KR101868105B1 - Auto palletizing system - Google Patents

Abstract

The present invention relates to an automatic palletizing system. According to this, it is possible to provide an automatic palletizing system capable of automatically palletizing both the carrier box and the main box, and identifying only the main box to be palletized and palletizing.

Description

[0001] AUTOMATIC PALLETIZING SYSTEM [0002]

The present invention relates to an automatic palletizing system, and more particularly, to an automatic palletizing system capable of automatically palletizing a carrier box and a main box together.

In general, when a large quantity of products is delivered to a receiving company, the products are loaded on the carrier box, and the carrier box is loaded on the pallet. Also, the products and the like are packed in a larger box, and the large box is loaded on the pallet and delivered.

Conventionally, some or all processes such as the loading operation proceed by manual operation, resulting in a decrease in work efficiency and an increase in labor costs.

In addition, there may be cases where a large box is palletized for mass delivery and a large box itself is delivered for a small quantity delivery. In such a case, Tailing may be necessary. However, in the past, there has been a problem that the efficiency of the operation is degraded due to the manual operation of such identification, or the identification is not performed properly and an error occurs.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide an automatic palletizing system capable of automatically palletizing a carrier box and a main box together and identifying only a main box to be palletized, .

According to an aspect of the present invention, there is provided an automatic palletizing system including: a carrier box stacking unit having a plurality of carrier boxes stacked on a first pallet; A carrier box supply unit in which a plurality of carrier boxes are placed on a pallet for supplying a carrier box; A load supplier for supplying the load by a conveyor; A large box loading section in which a plurality of large boxes are loaded on a second pallet; A large box supply part supplied by a conveyor that supplies a large box; A box-identifying unit for identifying the box-box to be transferred to the box-box supply unit or to be discharged to the outside; A pallet wrapping part for wrapping the second pallet on which the large box is loaded; A multi-joint robot for loading the load onto the carrier box, loading the carrier box on which the load is loaded on the first pallet, and loading the box on the second pallet; And supplying the first pallet to the carrier box loading section, supplying a carrier box to the carrier box feeding section, supplying the second pallet to the large box loading section, and loading the second pallet into the pallet wrapping section Wherein the carrier box loading section, the carrier box feeding section, and the large box loading section are arranged in series, and the articulated robot is installed so as to be movable in the tandem arrangement position, Wherein the pallet transporting device moves according to positional information input thereto and performs the supplying operation.

The carrier box loading part, the carrier box feeding part, and the load supply part may be disposed adjacent to each other.

The large box loading part and the large box loading part may be disposed adjacent to each other.

The pallet transfer device may be configured to collect the pallet for supplying the carrier box when the carrier box of the carrier box supply unit is exhausted.

Wherein the automatic palletizing system further comprises a load carrying portion disposed adjacent to the load supplying portion,

Wherein the articulated robot moves the carrier box supplied to the carrier box supply unit to the load carrying unit to load the load on the carrier box.

The pallet transporting apparatus includes a lift device, and the carrier box loading section, the carrier box feeding section, or the large box loading section are formed such that a predetermined empty space is formed below the supplied first or second pallet, And entering the empty space to actuate the lifting device upwardly or downwardly to load or unload the first or second pallet.

The automatic palletizing system includes: a first pallet external supply unit to which a first pallet is supplied from the outside; A carrier box external supply unit in which a plurality of carrier boxes placed on a carrier box supply pallet are supplied from the outside; A second pallet external supply portion to which the second pallet is supplied from the outside; And a pallet transporting device for transporting the first pallet to the outside of the first pallet, the pallet transporting device including a lift device, And the pallet transporting unit is configured to enter the empty space to operate the lifting device upward or downward to move the first or second pallet, It may be loading or unloading the pallet.

The first or second pallet external supply unit may include means for loading the first or second pallet, which is stacked and supplied, into the pallet transfer device one by one.

The automatic palletizing system may further include a large-box sorting and discharging unit for sorting and discharging the large-sized boxes discharged to the outside according to a predetermined criterion.

According to the automatic palletizing system of the embodiment of the present invention, the carrier box and the main box can be automatically palletized together, and only the main box to be palletized can be identified and palletized A palletizing system can be provided.

1 is a schematic perspective view of an automatic palletizing system according to an embodiment of the present invention.
2 is a flowchart illustrating a palletizing method of a carrier box according to an embodiment of the present invention.
3 is a flow chart illustrating a palletizing method of a large box according to an embodiment of the present invention.
4 and 5 are views showing a pallet transporting apparatus according to an embodiment of the present invention loading pallets.
6 to 9 are views showing a pallet transporting apparatus according to an embodiment of the present invention loading pallets one by one from an external pallet supplying section.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

The drawings are schematic and illustrate that they are not drawn to scale. The relative dimensions and ratios of the parts in the figures are shown exaggerated or reduced in size for clarity and convenience in the figures, and any dimensions are merely illustrative and not restrictive. Also, to the same structure, element, or component appearing in more than one of the figures, the same reference numerals are used to denote similar features. When referring to a portion as being "on" or "on" another portion, it may be directly on the other portion or may be accompanied by another portion therebetween.

The embodiments of the present invention specifically illustrate one embodiment of the present invention. As a result, various variations of the illustration are expected. Thus, the embodiment is not limited to any particular form of the depicted area, but includes modifications of the form, for example, by manufacture.

Hereinafter, an automatic palletizing system will be described with reference to the drawings, in an embodiment of the present invention.

1 is a schematic perspective view of an automatic palletizing system according to an embodiment of the present invention.

1, an automatic palletizing system 10 according to an embodiment of the present invention includes a carrier box loading unit 110, a carrier box supplying unit 120, a loading supply unit 130, a large box loading unit 210 (Not shown), a pallet wrapping unit 230, a multi-joint robot 310, and a pallet transporting unit 410. The pallet transporting unit 410 includes a pallet transporting unit 410,

In the carrier box loading unit 110, a plurality of carrier boxes 520 on which the loads 510 are loaded are loaded on the first pallet 530. The loading operation is performed by the articulated robot 310, and the first pallet 530 is supplied by the pallet transporting device 410. The carrier box loading unit 110 may be a plurality of.

The load 510 may be a product itself, a small box containing the product, a plurality of tray bundles containing the product, and the like. The carrier box 520 may be a box whose top surface is opened.

A plurality of carrier boxes 520 are placed on the carrier box supply pallet 540 and supplied to the carrier box supply unit 120. The supply is performed by the pallet transporting device 410.

The load supply unit 130 supplies the load 510 by a conveyor. The supplied load 510 is loaded on the carrier box 520 by the articulated robot 310. The number of the loads 510 loaded on one carrier box 520 may be plural.

In the large-box loading unit 210, a plurality of large boxes 610 are loaded on the second pallet 620. The loading is performed by the articulated robot 310, and the second pallet 620 is supplied by the pallet transfer device 410. The large box mounting portion 210 may be a plurality of.

The large box supply part 220 supplies the large box 610 by a conveyor. The supplied large box 610 is loaded on the second pallet 620 by the articulated robot 310.

The large box identification unit (not shown) identifies the large box 610 so that the large box 610 can be transported to the large box supply unit 220 or discharged to the outside. The identification can be performed by various means such as recognition of a bar code or label attached or printed on the outer surface of the main box 610. [

(Not shown) identifies the main box 610, the main box 610 to be palletized is transferred to the main box supply unit 220, and the main box 610, which is a palletizing target, 610) can be discharged to the outside.

The palletizing target 610 may be palletized and delivered to a receiving company of the pallet box 610 in bulk, and the pallet box 610, which is not palletized, 610). ≪ / RTI >

The pallet wrapping unit 230 wraps the second pallet 620 on which the main box 610 is loaded. The wrapping means wrapping the second pallet 620 and the plurality of large boxes 610 loaded on the second pallet 620 together by a material such as vinyl. The second pallet 620 on which the main box 610 is loaded is supplied to the pallet wrapping part 230 by the pallet transporting device 410.

The articulated robot 310 loads the load 510 on the carrier box 520 and loads the carrier box 520 on which the load 510 is loaded on the first pallet 530, And the main box 610 is loaded on the second pallet 620.

As described above, the loading of the carrier box 520 is performed in the carrier box loading unit 110, and the loading of the large box 610 is performed in the large box loading unit 210.

And may include means capable of gripping the load 510, the carrier box 520, or the large box 610 with a plurality of joints for the loading of the articulated robot 310.

The carrier box mounting part 110, the carrier box supplying part 120 and the large box mounting part 210 are arranged in series, that is, substantially in a line, and the articulated robot 310 has the position And is installed movably.

By the movable installation, the articulated robot 310 can simultaneously perform the carrier box palletizing operation and the large box palletizing operation.

The pallet transporting apparatus 410 supplies the first pallet 530 to the carrier box loading unit 110 and supplies the carrier box supply unit 520 to the second pallet loading unit 210, And supplies the pallet wrapping unit 230 with the second pallet 620 on which the main box 610 is loaded.

The pallet transporting device 410 moves according to the position information inputted to the pallet transporting device 410 itself and performs the supplying operation. The pallet transporting device 410 may be equipped with a navigation system.

Meanwhile, the carrier box mounting portion 110, the carrier box supplying portion 120, and the load supply portion 130 may be disposed adjacent to each other. Accordingly, the multi-joint robot 310 can perform the loading operation of the load 510 and the carrier box 520 using only a plurality of joints without moving.

Also, the large box mounting portion 210 and the large box supplying portion 220 may be disposed adjacent to each other. Accordingly, the multi-joint robot 310 can perform the loading operation of the large box 610 using only a plurality of joints without moving.

The pallet transporting device 410 may perform the operation of collecting the carrier box supplying pallet 540 when the carrier box 520 of the carrier box supplying part 120 is exhausted.

The automatic palletizing system 10 according to an embodiment of the present invention may further include a load carrying portion 140 disposed adjacent to the load carrying portion 130. [ At this time, the articulated robot 310 moves the carrier box 520 supplied to the carrier box supply unit 120 to the loader unit 140 and loads the loader 130 on the carrier box 520 Lt; / RTI > In this case, the work radius for loading the load 130 of the articulated robot 310 can be minimized.

An automatic palletizing system 10 according to an embodiment of the present invention includes a first pallet external supply unit 150, a carrier box external supply unit 160, a second pallet external supply unit 230, or pallet discharge units 170 and 240 ).

The first pallet 530 is supplied from the outside to the first pallet external supply unit 150. A plurality of the first pallets 530 may be stacked and supplied. The stacking supply of the first pallet 530 to the first pallet external supply part 150 may be performed by an operator. The supplied first pallets 530 are fed to the carrier box loading unit 110 one by one by the pallet transfer device 410.

A plurality of carrier boxes 520 placed on the carrier box supply pallet 540 are supplied from the outside to the external supply part 160 of the carrier box. The supply may be done by an operator. The supplied carrier box 520 can be supplied to the carrier box supply unit 120 by the pallet transfer device 410.

A second pallet 620 is supplied from the outside to the second pallet external supply unit 230. A plurality of the second pallets 620 may be stacked. The stacking supply of the second pallet 620 to the second pallet external supply part 230 may be performed by an operator. The supplied second pallets 620 may be supplied to the box feeding part 210 one by one by the pallet transporting device 410.

The first and second pallets 530 and 620, which have been completed, are supplied to the pallet discharging units 170 and 240 to be discharged to the outside. The external discharge of the completed first or second pallet 530, 620 may be done by an operator.

The automatic palletizing system 10 according to an embodiment of the present invention includes a box box 610 for sorting and discharging a box box 610 discharged to the outside according to a predetermined criterion by identification of a box box identifying unit And may further include a sorting and discharging unit 250.

2 is a flowchart illustrating a palletizing method of a carrier box according to an embodiment of the present invention.

In order to palletize the carrier box 520, first, the first pallet 520 is supplied to the carrier box stacking unit 110 (S10). The supply is performed by the pallet transporting device 410. The first pallet 520 may be supplied from the first pallet external supply unit 150.

Next, the carrier box 520 is supplied to the carrier box supply unit 120 (S20). The supply is performed by the pallet transfer device 410 with the carrier box 520 being placed on the pallet 540 for supplying the carrier box. The carrier box supply pallet 540 and the carrier box 520 may be supplied from the carrier box external supply unit 160.

Next, the articulated robot 310 loads the load 510 supplied from the load supply unit 130 into the carrier box 520 (S40).

A step S30 of supplying the carrier box 520 supplied to the carrier box supply unit 120 to the load carrying unit 140 by the articulated robot 310 before the loading step S40 of the load 510, May be included. In this case, the articulated robot 310 feeds the carrier box 520 to the loader unit 140 (S30), and then loads the loader 510 into the carrier box 520 (S40) .

Next, the articulated robot 310 loads the carrier box 520 on which the object 510 is mounted on the first pallet 530 supplied to the carrier box loading unit 110 (S50).

The articulated robot 310 may include a step S40 of loading the load 510 on the carrier box 520 and a step S50 of loading the carrier box 520 on the first pallet 530, A step S40 of loading the carrier box 520 on the carrier box 520 and a step S50 of loading the carrier box 520 on the first pallet 530 are repeated . By this repetition, loading of the carrier box 520 onto the first pallet 530 is completed.

When the loading of the carrier box 520 into the first pallet 530 is completed, the pallet transfer device 410 discharges the first pallet 530 (S60). For the discharge of the first pallet 530, the automatic palletizing system 10 according to an embodiment of the present invention may include a first pallet discharge portion 170.

3 is a flow chart illustrating a palletizing method of a large box according to an embodiment of the present invention.

In order to palletize the large box 610, first, the second pallet 620 is supplied to the large box loading unit 210 (S110). The supply is performed by the pallet transporting device 410. The second pallet 620 may be supplied from the second pallet external supply unit 230.

Next, the articulated robot 310 loads the large box 610 supplied from the large box supply unit 220 onto the second pallet 620 (S120).

The articulated robot 310 repeats step S120 of loading the large box 610 on the second pallet 620. [ By this repetition, loading of the large box 610 onto the second pallet 620 is completed.

When the loading of the box 610 onto the second pallet 620 is completed, the pallet transfer device 410 discharges the second pallet 620 (S150). For the discharge of the second pallet 620, the automatic palletizing system 10 according to an embodiment of the present invention may include a second pallet discharge portion 240.

4 and 5 are views showing a pallet transporting apparatus according to an embodiment of the present invention loading pallets.

4, the first pallet external supply part 150, the carrier box external supply part 160, or the second pallet external supply part 230 may include a support part 830 and a support part 840, respectively.

The support portion 840 is formed to be perpendicular to the paper surface, and is formed on the support portion 840 to support the pallet 700. The pallet 700 includes first and second pallets 530 and 620. A certain empty space is formed in the lower portion of the pallet 700 by the support.

On the other hand, the pallet transporting device 410 may include a lift device 412.

The pallet transporting device 410 enters the empty space to operate the lifting device 412 upward.

Referring to FIG. 5, the pallet 700 is loaded on the pallet transport apparatus 410 by the operation of the lift apparatus 412. When the pallet 700 is loaded, the pallet transporting device 410 moves out of the empty space and transports the pallet 700 to another location.

The carrier box stacking part 110, the carrier box feeding part 120 or the large box stacking part 210 may each include a support part 830 and a support part 840, The pallet 700 can be unloaded and supplied to the carrier box loading unit 110, the carrier box feeding unit 120, or the large box loading unit 210. [

6 to 9 are views showing a pallet transporting apparatus according to an embodiment of the present invention loading pallets one by one from an external pallet supplying section.

The first or second pallets 530 and 620 may be stacked and supplied to the first pallet external supply unit 150 or the second pallet external supply unit 230. Hereinafter, the means for loading the first or second pallets 530 and 620, which are stacked and supplied, one by one into the pallet transporting apparatus 410 will be described.

Referring to FIG. 6, the first pallet external supply part 150 or the second pallet external supply part 230 may include a support part 830 and a support part 840, respectively.

The support portion 840 is formed to be perpendicular to the paper surface, and is formed on the support portion 840 to support the pallet 700. The pallet 700 includes first and second pallets 530 and 620. A certain empty space is formed under the pallet 700 by the support.

On the other hand, the pallet transporting device 410 may include a lift device 412.

The pallet transporting device 410 enters the empty space to operate the lifting device 412 upward.

Referring to FIG. 7, the pallet 700 stacked by the operation of the lift apparatus 412 is loaded on the pallet transporting apparatus 410. When the pallet 700 is loaded, the support portion 830 moves upward along the support portion 840 to support the pallet 700 positioned second from the lowermost pallet 700. The support portion 830 may be designed to be pushed toward the support portion 840 so as not to be caught by the pallet 700 during the upward movement.

Referring to FIG. 8, the support portion 830 may move upwardly along the support portion 840 after supporting the second pallet 700. Only one of the lowermost pallets 700 is loaded on the pallet transporting apparatus 410 by the above process.

9, the support unit 830 is not moved further upward, but the lift apparatus 412 of the pallet transporting apparatus 410 is operated downward, so that only one lowermost pallet 700 May be loaded in the pallet transfer device 410. [

10: Automatic palletizing system 110: Carrier box loading part
120: carrier box supply part 130:
140: load carrying part 150: first pallet external supply part
160: Carrier box external supply part 170: First pallet discharge part
210: large box loading part 220: large box loading part
230: pallet wrapping part 240: pallet discharge part
250: large box sorting discharge unit 310: articulated robot
410: Pallet transfer device 510: Load
520: Carrier box 530: First pallet
540: pallet for supplying carrier box 610: large box
620: Second pallet

Claims (9)

A carrier box loading section in which a plurality of carrier boxes loaded with loads are stacked on a first pallet;
A carrier box supply unit in which a plurality of carrier boxes are placed on a pallet for supplying a carrier box;
A load supplier for supplying the load by a conveyor;
A large box loading section in which a plurality of large boxes are loaded on a second pallet;
A large box supply part supplied by a conveyor that supplies a large box;
A box-identifying unit for identifying the box-box to be transferred to the box-box supply unit or to be discharged to the outside;
A pallet wrapping part for wrapping the second pallet on which the large box is loaded;
A multi-joint robot for loading the load onto the carrier box, loading the carrier box on which the load is loaded on the first pallet, and loading the box on the second pallet;
A first pallet external supply unit in which a first pallet is supplied from outside;
A carrier box external supply unit in which a plurality of carrier boxes placed on a carrier box supply pallet are supplied from the outside;
A second pallet external supply portion to which the second pallet is supplied from the outside;
A first pallet discharging unit and a second pallet discharging unit, wherein the first pallet and the second pallet are discharged to the outside; And
The first pallet is supplied with the first pallet from the first pallet external supply unit to the carrier box loading unit and the carrier box is supplied from the external supply unit of the carrier box to the carrier box loading unit from the second pallet external supply unit, Supplying the second pallet to the pallet wrapping unit, supplying the second pallet on which the main box is loaded to the pallet wrapping unit, supplying the first pallet having been completed from the carrier box loading unit to the first pallet discharging unit, A pallet transporting device for supplying the second pallet to the second pallet discharging portion from the wrapping portion;
/ RTI >
Wherein the carrier box mounting portion, the carrier box supplying portion, and the large box mounting portion are arranged in series, and the articulated robot is installed so as to be movable in the series-
Wherein the pallet transporting device moves according to position information inputted to the pallet transporting device and performs the supplying operation. The method according to claim 1,
Wherein the carrier box loading section, the carrier box feeding section, and the load supply section are disposed adjacent to each other. The method according to claim 1,
Wherein the large box loading portion and the large box loading portion are disposed adjacent to each other. The method according to claim 1,
The pallet transporting device includes:
And recovers the carrier box supplying pallet when the carrier box of the carrier box supplying unit is exhausted. The method according to claim 1,
Wherein the automatic palletizing system further comprises a load carrying portion disposed adjacent to the load supplying portion,
Wherein the articulated robot moves the carrier box supplied to the carrier box supply unit to the load carrying unit to load the load on the carrier box. The method according to claim 1,
Wherein the pallet transporting device includes a lift device,
The carrier box loading part, the carrier box feeding part, or the large box loading part are formed so that a certain empty space is formed in the lower part of the supplied first or second pallet,
Wherein the pallet transporting device enters the empty space and operates the lifting device upward or downward to load or unload the first or second pallet. The method according to claim 1,
Wherein the pallet transporting device includes a lift device,
The first pallet external supply part, the carrier box external supply part, the second pallet external supply part, and the pallet discharge part are formed so that a certain empty space is formed in the lower part of the supplied first or second pallet,
Wherein the pallet transporting device enters the empty space and operates the lifting device upward or downward to load or unload the first or second pallet. 8. The method of claim 7,
Wherein the first or second pallet external supply portion includes:
And means for loading the stacked first and second pallets, one by one, into the pallet transporting apparatus. The method according to claim 1,
In the automatic palletizing system,
Further comprising a large-box sorting and discharging unit for sorting and discharging the large-sized boxes discharged to the outside according to a predetermined standard.

Images