JPS6155022A - Palletizer - Google Patents

Abstract

PURPOSE:To simplify the construction of a palletizer by enabling an article to be accurately loaded on a pallet without need of precise positioning of an article holding device in said palletizer for automatically pilling articles on said pallet. CONSTITUTION:A palletizer has an article arranging device 1. This article arranging device 1 has a bottom surface 2a on which a pallet 5 is placed, and guide walls 3, 4 which are provided perpendicularly to, and along the adjacent two side edges of, the bottom surface 2a, and can be moved in an erect position in which the bottom surface 2a is horizontal, and in an inclined position in which a cross point between the bottom surface 2a and the guide walls 3, 4 is placed in the lowest position. An article holding device 6 for conveying an article to the article arranging device 1, is formed to move along a coordinate system aligned to the bottom surface 2a in the inclined position of the article arranging device 1.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a palletizer for loading articles onto pallets. In particular, the invention relates to a palletizer for automatically stacking articles onto pallets.

(Prior Art) A method for loading articles onto a pallet that can be lifted and transported by a forklift is to stack the articles one above the other in a column shape, and then stack the columns of articles stacked in this way on top of the pallet. There are so-called column stacks, in which articles are placed side by side, and so-called interlock stacks, in which upper and lower articles are stacked one on top of the other in an alternating manner. As a device for loading such goods, the palletizer does the heavy lifting, and the loading pattern etc.
In addition to semi-automatic devices in which work related to positioning of articles is performed manually, fully automatic palletizers have also been developed in which the article gripping device is operated by a robot that rotates left and right, up and down, and around vertical axes.

The article is gripped and placed by a suction method using a vacuum pad, one side of the article is held down with a rod-shaped hunt, and the other side is held down by 1. The so-called 1,1 method uses a shaped hunt to grasp the object and prevents the object from falling into the lower blade with a hook-shaped portion at the lower end.
There are fork methods that use fork-like hands to grasp the object from both sides, and suction methods that use L for grasping objects such as fully bent round cans.
The l method is suitable for gripping cardboard cases, wooden boxes, etc., and the fork method is suitable for gripping bags.

(Problem to be solved by the invention) The conventional fully automatic palletizer using a robot,
Since the robot constituting the gripping device is adapted to perform all necessary movements, the gripping device can move in a horizontal plane over an area including the entire surface of the pallet from the proboscis insertion part, and
It is necessary to carry out vertical movements corresponding to the stacking height of the articles on the pallet, and precise positioning must be performed for each direction of movement. This makes the robot motion control mechanism complicated and expensive.

Therefore, it is an object of the present invention to provide a palletizer that does not require precise positioning of an article gripping device and that can accurately load articles onto a pallet. purpose.

(Means for Solving the Problems) That is, the pallet tile according to the present invention is equipped with an article aligning device, and this article aligning device has a bottom surface on which pallets are placed, and two adjacent ones of the bottom surface. a kite wall disposed along one side edge and perpendicular to the bottom surface;
It can be moved between an upright position where the bottom surface is horizontal and an inclined position where the intersection between the bottom surface and the two guide walls is located at the lowest position. Furthermore, the article gripping device for transporting articles to the article alignment device is configured to be movable along a coordinate system aligned with the bottom surface of the article alignment device in the inclined position.

(Function) In the present invention, the article aligning device is provided with a bottom surface on which the pallets are stored, and guide walls that are perpendicular to the bottom surface along two adjacent side edges of the bottom surface, so that the article aligning device can be tilted. Once in position, the article gripping device carries the article along a coordinate system aligned with the bottom surface and deposits it onto a pallet on the bottom surface. At this time, the article released from the gripping device is guided by the guide wall and comes to rest at a predetermined position. Furthermore, even when the articles are stacked on top of each other, the articles are stably supported by the bottom wall and the two guide walls, so there is no risk of the articles shifting during the loading operation.

(Effects) According to the present invention, an article alignment device is provided which has a bottom surface on which a pallet is placed, and guide walls arranged along two adjacent side surfaces of the bottom surface and perpendicular to the bottom surface, and the article alignment device is provided. Since the device can be moved between an upright position where the bottom surface is horizontal and an inclined position where the intersection of the bottom surface and the two guide walls is located at the lowest position, loading can be carried out in the inclined position. By taking out the loaded pallet in the upright position, articles can be loaded onto the pallet without the need for precise positioning and without fear of shifting.

(Embodiment) Referring to FIG. 1, the article alignment device 1 includes a bottom wall 2 and a guide wall 3 extending perpendicularly from two adjacent side edges of the bottom wall 2.
．． 4, and a pallet 5 is placed on the upper surface of the bottom wall 2, that is, the bottom surface 2a. An article gripping device 6 provided adjacent to the article alignment device 1 has a support 7 and a base 8 provided at the upper end of the support 7. The article alignment device 1 is pivotably supported by a hinge 9 at the point where the bottom wall 2 and the guide wall 3.4 intersect, and by means of a cylinder device 10 the bottom wall 2
in the upright position where the wall is horizontal and the wall 2.3 as shown in Fig.
．． 4 is at the lowest position (it is movable between an oblique position and an oblique position), and the base 8 of the article gripping device 6 is arranged to extend substantially parallel to the upper edge of the guide wall 4 in this inclined position. An X-direction movable arm 11 is attached to the base 8 so as to be movable in the length direction of the base, perpendicular to the base 8, parallel to the bottom wall 2, and movable in the length direction of the base. And a YZ direction movable arm 12 is mounted in a direction perpendicular to the bottom wall 2. The arm 12 is movable in a direction along the arm 11, that is, the X direction, and in a direction perpendicular to the bottom Ii2, that is, the Z direction! R'j is formed and the bottom wall 2
A hunt 14 for gripping an article is provided at the side end. This hand is of a vacuum suction type and is rotatable around an axis perpendicular to the bottom wall 2.

The hand 14 grips the article 15 and loads it onto the pallet 5-H. When the hand 14 releases the article 15, the article 15 slides along the bottom surface 2a and the guide wall 3.4 and stops at a predetermined position. Therefore, the positioning of the hand 14 does not have to be very precise. hand 1
By suitably controlling the rotation of 4 and the actuation of arms 11.12, loading of articles can be carried out as shown in FIG.

FIG. 3 shows another embodiment of the present invention, in which the article aligning device 1 has the same structure as the previous example. Corresponding parts are therefore designated with the same reference numerals as in the previous example. In this example, the article gripping device 16 has a column 17, at the upper end of which a radial arm 18 is mounted so as to be able to pivot in a plane parallel to the bottom wall 2 in an inclined position. An arm 22 is attached to the arm 18 and extends perpendicularly to the arm 1 8 and the bottom wall 2 . A handle 24 is mounted at the tip of the arm 22 so as to be rotatable about an axis perpendicular to the bottom wall 2. The arm 22 is movable in the longitudinal direction of the arm 18 and in a direction perpendicular to the bottom wall 2. ``This device is also capable of loading articles on the bullet 5, as in the case of Example 8.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a palletizer showing an embodiment of the present invention;
FIG. 2 is a perspective view showing a state in which articles are loaded into the article alignment device, and FIG. 3 is a perspective view showing another embodiment of the present invention.

Claims (1)

[Claims] a bottom surface on which a pallet is placed; a guide wall disposed along two adjacent side edges of the bottom surface and perpendicular to the bottom surface; an upright position in which the bottom surface is horizontal; an article aligning device that can be moved to an inclined position such that the intersection point between two guide walls is located at the lowest position, and an article that is movable along a coordinate system aligned with the bottom surface in the inclined position of the article aligning device A palletizer consisting of a gripping device.