KR100608455B1 - Locating equipment for pallet - Google Patents

Abstract

The present invention is to put the pallet into the exact position where the robot loads the parts so that the positioning is made, the height and the front and rear left and right positions are determined to be fixed on the correct height and front and rear left and right positions so that the supply of parts smoothly. A pallet positioning apparatus is provided.

The present invention is a base plate installed on the floor of the workplace; A stopper fixed to the left and right sides of the rear side of the base plate for positioning; Lifting means for positioning the lower end of the introduced pallet by raising and lowering a predetermined height; One side of the pallet is fixed to form a fixed side, side position fixing means for forming a guide on the inner upper portion of the fixed; Side positioning means for determining positions of the left and right sides of the pallet by the forward and backward actions of the working cylinder; Clamping means for clamping the rear of the pallet to determine front and rear positions; Sensing means for sensing the movement of the pallet; Pallet positioning device comprising a control means for operating each cylinder to transfer and fix the pallet to the exact position where the robot loads the parts, and control the operating pressure by applying a control signal to each pneumatic means when the loading of the parts is completed It is about.

Pallet, Positioning, Stopper, Stacking, Drawout, Clamping

Description

Pallet positioning device {Locating equipment for pallet}

1 is a schematic plan view of a pallet positioning apparatus applied to the present invention.

Figure 2 is a perspective view of a pallet positioning device applied to the present invention

Figure 3 is a front view showing the operating state of the lifting means and the side positioning means of the pallet positioning apparatus applied to the present invention;

Figure 4 is a side view showing the operating state of the clamping means of the pallet positioning device applied to the present invention

* Description of Signs of Main Parts of Drawings *

10. Base plate 20. Stopper

30. Lifting means 31. Lifting cylinder

32. Load 33. Lifting Plate

40. Position fixing means 41. Fixture

42. Guide base 50. Side positioning means

51. Fixture 52. Working Cylinder

53. Rod 54. Plate

55. Guide Support Fixing Support 56. Guide Support

57. Guide stand holder 58. Hinge

60. Clamping means 61. Clamp cylinder

62. Rod 63. Clamp

70. Pneumatic means 71. Pneumatic means A

72. Pneumatic means B 73. Pneumatic means C

80. Detection means 90. Control means

The present invention relates to a pallet positioning device, and more specifically, to place the pallet in the exact position where the robot loads the parts to be positioned, but to determine the height and the front and rear left and right positions, the exact height and And a pallet positioning device for smoothly supplying parts by allowing the fastening of the pallet and the empty pallet to be fixed at the end of the loading of the parts.

In general, in the industrial sites such as automobile assembly lines, it is inevitably required to load related parts in the form of plates such as frames, roof panels, doors, and bonnets to be assembled in multiple stages, and to smoothly supply them to the next process. In this case, the relevant parts are loaded on a pallet and transported.

In particular, as described above, since most of the automobile assembly lines adopt an unmanned vehicle assembly system using a robot, it is required to supply related parts accurately at a predetermined position.

As the panel or parts are mass-produced in this way, they are temporarily stored or transported using a pallet for loading, and in the next process, the robot device can accurately load the parts loaded on the pallet and put them into the process. It will be put in place.

Conventionally, in order to accurately set the loading position of the pallet, the pallet positioning device is first placed on the floor of the work room at the loading position, and then moved through the wheels of the pallet itself to be placed on the positioning device by a forklift or a lift. Such a method requires equipment such as a forklift or a lift, so that it is difficult to supply parts quickly, and there are problems such as positional distribution due to shaking of the parts loaded when the pallet is supplied by a forklift or a lift.

Looking at the "Pallet Positioning Device", which is a patent application 10-2001-32813 to solve the above problems, it is fixed to the pallet working position on the floor of the work room, the front is formed narrower than the width of the left and right wheels of the pallet, the rear A base plate formed larger than the left and right widths of the pallet; It is configured at the rear left and right sides of the base plate so as to support and position both front sides of the pallet, and is integrally fixed to the rear left and right corners of the base plate through fastening plates, respectively, to the front left and right edges of the pallet. A guide beam for guiding each; Left and right stopper means formed on each of the fastening plates, the support block being integrally mounted to support one side of the guide beam in the traveling direction of the pallet; And a clamping means configured to clamp the rear center portion of the inserted pallet to fix the positioned pallet to a front center portion of the base plate.

The above-described invention is to determine the working position along the guide beam using the pallet's own wheels, and to fix the positioning state of the pallet through the clamping means, but the wheel is worn due to the long time use of the pallet When the robot loads the parts, the parts may be damaged due to the incorrect height.To prevent this, the worn wheels are economically lost due to the replacement of the worn wheels, and the left and right parts due to the long time use of the pallet positioning device. Alternatively, if play occurs on the guide beam, incorrect positioning of the pallet may occur, and when the pallet is inserted, the operator is difficult to easily insert the pallet, thereby reducing work efficiency. Also, pallets of various sizes are fixed as the left and right sides of the pallet are fixed There is a problem that can not be used, the utility is reduced as only the pallet of uniform size is used.

The present invention has been made in order to solve the above-mentioned conventional problems, but using a positioning means to fix the pallet to the exact position where the robot loads the parts, it is possible to determine the height position so that even if the pallet wheel is worn It is not necessary to replace the wheels by maintaining the height, and the purpose is to shorten the working time by making the pallet easier by increasing the space when the pallet is initially loaded.

In order to achieve the above object, in the pallet positioning device, it is installed at the pallet fixed position of the floor of the workplace, the front is formed to be narrower than the width of the pallet left and right wheels, and the rear is greater than the width of the pallet left and right wheels. A base plate largely formed; A stopper fixed to the left and right sides of the base plate to support and position both front sides of the pallet; Lifting means formed on the left and right sides of the front and rear of the base plate to receive the control signal of the control means for positioning by positioning the lower end of the introduced pallet up and down a predetermined height; Lateral position fixing means for forming a guide to be fixed to one side of the pallet, which is spaced at a predetermined distance from one side of the left and right centers around the base plate, and to form a guide stand against one side of the pallet on the inner upper portion of the holder; The side position is fixedly installed at a position wider than the width of the loaded pallet opposite to the side position fixing means, and is determined by the control signal of the control means to determine the left and right positions of the pallet by the forward and backward action of the working cylinder. Determining means; A clamping means formed at the rear of the base plate to clamp the rear side of the inserted pallet by receiving the control signal of the control means to fix the positioned pallet so as to determine the front and rear positions; Sensing means for detecting a movement of the pallet introduced into the pallet fixing position and transmitting the detected pallet to the control means; By detecting the pallet approaching the fixed position through the sensing means, each cylinder is operated to transfer and fix the pallet to the exact position where the robot loads the parts. When the loading of the parts is completed, the fixed state is released to release the pallet. It is intended to implement a pallet positioning device consisting of; control means for controlling the operating pressure by applying a control signal to each pneumatic means to take out.

Hereinafter, a pallet positioning apparatus applied to the present invention will be described in detail with reference to the drawings.

Fig. 1 is a schematic plan view of a pallet positioning device applied to the present invention, Fig. 2 is a perspective view of a pallet positioning device applied to the present invention, and Fig. 3 is a lifting means of the pallet positioning device applied to the present invention. 30) and a front view showing an operating state of the side positioning means 50, Figure 4 is a side view showing an operating state of the clamping means 60 of the pallet positioning apparatus applied to the present invention, 1 is a pallet, 2 is the wheel.

As shown in the drawing, stoppers 20 are formed on both rear sides of the base plate 10 installed on the floor of the workplace, and lifting means 30 are formed on both sides of the front and rear sides so that the pallet 1 is in close contact with the stopper 20. It is possible to maintain a constant height of the side of the base plate 10, the side position fixing means 40 formed with a guide stand 42 fixed to one side spaced apart a certain distance from the left and right, and fixed to the other side A guide stand 56 operated by the side positioning means 50 is formed thereon to determine the left and right positions of the pallet 1, and the clamping means 60 is formed in front of the base plate 10. To fix the determined pallet (1), the sensing means 80 detects the movement of the pallet (1) and transmits to the control means 90, the control means 90 is a control signal to each pneumatic means (70) Pares positioned by operating each cylinder Using a robot (not shown) in the (1) configured to be capable of loading a part.

The base plate 10 is installed at the pallet fixing position of the floor of the workplace, the front is formed narrower than the width of the left and right wheels 2 of the pallet (1), the rear is the width of the left and right wheels (2) of the pallet (1) It is configured to be formed larger, to form a lifting means 30 in both front and rear sides of the base plate 10 to maintain a constant height of the pallet (1), and fixed to the rear both sides by forming a stopper (20) do.

The stopper 20 is configured to support and position both front sides of the pallet 1 which is fixedly installed by a predetermined fastening medium on the left and right sides of the rear of the base plate 10 so as to be positioned.

The lifting means 30 is formed on both sides of the front and rear of the base plate 10 so as to be positioned by raising the lower end of the pallet 1 on which the parts are loaded at a predetermined height, and the pneumatic means A (71). Lifting cylinder 31 which is operated by the operating pressure provided by the fixed fixing on the base plate 10, and the lifting plate 33 on the upper end of the rod 32 of the lifting cylinder 31 to form a pallet The lower part of each side of the front and rear of (1) is supported, and the pallet 1 is raised or lowered by the action of raising or lowering the lifting cylinder 31 so that the positioning of the pallet 1 is made.

The side position fixing means 40 is to be fixed to one side of the pallet (1) that is fixedly installed on the floor of the workplace, which is one side of the left side and the right side spaced apart about the base plate (10). The guide stand 42 is formed on the bottom surface of the work station by using a predetermined fastening medium to be fixed and abuts on one side of the pallet 1 that is inserted into the upper portion of the fixed stand 41. ) Is formed, either side of the guide stand 42 or one end of the one side into which the pallet 1 is inserted is formed to be opened by a predetermined angle to the outside to facilitate the introduction of the pallet (1).

The side positioning means 50 is spaced apart a predetermined distance from the base plate 10 to be fixed to the bottom of the workshop opposite the side position fixing means 40, but the side than the width of the pallet (1) The position fixing means 40 and the side positioning means 50 to maintain a wider state to fix one side of the pallet (1) to determine the left and right positions, a predetermined A fixing stand 51 is formed to be fixedly installed using a fastening medium, and an operating cylinder 52 which is operated by an operating pressure provided by the pneumatic means B 72 is fixedly installed on an upper end of the fixing stand 51, A plate 54 is formed at the tip of the rod 53 of the working cylinder 52, and the guide stand fixing support 55 is integrally formed inside the plate 54 to fix the guide stand 56. But, the guide support fixed support 55 is working It is coupled to the hinge 58 formed on the guide stand holder 57 fixedly installed on the bottom of the bow, and abuts on one side of the pallet 1 by an action of advancing or retracting the working cylinder 52. The left and right side positions are determined.

The clamping means 60 is formed at the rear of the base plate 10 to clamp the rear center portion of the introduced pallet 1 so that the front and rear positions thereof can be determined and fixed with respect to the left and right positioned pallet 1. The clamp cylinder 61 is fixedly installed in the front-rear direction on the front center portion of the base plate 10, and the clamp 63 is formed at the tip of the rod 62 of the clamp cylinder 61 to provide pneumatic means C. The clamp 63 can be opened or shut off by the working pressure provided by the 73. When the clamp 63 formed in the clamp cylinder 61 is blocked, the rear center of the positioned pallet 1 The clamp 63 fixed to the rear center portion of the positioned pallet 1 is released so that the pallet 1 can be taken out when the clamp 63 is opened.

The pneumatic means 70 is composed of a solenoid valve for adjusting the operating pressure of each cylinder in response to the control signal of the control means, is connected to the supply pipe of each cylinder by the lifting plate 33, plate 54 The clamp 63 can be operated by a control signal according to the control means 90.

The detecting means 80 detects that the pallet 1 is input and transmits a signal to the control means 90 so that the pallet 1 can be fixed in a positioned state, and detects that the loading of the pallet 1 is completed. By transmitting a signal to the control means 90 to release the fixed state of the positioned pallet to take out, it is to use a sensor or a limit switch.

When the pallet 1 approaches the corresponding position through the sensing means 80, the control means 90 determines the exact position of the pallet 1 so that the pallet 1 can easily load the parts using the robot. Then, by operating each cylinder through the pneumatic means 70, the pallet (1) is fixed at the correct position, and when the loading of the parts is completed, by operating each cylinder to release the fixed state accordingly of the pallet (1) The control means is controlled to take out.

As described above, the operation of the pallet positioning device applied to the present invention will be described in detail.

The base plate 10 is installed at a fixed position of the pallet on the floor of the workshop, and lifting means 30 are formed at both the left and right sides of the base plate (! 0) before and after the base plate (! 0), and at both the rear left and right sides. The stopper 20 is fixed and installed, and the side position fixing means 40 is formed on the bottom surface of the workplace, which is one side portion spaced from the base plate 10 by a predetermined distance, and the side position fixing means 40. The side positioning means 50 is fixedly installed on the opposite side, but is configured to maintain a wider state between the side positioning means 40 and the side positioning means 50 than the width of the pallet 1 to be introduced, The clamping means 60 is installed at the rear of the base plate 10 so as to clamp and fix the rear center portion of the introduced pallet 1.

The supply pipe of each cylinder is provided with a solenoid valve of pneumatic means ABC (71, 72, 73) to adjust the operating pressure to operate the cylinder by the operating pressure, but receives a control signal from the control means 90 The control according to this is possible, by forming the sensing means 80 is configured to detect the movement of the pallet (1) and whether the parts are loaded and transmitted to the control means (90).

When the empty pallet for loading parts is put into the pallet between the side position fixing means 40, which is the pallet positioning apparatus constructed in accordance with the present invention, and the guide bases 42 and 56 formed inside the side positioning means 50, the pallet ( The front part of 1) is brought into close contact with the stopper 20 formed on both the left and right sides of the base plate 10, and no longer proceeds. At this time, the sensing means 80 is placed at the normal position of the pallet 1. Detects and transmits to the control means (90).

The control means 90 applies a control signal to the pneumatic means A 71 to lift the plate 33 formed at the tip of the rod 32 of the lifting cylinder 31 which is the lifting means 30 as shown in FIG. 3ab. The control cylinder is raised so that the pallet 1 put into the pallet positioning apparatus can maintain a constant height position, and then a control signal is applied to the pneumatic means B 72 to operate the cylinder 52 which is the side positioning means 50. To work.

When the rod 53 of the working cylinder 52 is operated in the forward direction, the plate 54 formed at the tip of the rod 53 is advanced and the guide support fixing support 55 formed integrally with the plate 54 is The guide stand fixing support 55 is rotated clockwise by the hinge 58 coupled to the lower end, and the guide stand 56 integrally formed with the guide stand fixing support 55 is located in the A position. In the A 'position is operated by the lifting means 30 by pushing the one side of the pallet (1) the height position is determined to determine the left and right position.

When the height position is determined by the lifting means 30 and the left and right positions are determined by the side positioning means 50, the control means 90 applies a control signal to the pneumatic means C 73. As shown in FIG. 4Ab, the clamp 63 formed in the clamp cylinder 61, which is the clamping means 60, is blocked, that is, the position of the clamp 63 is operated from the B position to the B 'position so that the pallet 1 It is fixed to abut the center of the rear of the control so that the front and rear positions of the pallet (1) can be fixed.

The positioning of the pallet 1 causes the parts to be loaded in the pallet 1 by using a robot. When the loading of the parts is completed, the control means 90 applies a control signal to the pneumatic means C 73 to clamp. The clamp 63 formed on the cylinder 61 is operated by opening from the position B 'to the position B and applying a control signal to the pneumatic means B 72 to move the plate 54 formed on the working cylinder 52 in the reverse direction. Lifting plate 33 formed in the lifting cylinder 31 by applying a control signal to the pneumatic means A (71) is separated from one side of the pallet by the guide stand 56 fixed to determine the left and right position by operating By lowering the separated from the pallet (1), the operator can easily take out the pallet (1) is completed the loading of parts.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited to the drawings.

According to the present invention, when loading a part using a robot in a pallet, the empty pallet is positioned and fixed through a positioning means at a precise position where the robot loads the part, and when the loading of the part is completed, the pallet and the empty pallet are completed. Work efficiency is improved by quickly transferring to the work position to allow repeated loading of parts, and by determining and fixing the height position, there is no need to replace wheels even if the wheel wear occurs, so it is economical It is excellent, the effect of improving the efficiency of the product by increasing the space at the time of the first input of the pallet to facilitate the pallet input to shorten the working time.

Claims (4)

In a pallet positioning device, A base plate installed at a pallet fixed position of the floor of the workshop, the front of which is narrower than the width of the left and right wheels of the pallet, and the rear of which is larger than the width of the left and right wheels of the pallet; A stopper fixed to the left and right sides of the base plate to support and position both front sides of the pallet; Lifting means formed on the left and right sides of the front and rear of the base plate to receive the control signal of the control means for positioning by positioning the lower end of the introduced pallet up and down a predetermined height; Lateral position fixing means for forming a guide to be fixed to one side of the pallet, which is spaced at a predetermined distance from one side of the left and right centers around the base plate, and to form a guide stand against one side of the pallet on the inner upper portion of the holder; The side position is fixedly installed at a position wider than the width of the loaded pallet opposite to the side position fixing means, and is determined by the control signal of the control means to determine the left and right positions of the pallet by the forward and backward action of the working cylinder. Determining means; A clamping means formed at the rear of the base plate to clamp the rear side of the inserted pallet by receiving the control signal of the control means to fix the positioned pallet so as to determine the front and rear positions; Sensing means for detecting a movement of the pallet introduced into the pallet fixing position and transmitting the detected pallet to the control means; By detecting the pallet approaching the fixed position through the sensing means, each cylinder is operated to move and fix the pallet to the exact position where the robot loads the parts. When the loading of the parts is completed, the pallet is released to release the fixed state. And a control means for controlling the operating pressure by applying a control signal to each of the pneumatic means so as to take out the pallet positioning apparatus. The method of claim 1, The lifting means may include a lifting cylinder fixedly installed on a base plate operated by an operating pressure provided by the pneumatic means; A lifting plate formed at an upper end of the rod of the lifting cylinder to support lower portions of both sides of the front and rear sides of the pallet to raise or lower the pallet by the action of the lifting cylinder; And a pneumatic means formed in the supply pipe of the lifting cylinder and receiving a control signal from a control means to provide an operating pressure to the lifting cylinder. The method of claim 1, The side positioning means is fixed to the fixed floor in the workplace; An operating cylinder operated by an operating pressure provided by pneumatic means on an upper end of the stator; A plate formed at a rod end of the working cylinder; A guide stand fixing support formed integrally with the inside of the plate to support the guide stand, the guide stand fixing support being coupled to the guide stand holder fixedly fixed to the floor of the workplace to move the guide stand by the action of an operation cylinder; A guide holder fixedly installed at a predetermined distance apart from the inside of the holder, and having a hinge formed at an upper side thereof to be coupled with the guide holder fixing support; And a guide stand integrally formed inside the guide stand fixing support to be fixed to one side of the pallet. The method of claim 1, The clamping means includes a clamp cylinder fixedly installed on a base plate operated by an operating pressure provided by the pneumatic means; A clamp formed at a rod end of the clamp cylinder to abut or open in contact with a rear of a positioned pallet; And a pneumatic means formed in the supply pipe of the clamp cylinder and receiving a control signal from a control means to provide an operating pressure to the clamp cylinder.

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