JPH09221228A - Automatic stacking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to quickly and exactly perform palletizing operations. SOLUTION: The device A1 is driven in answer to the dimensions of products supplied, and provided with a robot 11 for stacking the products on a pallet in sequence. The device is further provided with the measuring part of a measuring device 13 for measuring at least the dimensions of length and width of the products, and the communication part of the measuring device 13 for transmitting data on the dimensions of the products measured. By this constitution, palletizing operations can be performed quickly and exactly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic stacking device, and more particularly to an automatic stacking device for sequentially stacking supplied products on pallets.

[0002]

2. Description of the Related Art A corrugated cardboard box is completed by a device for cutting corrugated corrugated cardboard sheets, printing them, and making a box, that is, a flexo folder gluer (hereinafter abbreviated as FFG). About 5 to 20 sheets are bundled and shipped, and a device called a binding machine is used for this binding work. After that, they are manually loaded on pallets or automatically by a palletizer or robot. In general, there are few relatively large-scale productions where the production amount of one product exceeds 10,000, and 1000 to 1
There are many up to 10,000. From this, on average, 3
There is a changeover about once every 0 minutes, and it takes several minutes including the change of the FFG printing plate. Needless to say, it is desired to shorten the time required for this setup change. In the above binding machine, work data is received from the upstream FFG by communication, and the width, length, height, etc. of the corrugated board, which is the product, can be handled by NC control. Some that can be used are also used. Also in the robot palletizer, work data is received from the FFG by communication, and according to the product number (unique number or symbol attached to the product) or order number, the loading pattern corresponding to these numbers or symbols is beforehand prepared. A system has been put into practical use that automatically registers programs and transfers programs and data to robots. For example, there is a "robot palletizing system dedicated to a binding cardboard case" published in the February 1994 issue of the magazine "Unmanned Technology". Here, if the product data is already registered, the palletizing work is performed by the communication data of the product type information from the FFG, and if the product data is not registered, the data registration work is performed on the spot.

[0003]

The conventional automatic stacking apparatus as described above requires communication regarding work data from the upstream FFG. Therefore, the manufacturer of FFG,
Alternatively, if the communication mode differs depending on the model, it is inevitable to deal with this individually. In addition, there are restrictions such as that some models do not have a communication function. Furthermore,
If the product data is not registered, it is necessary to register the data on the spot, but this takes time and human error occurs. Further, when the work is carried on the conveyor, an error due to deformation or the like may affect the palletizing work. SUMMARY OF THE INVENTION It is an object of the present invention to improve the automatic stacking device and to provide an automatic stacking device capable of performing palletizing work quickly and accurately in order to solve the problems in the conventional techniques. Is.

[0004]

To achieve the above object, the present invention is driven according to the size of a product to be supplied,
In an automatic stacking device equipped with a stacking means for sequentially stacking the products on a pallet, a measuring means for measuring at least a vertical dimension and a horizontal dimension of the product, and the measured dimension data of the product. It is configured as an automatic stacking device, characterized in that it is provided with a communication means for transmitting to. Furthermore, the measuring means is an automatic stacking device that performs the above-mentioned measurement for a product supplied immediately after the start of production of the product or immediately after changing the type of the product. Furthermore, when the stowage means is a robot, the robot is an automatic stowage device that serves both as the measuring means and the communication means. Furthermore, when the stowage means is a robot, the measuring means is an automatic stowage device that performs the measurement at a positioning position for the robot to grip the product with a hand. Furthermore, the measuring means is an automatic stacking device that measures at least one of the dimensions of the product by the position of the clamp member in the clamp mechanism of the hand of the robot. Furthermore, when the stowage means center the product before the stowage, the measuring means is an automatic stowage device that performs the measurement according to the position of the centering member in the centering mechanism. Further, it is an automatic stacking device in which the supply speed of the product supplied immediately after the start of production of the product or the change of the type of the product is made higher than the supply speed of the product supplied next. Furthermore, the measuring means is an automatic stacking device that measures the dimension of the product in the supply direction based on the transit time of the supplied product in a predetermined section. Furthermore, it is an automatic stacking device in which the supply direction of the product is changed to a right angle on the way and the measuring means performs the measurement before and after the change. Furthermore, when the products are bound by the binding machine a predetermined time before the loading,
The measuring means is an automatic stacking device that performs the measurement in the binding machine, at the upstream of the binding machine, or immediately after that.

[0005]

DETAILED DESCRIPTION OF THE INVENTION AND

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention.
It should be noted that the following embodiments and examples are merely examples embodying the present invention and are not of the nature to limit the technical scope of the present invention. Here, FIG. 1 is a schematic diagram showing a schematic configuration of an automatic stacking device A1 according to the first embodiment and examples of the present invention, and FIGS. 2 to 6 are schematic diagrams showing specific examples of a measuring device. FIG. 7 is a schematic diagram showing a schematic configuration of an automatic stacking apparatus A2 according to the second embodiment and examples of the present invention, and FIG. 8 is an automatic stacking apparatus according to the third embodiment and examples of the present invention. It is a schematic diagram which shows schematic structure of the attachment device A3. As shown in FIG. 1, an automatic stacking apparatus A1 according to the first embodiment and examples of the present invention is driven by a size of a product to be supplied, and a robot 11 for sequentially stacking the product on a pallet 9 is provided. It is the same as the conventional example in that it is equipped with (corresponding to stowage means). However, in the first embodiment and examples, the measuring unit of the measuring device 13 that measures at least the vertical dimension and the horizontal dimension of the product, and the measurement that transmits the measured dimension data of the product to the robot. This is different from the conventional example in that the communication unit of the device 13 is provided. Hereinafter, this device A1
And the operation thereof will be described.

As shown in FIG. 1, the apparatus A1 further includes a sheet feeder 2 for supplying a corrugated cardboard sheet as a raw material to the FFG 1, a conveyor 3 from an exit of the FFG 1 to a binding machine 4, and a conveyor 5 after binding. It is carried by, is turned, and is guided to the conveyor 6. Also between the conveyor 6 and conveyor 7, there is the step portion 7 _a, with less cohesion number is now double stack is performed. After that, a positioning device 8 for positioning the product through the conveyor 7 is at the final end of the conveyor 7. The palletizing robot 11 has a hand 12, which measures the size of a bundled corrugated cardboard (which is not yet in the form of a box and which is not yet assembled) which is a product positioned by the positioning device 8 using the measuring device 13. . The dimension measurement is due to the various methods or apparatus 13 _a to 13 _e as shown below. For example, as shown in FIG. 2, to measure relative binding cardboard (workpiece) 25, by the contact portions 21 and 22 of the dimension measuring device 13 _a in the flow direction and perpendicular (lateral direction). In this case, the air cylinders 24 and 23 respectively move toward the work center (directions a and b).
With a certain force applied to the contact part or the cylinder rod movement amount, measure the linear pulse encoder such as a linear gauge. Reference numeral 26 is a roll of the conveyor. This measuring method can be similarly realized in the flow direction (vertical direction) of the work 25.

[0007] Figure 3 shows a measuring device 13 _b with a sensor 31 for height detection by the step portion 7 _a, etc. of the conveyor.
Here, the non-contact sensor 31 is arranged in an oblique direction, but this is so that the sensor does not get in the way when the work 25 is dropped from the conveyor 6. Therefore, if it is a place where the workpiece and the sensor do not interfere with each other, it is desirable to arrange the sensor in the vertical direction and measure straight. The sensor 31 is but need not necessarily place the stepped portion 7 _a, may be included in the positioning device 8 described above. When the dimensions of the corrugated cardboard thus bound are measured after completion, if the design value and the actual product are different, for example, an error may occur in the width due to factors such as slanting when binding, and a difference in binding strength. Since the state of the actual product can be grasped when the heights are different, it is possible to prevent troubles such as interference between works due to these errors during loading. Furthermore, the problem of input errors related to pre-registration is eliminated. By the way, it is not always necessary to measure the dimensions of the work for all products, and it is better to limit the measurement to only once considering the subsequent pattern creation. As a work size measurement trigger, input of a signal from a push button switch or the like for starting work may be used at the start of work. Also,
When changing the product type, confirm that the previous product has run out, and even if there is a pallet 9 in the process of loading, the pallet 9 will be moved to the pallet conveyor 1 due to the difference in destination (user).
However, in general, the operator pushes a push button switch or the like in the form of rounding to issue an instruction to carry out on the way to the robot system. This signal may be used. The two push button switches may be common switches. As shown in FIG. 1, when the palletizing device is a robot, if the dimension measurement is performed at the positioning position 8 that determines the position where the hand 12 of the robot can grab, it is necessary to stop the work and measure it. Without it, you can do quick work.

Further, as shown in FIG. 4, when the work 25 is centered and laterally distributed at right angles to the flow direction (lateral direction), it is easy to clamp with the hand of the robot, but the claws 41 and 42 of this centering device are easy to clamp. it is also possible to use sensors of the measuring device 13 _c in conjunction with the movement of the (not shown). Reference numerals 44 and 45 in the figure are racks, and by engaging the racks with a common pinion 46, the movements of the left and right claws 41 and 42 can be synchronized. still,
In addition to the linear gauge, the sensor is different from that shown in FIG. 4, but a rotary encoder may be attached to the shaft of the pinion 46 to detect the rotation thereof. Reference numerals 47 and 4 in FIG.
Reference numeral 8 denotes a drive cylinder, which is connected by the pinion 46, and therefore may be one drive cylinder in some cases. Furthermore, dimension measurement in the flow direction (vertical direction)
As shown in FIG. 5, the claws 51, 5 of the robot hand 12
By using the measuring device 13 _d that is interlocked with the movement of 2, it is possible to measure this direction with a simple configuration. The movements of these two claws 51 and 52 can be realized by a synchronizing device and a detecting device (neither is shown) similar to the centering device shown in FIG.

Next, a method of creating data in the device A1 will be described. There are several methods that can uniquely determine one pattern depending on the work size, such as the method for determining the stacking pattern, but in any case, at present, the personal computer is easy to program, costs, and is easy to change. Is advantageous in that. However, if data is created by a personal computer and transferred to the robot controller, it takes about 20 seconds as a whole. Generally, it takes several minutes to change the setup of corrugated board, so this has not been a problem in the past. On the other hand, in the present apparatus A1, since the setup change is speeded up, the data creation time or the data transfer time requires a considerable real-time property. For this reason, the device A1 has been devised as follows. That is, in order to increase the time for creating this pattern, the first work is transported at, for example, 60 m / min, and the second and subsequent works are
A conveyor is provided so as to convey at a normal speed of 20 m / min.
For example, in the case of FIG. 1, the conveyors 3, 5, 6, 7 are driven in that way. Not all conveyors need to be of this type, of course they can be part of the conveyor as long as they have the required length. For example, if the total length of the conveyor is 20 m, the work is calculated in 20 seconds at high speed, and the work is calculated in 60 seconds during measurement. Therefore, for the first work and the second work, 40 seconds are added in addition to the original interval (for example, 3 seconds). By using this 40 seconds, a series of operations such as dimension measurement, data creation by a personal computer, data transfer to a robot controller, and robot startup can be sufficiently performed.

Further, the dimension measurement does not necessarily have to be performed by the positioning device 8 which is the final portion of the conveyor, and the length of the work in the flow direction can be measured without stopping the work in the middle. For example, as shown in FIG. 6, the fact that the work 25 is moving on the conveyor 5 _a is detected from the light emitting unit 61 of the photoelectric tube, which is the measuring device 13 _e provided on the movement path of the work such as the joint of the conveyor. It is conceivable that the detection is performed by blocking the light to the portion 62. If a belt conveyor is used as the conveyor, the work does not slip relatively and the error does not increase, so the work can be moved at a constant speed and the length in the flow direction can be measured by the passage time. FIG. 7 shows an example (apparatus A2 according to the second embodiment and example of the present invention) using such a detection method. In the figure, conveyor 5 _a ,
First performs detection at 5 _b boundary, then, conveyor 6 _a
By By redirecting, by performing the same detection at the boundary with the next conveyor 6 _b, it can measure the vertical and horizontal workpiece. In this way, by measuring the work size while moving on the conveyor, it is possible to gain time and make time for pattern generation. The height can be detected by providing the measuring device _13b as shown in FIG. 3 at any position of the conveyor, and the data in all three directions can be measured. However, the height is not always necessary to generate the pattern, and in that case, it may be omitted. If the speed fluctuation of the belt conveyor is predicted, apply a wheel to this belt surface, connect the rotating shaft of this wheel to the rotary encoder, and count this pulse during the work passage time.
The above measurement can be performed accurately. The above measuring methods can be applied independently of each other, but can also be used together. This can shorten the conveyor length.

Further, when the products are bound by a binding machine a predetermined time before the loading, for example, when the FFG and the shipping place need to have a certain distance or have a certain distance due to the structure of the line. When it is possible, an apparatus as shown in FIG. 8 (the apparatus A3 according to the third embodiment and examples of the present invention) can be used. In the figure,
The product output from the FFG 1 passes through the conveyor 3 and enters the binding machine 4, where the vertical and horizontal dimensions are simultaneously measured and the results are transferred to the robot 11 or a personal computer (not shown). The measured product is conveyed by the relatively long conveyor 5. The conveyance speed of the conveyor 5 is preferably as slow as possible within an allowable range, and the required time during this conveyance (approximately equivalent to a predetermined time) is the pattern generation time. Therefore, in the present invention A3, it is not necessary to provide a high speed / low speed difference on the conveyor. If it is difficult to incorporate the measuring device 13 into the binding machine 4, the measuring device 13 may be provided immediately after the bundling machine 4, or may be provided in the middle of the upstream conveyor 3. However, the measuring device 13 is provided on the upstream side of the bundling machine 4 when the change in the vertical and horizontal dimensions of the product due to the bundling is negligible or the change can be easily corrected after the dimension measurement. Limited to
It is sufficient for the pattern generation to have at least vertical and horizontal dimensions of the product, and for the height dimension, the robot 11 may correct the height by bundling while stacking, or, The robot 11 may measure the height at another position on the conveyor and use the data to change the height of the product.
In addition to the methods shown in FIGS. 4 and 6, for measuring the vertical and horizontal dimensions of the product, for example, a camera is installed above the product to image the product, and the long side and short side are measured by image processing. Good. It goes without saying that the method based on this image processing can also be applied to the devices A1 and A2.

As described above, in the present devices A1, A2 and A3, communication of product data from the upstream FFG becomes unnecessary. This not only makes communication unnecessary, but also FF
This device does not need to cope with the communication form that differs depending on the maker or model of G, which has conventionally been individually supported. Also, depending on the model, restrictions such as those without communication function will be removed. Therefore, it is possible to construct a palletizing system which can be connected to any upstream device, for example, regardless of the manufacturer, type, specification, etc. of FFG. In addition, in the conventional method of registering in advance via the product number of the product, it is naturally necessary to prepare data in advance, but this device A
In 1, A2 and A3, automatic calculation is performed based on the actually measured product dimensions, and thus no prior data preparation work is required. Therefore, it is possible to save labor and eliminate human error that occurs during input. Furthermore, by actually measuring the product dimensions, it is possible to catch the thickness error more accurately than the design value. Therefore, for example, troubles such as interference between the robot hand and the product can be prevented. As a result, palletizing work can be performed quickly and accurately.

[0013]

Since the automatic stacking device according to the present invention is configured as described above, communication of product data from the upstream FFG becomes unnecessary. This not only eliminates the need for communication, but this device also does not need to cope with communication that differs depending on the manufacturer or model of the FFG and has conventionally been individually supported. Also, depending on the model, restrictions such as those without communication function will be removed. Therefore, regardless of the upstream equipment, such as FFG manufacturer, model, and specifications,
A palletizing system that can be connected to any of them can be constructed. Also, in the conventional method of registering in advance via the product number of the product, it is of course necessary to prepare the data in advance, but this device automatically calculates it based on the measured dimensions of the product. Is unnecessary.
Therefore, it is possible to save labor and eliminate human error that occurs during input. Furthermore, by actually measuring the product dimensions, it is possible to catch the thickness error more accurately than the design value. Therefore, it is possible to prevent a problem such as interference between the robot hand and the product. As a result, palletizing work can be performed quickly and accurately.

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of an automatic stacking device A1 according to a first embodiment and examples of the present invention.

FIG. 2 is a schematic diagram showing a specific example of a measuring device.

FIG. 3 is a schematic diagram showing a specific example of a measuring device.

FIG. 4 is a schematic diagram showing a specific example of a measuring device.

FIG. 5 is a schematic diagram showing a specific example of a measuring device.

FIG. 6 is a schematic diagram showing a specific example of a measuring device.

FIG. 7 is a schematic diagram showing a schematic configuration of an automatic loading device A2 according to a second embodiment and examples of the present invention.

FIG. 8 is a schematic diagram showing a schematic configuration of an automatic loading device A3 according to a third embodiment and examples of the present invention.

[Explanation of symbols]

A1, A2, A3 ... automatic stowage device 1 ... FFG 2 ... sheet feeder 3 ... conveyor 4 ... binding machine 5,5 _a, 5 _b ... conveyors 6,6 _a, 6 _b ... conveyor 7 _a ... conveyor stepped portion 8 ... positioning device 9 ... pallet 10 ... pallet conveyor 11 ... Palais (corresponding to stowage means) Thailand Managing robot 12 ... hand 13 (13 _a to 13 _e) ... measuring device (measuring means corresponding to the communication means)

Claims (10)

[Claims] 1. An automatic stacking device, which is driven according to the size of a product to be supplied and has a stacking means for sequentially stacking the product on a pallet, measures at least the vertical dimension and the horizontal dimension of the product. An automatic stacking device comprising: a measuring means and a communication means for transmitting the measured dimensional data of the product to the stacking means. 2. The automatic stacking device according to claim 1, wherein the measuring means performs the measurement on a product supplied immediately after the production of the product is started or the type of the product is changed. 3. When the stowage means is a robot,
3. The automatic stacking device according to claim 1, wherein the robot also serves as the measuring means and the communication means. 4. When the stowage means is a robot,
The automatic stacking device according to any one of claims 1 to 3, wherein the measuring means performs the measurement at a positioning position where the robot grips the product with a hand. 5. The automatic stacking device according to claim 4, wherein the measuring means measures at least one of the respective dimensions of the product by the position of the clamp member in the clamp mechanism of the hand of the robot. 6. The automatic stacking device according to claim 1, wherein when the stacking means centers the product before the stacking, the measuring means performs the measurement by the position of the centering member in the centering mechanism. 7. The supply speed of the product supplied immediately after the start of production of the product or immediately after the change of the product type is made higher than the supply speed of the product supplied next. The automatic stowage device described. 8. The automatic stacking device according to claim 1, wherein the measuring means measures the dimension of the product in the supply direction based on the passage time of the supplied product in a predetermined section. 9. The automatic stacking device according to claim 8, wherein the supply direction of the product is changed to a right angle on the way, and the measuring means performs the measurement before and after the change. 10. The automatic system according to claim 1 or 2, wherein, when the products are bound by a binding machine before a predetermined time of the loading, the measuring means performs the measurement in the binding machine, at an upstream position or immediately after that. Stowage equipment.