KR101843459B1

KR101843459B1 - Automatic unload system apparatus for vinyl shrink goods and the unload method thereof

Info

Publication number: KR101843459B1
Application number: KR1020150157536A
Authority: KR
Inventors: 이주만
Original assignee: 이주만
Priority date: 2015-11-10
Filing date: 2015-11-10
Publication date: 2018-03-29
Also published as: KR20170054864A

Abstract

The present invention relates to an automatic unloading system for a vinyl shrink product loaded on a pallet and a method for unloading the same. The product unloading apparatus according to the present invention comprises: a body having one end coupled to a robot arm; A spacing plate provided on one side of the body and contacting the upper part of the row of products placed on the pallet to tilt the row of products; A separating plate provided on the outer side of the separating plate and descending to separate the product line inclined by the separating plate completely from another adjacent product line; A pressing plate provided on the other side of the body and cooperating with the separating plate to press the product row on the side; And a support hook for supporting a part of the bottom surface of the product line pressed by the separating plate and the pressing plate. According to the present invention, the heat of a product (i.e., a set of bottled water) loaded on the pallet can be easily transferred to the belt conveyor and transferred in a row, and the transportation means and the like required for delivery of the courier can be easily attached thereto.

Description

Technical Field [0001] The present invention relates to an automatic unloading system apparatus for a vinyl shrink product loaded on a pallet,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot depalletizer, and more particularly, to a robot depalletizer which unloads a vinyl shrink product loaded on a pallet and transports the vinyl shrink product through a belt conveyor, And an unloading method using the same.

The present specification relates to a device for automatically unloading a vinyl shrink product loaded on a pallet. In this description, an example of a vinyl shrink product will be described as an example of a vinyl shrink packed bottled water (i.e., PET bottle) set. A set of bottled water refers to a bundle of bottled water. Of course, it is natural that the present invention can be applied to various containers, plastic bottles, PET bottles, milk packs, and the like which are capable of vinyl shrink packaging.

The use of PET bottles is increasing as an example of packaging containers that are widely applied worldwide for beverage filling. PET bottles are most commonly used as general-purpose containers for filling bottled water. And bottled water bottles are not individually packaged, but most of them are produced in shrink-wrapped packaging materials such as 6, 8, or 12 vinyls, and are supplied to groceries, restaurants, and convenience stores. The state in which the bottled water is packed in 6, 8, 12, or the like is referred to as a bottled water set in the present embodiment. That is, as shown in FIG. 1, the bottled water set 1 refers to a state in which a plurality of bottled water bottles of the same capacity are gathered and packaged in a vinyl shrink. A state in which a plurality of bottled water sets 1 are gathered as shown in Fig. 2 is referred to as a bottled water package 2. The bottled water package 2 generally refers to a state in which two or more vinyl packaged bottled water sets 1 are in close contact with each other or are stacked on a pallet B in multiple stages.

On the other hand, consumers purchasing bottled water often purchase bottled water set (1). This is because it is possible to save costs compared to purchasing bottled water separately. In addition, purchasing methods can be purchased at large marts, etc., but the case of using the popularized courier system is increasing.

However, when the customer orders courier service for bottled water in a set unit, the seller or the delivery company needs to separate / unload the bottled water package (2) loaded in the pallet (B) . It is necessary to attach a waybill containing information such as an address to be delivered for each bottled water set 1. When the bottled water sets 1 are in close contact with each other on the pallet B as shown in FIG. 2, It is difficult to attach a transportation route to the plastic packaging side of the bag. It is also because, ultimately, for the courier delivery, the bottled water set must be unloaded from the pallet (B).

However, in order to do this, the operator has to work directly on the pallet (B). However, since the present operation method is a manual operation, the operation time is considerably long. Moreover, the operation on the bottled water package 2 loaded on the pallet B has a considerable risk factor. That is, there was a risk of a safety accident because a part of the loaded bottled water set 1 may collapse or the worker may lose balance each time the bottled water set 1 is lowered one by one.

Korean Patent Laid-Open Publication No. 10-19960704771 (1996. 10. 09. Can Packed Container Separated into Two Layers and Its Manufacturing Method)

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to automate the process of separating / unloading a vinyl shrink wrapped product (i.e., a bottled water package) loaded on a pallet in units of units or in units of columns, , Eliminating the risk associated with separating / unloading the product on pallets. This means that it is possible to easily attach the transportation means necessary for the courier delivery to the vinyl packaging surface of each unit set.

According to an aspect of the present invention, there is provided a product handling device for separating and unloading a vinyl shrinked product train loaded on a pallet according to driving of a robot arm; And a belt conveyor for transferring the product unit sets unloaded by the product unloading apparatus in a line, wherein when the vinyl shrinked product unit set is stacked in multiple stages on the pallet, There is provided an automatic unloading system device of a vinyl shrink product loaded on a pallet which is moved to a storage area by a unloading device.

The product unloading apparatus may further include: a body coupled to the robot arm; A spacing plate provided on one side of the body and contacting the upper part of the row of products placed on the pallet to tilt the row of products; A separating plate provided on the outer side of the separating plate and descending to separate the product line inclined by the separating plate completely from another adjacent product line; A pressing plate provided on the other side of the body and cooperating with the separating plate to press the product row on the side; And a support hook for supporting a part of the bottom surface of the product line pressed by the separating plate and the pressing plate.

At least one adsorption pad is further provided on the left and right sides of the body so as to adsorb and move the corrugated cardboard.

In addition, a contact bracket is formed at one end of the spacing plate. When the contact bracket is positioned above the product rows, the product row in the horizontal movement direction is inclined do.

The separating plate is firstly lowered to a half height position of the product line, and is lowered to the bottom of the product line according to the movement of the body. After the separating plate is lowered first, .

The present invention further includes a centering device for supporting a set of vinyl shrinked product units loaded on the pallet. The centering device includes: a vertical bracket having a predetermined height; A horizontal bracket that elevates or descends along both sides of the vertical bracket in correspondence with the height of the product line according to sensing operation of the sensor; And a moving bracket installed inside each side of the horizontal bracket and pushing the product row inward by the driving force of the cylinder to support the stacked state.

According to another aspect of the present invention, there is provided a product handling device driven by a robot arm, comprising: a positioning device for positioning a separation plate above a row of products to be separated, with a product row loaded on the pallet; Horizontally moving the spacing plate to tilt the row of products; Sandwiching the separator plate with a clearance space formed between the product line and another product line adjacent to the product line; Cooperating with said separating plate to urge the pressing plate against the other side of said product line; And supporting the part of the bottom of the product row by pivoting the supporting hook when the product row is transported to the belt conveyor by cooperation of the separating plate and the pressing plate. Provide a method of unloading.

And a step of removing the corrugated cardboard having the absorption pad provided on the left and right sides of the body every time the first row of the product is conveyed to the belt conveyor when the product row is stacked on the pallet, .

According to the automatic unloading system and the unloading method of the vinyl shrink product mounted on the pallet according to the present invention, the columns of the vinyl shrink product (that is, the bottled water set) And then both sides of the product row are pressed up and transferred to the belt conveyor. Therefore, it is possible to prevent a safety accident caused by the worker separating / unloading the product directly on the pallet.

In addition, the present invention can transfer a unit set of units or a set of units containing two or more unit sets from a pallet to an adjacent belt conveyor easily, so that it is possible to easily transport the transportation means necessary for delivery of the courier to the plastic packing surface It is possible to reduce the cost.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a unit bottled water bottle generally packaged in a plastic bag;
Fig. 2 is a view showing a state in which a vinyl-packed bottled water set is stacked on a pallet in multiple stages
Fig. 3 is an overall workplace configuration diagram including a product (living water set) unloading apparatus according to an embodiment of the present invention
Fig. 4 is a perspective view of the bottled water set unloading apparatus shown in Fig.
Fig. 5 is a front view of Fig. 4
6A and 6B are a plan view and a side view of the centering device applied to the present invention
7 is a flowchart illustrating a process of separating a bottled water set row using the bottled water set unloading apparatus of the present invention
FIG. 8 is a view showing an example of a part of the process of separating the bottled water set row

In the present invention, when the bottled water product set on the pallet is stacked in two or more stages in one stage, the main stream of the bottled water is separated from the adjacent bottled water set, and then lifted up and unloaded by the belt conveyor. Therefore, according to the present invention, in the belt conveyor, one row of the bottled water set is transferred, and at this time, the transportation path for delivering the courier can be easily attached to the vinyl wrapping surface surrounding the bottled water set. Although the embodiment described below explains an example of separating a set of living water sets in which two or three sets of living water sets are collected, the present invention is not limited to a set of living water sets, It is of course also possible to separate them from each other and transfer them to a belt conveyor.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description when read in conjunction with the accompanying drawings.

3 is an entire workplace configuration diagram including an automatic unloading device of a vinyl shrink product loaded on a pallet according to an embodiment of the present invention. The workplace can be divided into four areas.

And is a region where the bottled water set (A) is stacked on the pallet (B) in a multi-stage, bottled water set. A centering device 10 is installed outside the pallet B in this area.

And a loading device 100 for unloading the bottled water set column loaded on the pallet B is located. Such a loading device 100 is a structure driven by a robot arm 101. The robot arm 101 is configured to move the loading device 100 not only to the area where the pallet B is located but also to the corrugated cardboard storage area A sheet magazine 20, and a belt conveyor 30 for conveying the set of bottled water in series. One end of the robot arm 101 is fixed to a support frame 102 provided on the lower side.

There may be a storage area 20 where the corrugated cardboard 3 (see FIG. 2) (or thick paper) between the stages is removed and stored when the bottled water set A is stacked. In order to transfer all the set of bottled water (A) to the belt conveyor (30), the corrugated cardboard (3) between the corrugated cardboard (3) must be removed and the corrugated cardboard (3) This is because an area is required. The corrugated cardboard 3 serves to stably load a set of the bottled water (A) at a higher height, and also has a buffering property excellent in compressive strength and external impact, thereby preventing the bottled water set A from being broken .

And a belt conveyor 30 area for conveying the bottled water set A taken out by the cargo handling device 100. When the heat of each set of bottled water A is conveyed substantially along the belt conveyor 30, a conveying path or the like will be attached to the vinyl wrapping surface that surrounds the bottled water set A.

Next, the structure of the cargo handling apparatus 100 will be described with reference to FIGS. 4 and 5. FIG. The loading device 100 is mounted on one end of a robot arm 101 that is rotationally driven. The operable area of the robotic arm 101 can reach the pallet B, the corrugated cardboard storage area 20, and the belt conveyor 30 as described above. Therefore, according to the operation of the robot arm 101, the loading and unloading apparatus 100 can pick up the row of bottled water set A on the pallet B and place it on the belt conveyor 30, 3) can be adsorbed and transferred to the storage area 20.

The body 110 forms an overall appearance of the cargo handling apparatus 100. The body 110 may be configured such that it is not exposed to the interior in the form of a series of housings, but may be configured to expose some or all of the components forming the body 110. However, this is merely an embodiment, and it suffices to include all the arrangements that can substantially carry the row of bottled water (A) pursued by the present invention on the pallet B. That is, the shape of the body 110 means that it can be formed in any other shape. The body 110 may be provided with a robot flange 111 to be connected to the robot arm 101. Accordingly, the cargo handling apparatus 100 is rotatable about the robot flange 111. The body 110 is provided with a controller (not shown) for controlling the overall operation of the cargo handling device 100. The controller serves to control the operation of various configurations including the operation of the robot arm 101, a separation plate, a separation plate, a pressure plate, a support hook, a suction pad, and the like described below. Of course, the controller may be installed outside the body. For example, it is possible to use an external computer. At this time, it is needless to say that a computer must be linked to control the robotic arm 101 and the configurations of the body.

A separating plate 120 is formed in the body 110, the contact bracket 121 having one end of an 'a' shape. The spacing plate 120 is driven to move up and down in the vertical direction. Therefore, the spacing plate 120 is tilted in the direction of movement of the body 110 in the moving direction of the body 110 in a state of being lowered to the upper side between the rows of the bottled water set A, It provides a space between the sets and the rows. This is because the rows of the bottled water set A in one row are inclined because the bottled water set rows are stacked in close contact with each other and therefore the sides of the bottled water set can not be collected. In this case, if there is only one row of bottled water set on the pallet B, the side plate can be picked up without tilting the row of bottled water sets. In this case, the spacing plate 120 may not necessarily be driven.

A separating plate 130 is formed on the outer side of the separating plate 120 so as to be separated from the body 110 provided with the separating plate 120. The separation plate 130 also has a structure for moving up and down in the vertical direction. The separation plate 130 is lowered to the lower end of the clearance space formed between the bottled water set rows according to the operation of the spacing plate 120 to completely separate the bottled water set row adjacent to the bottled water set A row . That is, the separating plate 130 first separates between the rows of the bottled water set A in a state of lowering to a position lower than the separating plate 120, and when the separating plate 120 rises and returns to the original position And moves down to the lower end of the bottled water set A in accordance with the lowering operation of the entire body 110 to completely separate the bottled water set A from the row.

On the other side of the body 110, a pressing plate 140 is formed. The pressing plate 140 serves to pick up one set of living water A or the set of living water A in cooperation with the separating plate 130. That is, when the separation plate 130 is in contact with one surface of the row of the bottled water set A, the pressure plate 140 is driven to press the other surface of the row of bottled water set A in a pressurized contact, The side surface can be gripped. The gripping force at this time should have a sufficient size to lift the row of the bottled water set A only by the separating plate 130 and the pressing plate 140.

On the outer surface of the pressing plate 140, a supporting hook 150 is formed. The support hook 150 is installed on the connection bar 160 attached to the outer surface of the pressing plate 140 and is configured to rotate around the hinge shaft 170 of the connection bar 160 at a predetermined angle. The supporting hook 150 supports the bottom portion of the row of the bottled water set A when the row of the bottled water set A is lifted on the pallet B so that the bottled water set A is more stably supported on the belt conveyor 30, As shown in Fig. The supporting hooks 150 are formed in a plurality of holes in the drawing, but they may be formed long along the longitudinal direction of the connecting bars 160.

At least one adsorption pad 180 is provided on both sides of the body 110. The adsorption pad 180 is normally positioned on the upper side of the body 110 and is configured to descend downward only when the corrugated cardboard 3 is removed.

The separation plate 120, the separation plate 130, the pressure plate 140, the support hook 150, the absorption pad 180, and the like are used to transport the set water A to the belt conveyor 30 Up and down operations in accordance with the operation of various mechanical devices including a cylinder driven according to a control operation of the controller.

6A and 6B are block diagrams of a centering device 10 applied to the present invention. The centering device 10 serves to prevent the bottled water set or the unit bottled water set loaded on the pallet B from collapsing or tilting.

To this end, the centering device 10 includes a vertical bracket 11 and a horizontal bracket 12 which is raised / lowered along both sides of the vertical bracket 11. The horizontal bracket 12 is positioned at an appropriate height according to a sensing operation of a sensor (not shown) for sensing the bottled water package 2. At this time, the horizontal bracket 12 does not cover the periphery of the bottled water package to be unloaded at present, but is positioned so as to surround the periphery of the bottled water package to be unloaded next time. For example, in the case of two-stage loading, it is positioned around the first-stage water bottle package.

The horizontal bracket 12 surrounds the bottled water package 2 so that the bottled water package 2 loaded on the pallet B is not collapsed or tilted during a loading operation by the cargo handling apparatus 100. For this purpose, Moving brackets 13a, 13b, 13c, and 13d are mounted on the respective sides of the bracket 12. These moving brackets 13a, 13b, 13c, and 13d are driven according to the driving of one or more cylinders 15 mounted on each side. Therefore, when the boat moves up / down, it is in a state of being separated from the bottled water package 2, and in the unloading operation, it comes into contact with the periphery of the bottled water package 2 to be unloaded next time.

In this way, the centering device 10 is constructed so that the horizontal bracket 12 is moved up and down in the vertical direction so as to correspond to the height of the bottled water package 2 in which the bottled water set A is loaded, 13b, 13c and 13d push the bottled water sets A stacked on the pallet B inward so that the bottled water package 2 is loaded correctly.

The following describes the process of unloading a set of bottled water.

As shown in Fig. 2, the row of bottled water (A) is loaded on the pallet B in multiple stages (S100). It can be seen that each of the bottled water set (A) heat is in close contact with each other, and there is no clearance space between each bottled water set (A) row. However, . The present embodiment will separate the bottled water set rows from each other by using an upper part of the row of the bottled water set (A).

To do this, the robot arm 101 is operated to position the body 110 above the row of bottled water set A mounted on the pallet B (S102). The contact bracket 121 formed on one end of the spacing plate 120 is positioned on the upper side between the row of the bottled water set A to be moved (S104). In other words, as described above, since the upper part of the bottled water set column in the structure of the PET bottles having no gap (effective space) between the rows of bottled water sets A is narrowed away from other adjacent bottled water set rows, the contact brackets 121 can enter have.

In this state, the body 110 is moved in one direction (S106). Then, the spacing plate 120 is also moved in the same direction, so that the upper part of the row of the bottled water set A, which has been in contact with the contact bracket 121, is moved (S108). That is, as shown in FIG. 8, the row of the bottled water set A is inclined as a whole. As the row of the bottled water set A is inclined as described above, there is a space between the adjacent bottled water set rows.

The separation plate 130 is inserted into the clearance space (S110). At this time, the separating plate 130 is not completely fitted to the lower surface of the set of living water A, but is first fitted only up to approximately 1/2 of the height of the set of living water set A. [ In this state, the separating plate 120 which has been downwardly moved upward moves back to the original position. When the separating plate 120 is returned to its original position, the body 110 is moved downward. When the separating plate 120 is left, 120 are in contact with each other to disturb movement of the body 110. Therefore, the separating plate 130 is completely lowered to the bottom portion of the bottled water set A at the time when the separating plate 120 returns to the initial position. As a result, the row of bottled water (A) is completely separated.

The pressing plate 140 is moved from the other side of the living water set A to push the row of the living water set A when the separating plate 130 is positioned on one side of the row of the bottled water set A in an inclined state S112). Accordingly, the row of the bottled water set A is completely held by the cooperation of the separation plate 130 and the pressure plate 140. At this time, the row of the bottled water set A stands upright between the separating plate 130 and the pressing plate 140.

Thereafter, the body 110 is moved upward by the driving of the robot arm 101, and the bottled water set A is lifted in accordance with this movement. At this time, the support hook 150 connected to the connection bar 160 is rotated according to the operation of the controller when the row of the set of living water A is lifted. Thus, one end of the support hook 150 supports a part of the bottom of the row of bottled water set A (S114). Therefore, since the row of the bottled water set A is conveyed to the belt conveyor 30, a part of the bottom of the row of bottled water set A is stretched by the support hook 150, so that it can be carried more safely.

When the bottled water set A is positioned above the belt conveyor 30 according to the above procedure, the controller moves the supporting hook 150, the pressing plate 140 and the separating plate 130 to their original positions The bottled water set A is placed on the belt conveyor 30 (S116). Then, the row of bottled water (A) is transferred in one direction in accordance with the driving of the belt conveyor 30 (S118), so that the bottled water set A can be easily attached to the plastic wrapping surface .

On the other hand, when all of the bottled water set (A) columns at the upper end are moved (S120) while the bottled water set A is loaded in multiple stages, the controller subsequently carries out the operation of moving the bottled water set row at the lower end. At this time, as described above, the thick paper or the corrugated cardboard (3) placed between the steps should be removed to prevent the bottled water set breakage or the like.

The controller drives the robot arm 101 so that the body 110 is positioned above the pallet B. Then, the suction pad 180 provided on the left / right side of the body 110 is slid downward to contact the corrugated cardboard 3 (S122). At this time, the spacing plate 120, the separation plate 130, and the pressure plate 140 are not driven.

When the adsorption pad 180 contacts the corrugated cardboard 3, the controller moves the body 110 upward. Then, the corrugated cardboard 3 adsorbed on the adsorption pad 180 is also moved. The corrugated cardboard 3 is moved to the storage area 20 provided on one side by controlling the robot arm 101. When the corrugated cardboard 3 is positioned above the storage area 20, (S124).

According to this process, the corrugated cardboard 3 can be removed (S126).

Thereafter, the separation operation for the bottled water set column is repeatedly performed.

As described above, it can be seen that the present embodiment is configured to easily separate the bottled water set train loaded on the pallet from other adjacent bottled water set trays, and to transport the same to the belt conveyor.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be apparent that modifications, variations and equivalents of other embodiments are possible. Therefore, the true scope of the present invention should be determined by the technical idea of the appended claims.

101: Robot arm 110: Body
120: spacing plate 130: separating plate
140: pressure plate 150: support hook
180: adsorption pad

Claims

A product unloading device for separating and unloading the vinyl shrinked product heat loaded on the pallet according to the driving of the robot arm; And
And a belt conveyor for conveying the product unit sets unloaded by the product unloading device in a line,
The product handing-
A body coupled at one end to the robot arm;
A spacing plate provided on one side of the body and contacting the upper part of the row of products placed on the pallet to tilt the row of products;
A separating plate provided on the outer side of the separating plate and descending to separate the product line inclined by the separating plate completely from another adjacent product line;
A pressing plate provided on the other side of the body and cooperating with the separating plate to press the product row on the side; And
And a support hook for supporting a part of the bottom surface of the product line pressed by the separating plate and the pressing plate,
Wherein when the vinyl shrink product unit set is stacked on the pallet in multiple stages, the corrugated cardboard provided between the stages is moved to the storage area by the loading device. Unloading system unit.

delete

The method according to claim 1,
Wherein the left side and the right side of the body are loaded on a pallet on which at least one adsorption pad is further installed to adsorb and move the corrugated cardboard.

The method according to claim 1,
A contact bracket having an 'a' shape is formed at one end of the spacing plate,
Wherein the contact bracket is mounted on a pallet which tilts a product row in a horizontal movement direction in accordance with a horizontal movement of the body in a state in which the contact bracket is positioned above the space between the product rows.

The method according to claim 1,
Wherein the separating plate is first lowered to a half height position of the product line, and is lowered to a bottom portion of the product line in accordance with movement of the body, on a pallet.

6. The method of claim 5,
Wherein the separation plate is returned to the initial position after the separating plate is firstly lowered.

The method according to claim 1,
Further comprising a centering device for supporting a set of vinyl shrinked product units loaded on said pallet,
In the centering device,
Vertical bracket of constant height;
A horizontal bracket that moves up and down along both sides of the vertical bracket corresponding to the height of the product line according to sensing operation of the sensor; And
And a moving bracket installed inside each side of the horizontal bracket and pushing the product row inward by the driving force of the cylinder to support the stacked state.

A product handling device driven by a robot arm, comprising: placing a separation plate above a row of products to be separated, with the product row loaded on the pallet;
Horizontally moving the spacing plate to tilt the row of products;
Sandwiching the separator plate with a clearance space formed between the product line and another product line adjacent to the product line;
Cooperating with said separating plate to urge the pressing plate against the other side of said product line; And
And a step of supporting a part of the bottom surface of the product train by pivoting the support hook when the product row is conveyed to the belt conveyor by the cooperation of the separating plate and the pressing plate to support the automatic shipment of the vinyl shrink product loaded on the pallet Way.

9. The method of claim 8,
The step of removing the corrugated cardboard having the absorption pad provided on the left side and the right side of the body every time the first row of product rows is completely conveyed to the belt conveyor when the product row is stacked on the pallet, A method of automatic unloading of a vinyl shrink product loaded on a pallet further comprising: