted with the lower case (7) without exerting an excessive force on the case (7).
Even if it is a), it can be picked up without trouble (in this example, since the handle hole (7b) is wide in the Y-axis direction, there is no problem in the Y-axis direction).

Then, as described above, the grip claws (48) (4
When the hand (25) is lifted up while the 9) is open and engaged at a low pressure, and the case (7) is lifted, the return part at the tip of the grip claws (48) (49) becomes the handle hole ( 7
The upper surface of b) is securely engaged, and at this time, the feed pressure to the opening / closing cylinder (47) is switched to high pressure, and the cylinders (55) and (58) are contracted so that the case ( 7) is positioned with respect to the hand (25) in the X and Y axis directions.

The case (7) picked up as described above is positioned with respect to the hand (25), and by the positioning, the next small pallet (14) or the temporary placing table can be accurately loaded. Then, the upper and lower cases (7) are smoothly fitted to each other (7a) and piled up.

The arm portion (22) of the robot (8) of the above embodiment has two sets of parallel links (27a) (27b), (28a).
A parallelogram between the (28b) and the links (27a) and (28a) 2
Since it has a pantograph shape consisting of the links (32) and (33) of the book, a normal horizontal movement arm (for example, FIGS.
Unlike the arm (1a) in Fig. 2, the protrusion to the side opposite to the side where the hand (25) is present is omitted, and therefore, there is no need to make a space above the rail (9) in FIG. Item storage ((I) ~
(Q)) can be provided, but the pantograph-like structure of the arm portion is not limited to the above.

Further, as described above, since the arm does not project to the other side where the robot hand is present, the article storage area ((I) to (Q)) in the above example is replaced with the worker's passage. It is possible to do it, or it can be simply a building wall,
Of course it is possible.

[0048]

As is apparent from the above description, the robot system according to the present invention can perform the above-mentioned palletizing work with high processing efficiency by using the industrial robot, and can also use the exclusive space in the building. If they are installed in the same building without occupying a large space, they will get more space for storing goods (large pallet storage space in the above example) than using other robots of cylindrical coordinate type and Cartesian coordinate type. be able to. Also, engage the handle hole of the case from the inside of the case.
Hand part consisting of grip claws and pantograph-shaped phosphorus
By combining with the arm part that consists of a
When the piles of piles are closely packed,
Also, place the hand part just above the case to grasp,
To lower and approach adjacent cases without interfering
Can be used, and even without interfering with adjacent cases.
You can pick up the desired case.

[Brief description of drawings]

FIG. 1 is a vertical sectional view showing an embodiment of a robot system according to the present invention.

FIG. 2 is an overall plan view showing the robot system.

FIG. 3 is a partially cutaway side view of a hand portion.

FIG. 4 is a partially cutaway front view of the hand portion.

FIG. 5 is a schematic front view showing a palletizing system using a cylindrical coordinate type robot.

FIG. 6 is a plan view showing the palletizing system.

FIG. 7 is a schematic front view showing a palletizing system using an orthogonal coordinate robot.

[Explanation of symbols]

 7 Plastic case (article) 8 Palletizing robot 9 Moving rail (moving path) 11 Large pallet (individual pallet) 12 Traverse trolley 13 Conveyor trolley (loading pallet for final stacking pallet) 14 Small pallet (pallet for final stacking) 22 Arm Part 25 Hand 27a, 27b, 28a, 28b, 32, 33 Link A, B, C───Q Type

Claims (1)

[Scope of utility model registration request] 1. Different upper surfaces with openings and handle holes
Individual pallets equipped with different types of cases are lined up along the traverse movement path of the palletizing robot, and the palletizing robot is connected to the loading conveyor truck for the final stacking pallet .
A system for picking cases of bots by appropriate number of traverse movement allowed while each individual pallet and transfers to a final stacking pallet on, the Paretai
Jing robot has a pantograph-shaped link mechanism in the arm part, and the hand part is inside the case through the handle hole.
A robot system for article palletizing, comprising a grip claw engaged from the side .