KR102619775B1 - Pallet handling equipments for stacking or distributing pallets - Google Patents

Abstract

A pallet handling device is disclosed that is used with a roller conveyor having a stacking/separation position in the middle of its length for stacking or dispensing pallets. The open pallet handling device includes a lifting unit that raises the pallet in the stacking/separation position to a height greater than the height of the pallet or lowers the pallet raised in the stacking/separation position; A pair of guide plates disposed on the left and right at the stacking/separation position at intervals corresponding to the width of the pallet and guiding the pallet; A pair of insert finger pin sets arranged on the left and right and the pair of insert finger pins are advanced toward the inside and inserted into the fork holes on both sides of the pallet, or the pair of insert finger pin sets are retracted toward the outside to insert the pair of insert finger pins into the fork holes on both sides of the pallet. a pair of holding units including a pair of finger actuators that are pulled out of the forkholes of; And depending on the size or standard of the pallet, simultaneously adjust the gap between the pair of holding units and the gap between the pair of guide plates or adjust the longitudinal positions of the pair of holding units and the pair of guide plates. It contains a pair of position adjustment units that adjust simultaneously.

Description

Pallet handling equipment for stacking or distributing pallets}

The present invention relates to a pallet handling device that can be used as a pallet stacker or pallet dispenser for stacking or dispensing pallets.

A pallet refers to a frame or stand used to stack cargo, that is, cargo for export or domestic use, and is widely used to store, transport, or unload cargo with a forklift. Pallets have a square or rectangular flat shape and come in various sizes. The size of the palette is usually width and length. And it can be defined by height. Additionally, the pallet is provided with fork holes on at least both left and right sides into which forks of a forklift can be inserted. In addition to the 2-way type pallet with forkholes on only the left and right sides, there is also a 4-way type pallet with forkholes on all 4 sides. Depending on the size or type of pallet, the location of the forkhole may vary.

Meanwhile, pallets must be stored in a plurality stacked up and down to reduce work space or storage space, and for use or other purposes, the pallets stacked up and down need to be separated and distributed one by one. A pallet stacker is used to stack pallets, and a pallet dispenser is used to distribute pallets.

A pallet stacker has one stacking position where pallets are stacked at an arbitrary location on the transfer conveyor. The pallet stacker raises the platform from the stacking position to raise stacked pallets (or one pallet) to a height greater than that of a single pallet, and left and right insert fingers are inserted into each fork hole on both sides of the raised lowest pallet. This maintains the raised pallet(s) at a certain height. Subsequently, the platform is lowered, and the conveyor transports another pallet directly below the raised pallet in the stacking position. The platform rises again to stack the new pallet in close contact with the lower part of the existing pallet, and then the left and right insert fingers retreat and fall out of the fork hole. After the left and right insert fingers retract, the platform rises further, and the retracted left and right insert fingers advance and are inserted into the fork holes on both sides of the newly stacked lower pallet. The pallet stacker can stack multiple pallets by sequentially repeating the above processes.

The pallet dispenser may have substantially the same configuration as the pallet stacker, and can perform the above-described processes of the pallet stacker in reverse order, separating a plurality of pre-stacked pallets one by one from below and discharging them one by one through a transfer conveyor. That is, in the pallet dispenser, when a plurality of stacked pallets are inserted into the separation position corresponding to the above-described stacking position, the left and right insert fingers are inserted into the fork holes on both sides of the lowest pallet of the stacked pallets to keep the stacked pallets at a certain height. In this state, the platform rises to support the stacked pallets, and then the left and right insert fingers retract, and after the platform descends, the left and right insert fingers move forward again to support the second pallet from the bottom. When the pallet is inserted into the finger holes on both sides, the lifting platform is lowered, and the transfer conveyor is driven, the pallet on the lowest side can be discharged on the transfer conveyor.

However, the conventional pallet stacker/dispenser has a limitation in that it is difficult to use interchangeably for stacking or distributing pallets of various sizes. That is, conventionally, the gap between the left and right fingers was fixed, so it was difficult to respond when the width of the pallet changed. In addition, the position of the forkhole varies depending on the size or standard of the pallet, and the conventional pallet stacker/dispenser has a fixed position of the insert finger installed for insertion into the forkhole, making it difficult to respond to pallets with different forkhole positions. Additionally, in the past, there was a great risk that stacked pallets would become disturbed as they moved.

Registration number 10-0255021 (registered on February 9, 2000)

In response to this, there has been an attempt to configure the insert finger and the means for driving the insert finger to be movable along the width direction, and have the operator manually move the insert finger and its driving means to adjust the width. However, this is inconvenient and requires labor, is difficult to respond to pocket hole position changes, etc., and still has limitations in solving the problem of pallets being disturbed due to movement of stacked pallets.

The problem to be solved by the present invention is to be able to respond to various sizes and specifications of pallets when stacking or distributing pallets, and to be advantageously used for stacking or distributing pallets without disturbing the stacked or distributed pallets. To provide a pallet handling device for stacking or distributing pallets.

Disclosed is a pallet handling device used with a roller conveyor having a stacking/dispensing position in the middle of its length for stacking or dispensing pallets, wherein the pallet handling device for stacking or dispensing pallets includes said stacking/dispensing. A lifting unit that raises the pallet in the position to a height higher than the pallet height or lowers the raised pallet at the stacking/separation position; A pair of guide plates disposed on the left and right at the stacking/separation position at intervals corresponding to the width of the pallet and guiding the pallet; A pair of insert finger pin sets arranged on the left and right and the pair of insert finger pins are advanced toward the inside and inserted into the fork holes on both sides of the pallet, or the pair of insert finger pin sets are retracted toward the outside to insert the pair of insert finger pins into the fork holes on both sides of the pallet. a pair of holding units including a pair of finger actuators that are pulled out of the forkholes of; And depending on the size or standard of the pallet, simultaneously adjust the gap between the pair of holding units and the gap between the pair of guide plates or adjust the longitudinal positions of the pair of holding units and the pair of guide plates. It contains a pair of position adjustment units that adjust simultaneously.

The roller conveyor includes a plurality of transport rollers installed in a conveyor frame and arranged in a row along the longitudinal direction, and the lifting unit includes a lifting actuator located below the transport rollers at a stacking/separation position, and the lifting actuator It includes a plurality of elevating platforms that rise from an unexposed position below the transport rollers to raise the pallet to be spaced above the height of the pallet from the upper surface of the transport rollers or lower the raised pallet onto the transport rollers, Each of the plurality of lifting platforms is located between neighboring transfer rollers when viewed from above, and each of the pair of finger actuators is installed on each of a pair of base brackets integrally connected to each of the pair of guide plates, and the one Each of the pair of position adjustment units includes a first moving plate integrally coupled to the lower part of the base bracket, a first transfer mechanism that moves the first moving plate forward and backward in the width direction, and the first transfer mechanism is located in the upper part of the base bracket. It includes a second moving plate mounted on and a second transfer mechanism that moves the second moving plate forward and backward along the longitudinal direction, wherein the first transfer mechanism includes a first motor or a first pneumatic cylinder, The second transport mechanism includes a second motor or a second pneumatic cylinder.

The pallet handling device includes a vision camera that acquires image information of a pallet located at an arbitrary position on the roller conveyor, and the size and specifications of the pallet are determined from the image information acquired by the vision camera and the first motor or the first pneumatic It further includes a control unit that controls driving of the cylinder and the second motor or the second pneumatic cylinder.

The pallet handling device according to the present invention can respond to various sizes and specifications of pallets when stacking or distributing pallets, and can be advantageously used to stack or distribute pallets without disturbing the stacked or distributed pallets.

1 is a plan view illustrating a pallet handling device for stacking or distributing pallets according to an embodiment of the present invention;
Figure 2 is a front view for explaining a pallet handling device for stacking or distributing pallets according to an embodiment of the present invention;
Figure 3 is a side view for explaining a pallet handling device for stacking or distributing pallets according to an embodiment of the present invention;
Figure 4 is a plan view showing the pallet handling device shown in Figures 1 to 3 separated from the roller conveyor;
Figure 5 is a diagram for explaining the configuration of the pallet handling device shown in Figures 1 to 3 in which the positions of the holding unit and guide plate are adjusted according to the pallet size,
Figure 6 is a diagram for explaining configurations for automatic control of the pallet handling device shown in Figures 1 to 4,
Figure 7 is a diagram showing an example in which pneumatic cylinders are used as the first and second moving mechanisms of the position adjustment unit according to another embodiment of the present invention.

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

In explaining the present invention, the size or shape of components shown in the drawings may be exaggerated or simplified for clarity and convenience of explanation.

Additionally, terms specifically defined in consideration of the configuration and operation of the present invention may vary depending on the intention or custom of the user or operator. These terms should be interpreted as meanings and concepts consistent with the technical idea of the present invention based on the content throughout this specification.

In order to clearly explain the present invention, descriptions of parts unrelated to the technical idea of the present invention have been omitted, and identical or similar components are assigned the same reference numerals throughout the specification.

Additionally, in various embodiments, components having the same configuration will be described using the same symbols only in the representative embodiment, and in other embodiments, only components that are different from the representative embodiment will be described.

As shown in FIGS. 1 to 5, the pallet handling device according to an embodiment of the present invention includes a pallet stacker or pallet dispenser for stacking or dispensing pallets. It can be used as.

The pallet handling device 1 according to this embodiment is used with a roller conveyor 2 that moves pallets along the length direction and has a stacking/separation position in the middle of the length. Although the pallet handling device 1 is described as if it were a separate component from the roller conveyor 2, the roller conveyor 2 may also be included as part of the pallet handling device 1.

The pallet handling device 1 according to this embodiment raises the pallet 3 at the stacking/separation position on the roller conveyor 2 to a height greater than the height of the pallet 3 or lifts the pallet raised at the stacking/separation position. A lifting unit 200 for lowering, a pair of left and right guide plates 300A, 300B arranged at an interval corresponding to the width of the pallet 3 at the stacking/separation position and guiding the pallet 3 to be lifted, Advance the left and right pair of insert finger pin sets (410A, 410A) (410B, 410B) and the left and right pair of insert finger pin sets (410A, 410A) (410B, 410B) and insert them into the fork holes on both sides of the pallet (3). Alternatively, a pair of left and right insert finger pin sets (410A, 410A) (410B, 410B) including a pair of left and right finger actuators (420A, 420B) are withdrawn from the fork holes on both sides of the pallet (3). Depending on the size or standard of the holding units (400A, 400B) and the pallet (3), the gap between the pair of holding units (400A, 400B) and the gap between the pair of guide plates (300A, 300B) are simultaneously adjusted. or a pair of position adjustment units (600A, 600B) that simultaneously adjust the longitudinal positions of the pair of holding units (400A, 400B) and the pair of guide plates (300A, 300B).

In addition, the pallet handling device 1 according to this embodiment includes a frame 100 including a pair of side frame portions disposed on both left and right sides of the roller conveyor 2 and an upper frame portion and a lower frame portion connecting them. In addition, the guide plate (300A, 300B), the pair of holding units (400A, 400B), and the lifting unit 200 may be integrated into the frame 100 in the form of a single module.

Meanwhile, the roller conveyor 2 includes a plurality of transport rollers 22 installed in the conveyor frame 21 and arranged in a row along the longitudinal direction. The transfer rollers 22 are configured to be rotationally driven by a driving means including a motor. Under the control of the control unit, the driving means including the motor rotates the transport rollers 22, so that the roller conveyor 2 operates, and the pallet 3 is transported along the longitudinal direction on the operating roller conveyor 2. It can be.

Meanwhile, there may be an arbitrary alignment position where the pallet 3 is a certain distance in front of the stacking/separation position, and an alignment unit for aligning the pallet 3 may be installed at this alignment position. The alignment unit may include, for example, a pair of alignment members that are brought together to be in parallel contact with both sides of the pallet 3 using a pneumatic cylinder to align the pallet 3 horizontally.

The roller conveyor 2 can stop operating to temporarily stop the pallet 3 at the alignment position or at any waiting position under the control of the controller. As will be explained below, a vision camera may be added that acquires image information of the pallet 3 and allows the control unit to recognize the size or standard of the pallet 3. To obtain a reliable image of the vision camera, a vision camera may be added. It is desirable for the vision camera to acquire image information of the palette (3) while (3) is stopped.

The lifting unit 200 is for raising or lowering the pallet 3 in the stacking/separating position, and includes a lifting actuator 210 located below the transfer rollers 22 in the stacking/separating position, and a lifting/lowering actuator 210. The actuator 210 raises the pallet 3 from an unexposed position below the transport rollers 22 to be spaced apart from the upper surface of the transport rollers 22 to a height of the pallet 3 or higher. ) includes a plurality of lifting platforms 230 that lower the transport rollers 22. Each of the plurality of lifting platforms 230 is located between neighboring transport rollers 22 when viewed from above, and can move up and down through the gap between the transport rollers 22 by the lifting actuator 210. In this embodiment, the lifting actuator 210 may include a pneumatic cylinder and a connecting member connecting the ends of the pneumatic cylinder and the plurality of lifting platforms 230. The lifting actuator 210 may be controlled by a controller.

The pair of holding units (400A, 400B) are disposed on the left and right sides of the roller conveyor (2), and include a pair of left and right insert finger pin sets (410A, 410A) (410B, 410B), and a pair of left and right insert finger pin sets (410A, 410A) (410B, 410B). It includes a pair of finger actuators (420A, 420B) that advance or retract the insert finger pin sets (410A, 410A) (410B, 410B). Each of the left and right pair of finger pin sets (410A, 410A) (410B, 410B) may include two finger pins (410A, 410A) or (410B, 410B) arranged side by side at the front and rear. If the finger pins 410A or 410 have sufficient width, the finger pin set may consist of only one finger pin with a large width. Alternatively, to hold the pallet 3 more reliably, one set of finger pins may be made up of three or more finger pins. Each pair of finger actuators 420A, 420B may include one or more pneumatic cylinders.

Each of the pair of finger actuators (420A, 420B) is installed on each of a pair of base brackets (500A, 500B) integrally connected to a pair of guide plates (300A, 300B) by a shaft-shaped connecting member. Additionally, the base brackets 500A and 500B are coupled to the upper portions of the first moving plates 610A and 610B that are movable along the width direction.

The base bracket (500A, 500B) connects a pair of side plates (520A, 520A) or (520B, 520B) facing each other and the front portion of the pair of side plates (520A, 520A) or (520B, 520B). It includes a front plate (540A or 540B), and a finger actuator (420A or 420B) is coupled to each front surface of the front plate (540A or 540B). A plurality of finger pins (two in this embodiment) in one set that move forward and backward by each of the finger actuators (420A or 420B) extend forward, and form one set of finger pins that are on the same straight line. The plurality of (two in this embodiment) guide shafts 412A, 412A or 412B, 412B extend rearwardly past the front plate 540A or 540B. Guide shafts (412A, 412A) or (412B, 412B) and corresponding finger pins (410A, 410A) (410B, 410B) in the set extending in the same direction are in front and behind the corresponding finger actuator (420A or 420B). There is only a difference in what is in them, but they form one with each other and move forward or retreat together. Guide shafts (412A, 412A) (412B, 412B) in a set extending in the same direction are located behind the front plate (540A or 540B), i.e., a pair of side plates (520A, 520A) or (520B, 520B). ) are connected to each other by a connecting member (414A or 414B) on the left or right side. Since the connecting member (414A or 414B) connects a plurality of guide shafts that are integrated with each of the finger pins of a set, the finger pin sets connected to the guide shaft set are also connected to each other and can move as one unit. One finger actuator may be configured to include pneumatic cylinders in a number corresponding to the number of finger pins in the corresponding set. Alternatively, one may be configured as a pneumatic cylinder and the remaining cylinders may be configured as guide cylinders.

A sensing means may be provided to detect the position of the finger pin (410A or 410B) between the base bracket (500A or 500B) and the guide shaft (412A or 412B) or the connecting member (414A or 414B). The lower part of the base bracket (500A or 500B) is coupled with the first moving plate (610A), and the side plates (520A or 520B) of the base bracket (500A or 500B) and the front panel room (540A) are connected by the first moving plate (610A). or 540B) is supported.

Each of the pair of guide plates (300A, 300B) has holes that allow the finger pins (410A, 410B) to pass, and the finger actuators (420A, 420B) drive the finger pins (410A, 410B). When moving back and forth, the finger pins (410A, 410B) advance so that their ends can be inserted into the fork holes of the pallet (3) from the inside of the guide plates (300A, 300B) or separated out of the fork holes of the pallet (3). there is. The pair of guide plates (300A, 300B) are arranged to face both sides of the pallet (3) with their positions adjusted, and can guide the stacked pallets (3) up and down without being disturbed. The main portions 310A, 310B of the guide plates 300A, 300B are made of vertical planes, and the width between the main portions 310A, 310B of a pair of guide plates 300A, 300B is constant throughout the height. In addition, the guide plates (300A, 300B) integrally include lower inclined portions (320A, 320B) inclined outwardly at the lower ends of the main portions (310A, 310B), and outer inclined portions (320A, 320B) at the upper ends of the main portions (310A, 310B). It includes integrally inclined bottom inclined portions 330A and 330B and side end inclined portions 340A and 340B inclined outward at the side ends.

As mentioned above, the pair of position control units (600A, 600B) simultaneously adjust the gap between the pair of holding units (400A, 400B) and the gap between the pair of guide plates (300A, 300B). It is configured to simultaneously adjust the longitudinal positions of the pair of holding units (400A, 400B) and the pair of guide plates (300A, 300B).

To this end, as described above, each of the pair of position adjustment units (600A, 600B) includes first moving plates (610A, 610B) integrally coupled to the lower portions of the base brackets (500A, 500B), and the first A first transfer mechanism that moves the moving plates (610A, 610B) forward and backward in the width direction, a second moving plate (650A, 650B) on which the first transfer mechanism is mounted, and the second moving plate (650A) , 650B) includes a second transfer mechanism that moves forward and backward along the longitudinal direction.

The first transfer mechanism is coupled to the screw block formed in the lower part of the first moving plate (610A, 610B) in a screw transfer manner and includes first transfer screws (620A, 620B) extending in a direction parallel to the width of the pallet (3). ) and a first linear guide member slidably coupled to the guide block formed in the lower part of the first moving plate (610A, 610B), and the first transfer screw (620A, 620B) are rotated to It includes first motors 640A and 640B that advance the plates 610A and 610B inward in the width direction or retract outward in the width direction. It is preferable that the first transfer screws 620A and 620B are ball screws. A pair of first transport mechanisms arranged on both left and right sides of the roller conveyor 2 are driven, so that a pair of first moving plates 610A and 610B arranged on both left and right sides of the roller conveyor 2 are close to each other. They can advance in an inward direction or retreat in an outward direction, spreading out from each other.

The second transfer mechanism is coupled to the screw block formed in the lower part of the second moving plate (650A, 650B) in a screw transfer manner and includes a second transfer screw (660A, 660B), a second linear guide member slidably coupled to the guide block formed at the lower portion of the second moving plate (660A, 660B), and the second transfer screw (660A, 660B) are rotated to It includes second motors 680A and 680B that move the moving plates 650A and 650B forward or backward in the longitudinal direction. The second transfer screws 660A and 660B are preferably ball screws. A pair of second transfer mechanisms arranged on both left and right sides of the roller conveyor 2 are driven, and a pair of second moving plates 650A and 650B arranged on both left and right sides of the roller conveyor 2 are moved along the longitudinal direction. You can advance or retreat.

For example, when the pallet 3 to be stacked or separated is changed from a large width to a small width, a pair of first moving mechanisms moves a pair of first moving plates ( 610A, 610B) is moved inward to change the width of the pair of base brackets (500A, 500B) coupled to the pair of first moving plates (610A, 61B) and the pair of holding units coupled thereto. The width of (400A, 400B) and the width between the pair of guide plates (300A, 300B) can be narrowed. Conversely, when the pallet 3 that is the object of stacking or separation is replaced from a small width one to a large width one, under the control of the control unit, a pair of first moving mechanisms moves a pair of first moving plates 610A, 610B. ) is moved outward to form a pair of base brackets (500A, 500B) coupled to a pair of first moving plates (610A, 610B) and a pair of holding units (400A, 400B) coupled thereto. The width of and the width between the pair of guide plates (300A, 300B) can be expanded.

When the pallet 3, which is the object of stacking or separation, is changed and the position of the fork hole formed on the side of the pallet 3 changes, under the control of the control unit, a pair of second moving mechanisms are moved to a pair of second moving plates 650A. , 650B) in the longitudinal direction, a pair of first moving mechanisms, a pair of first moving plates 610A, 610B, mounted on a pair of second moving plates 650A, 650B. A pair of base brackets (500A, 500B), a pair of holding units (400A, 400B), and a pair of guide plates (300A, 300B) can be moved in the longitudinal direction. As such, a pair of holding units (400A) , 400B), the positions of the finger pins (410A or 410B) can be changed according to the changed forkhole position.

By employing induction motors in the first motors 640A and 640B and the second motors 680A and 680B, the device can be controlled by the operator's switch operation. However, as described below, a pair of first moving mechanisms and one The second moving mechanism of the pair may be automatically controlled by the control unit. In this case, the first motors 640A and 640B and the second motors 680A and 680B are preferably servo motors. As will be described below, the control unit may automatically control the first moving mechanism and the second moving mechanism using pallet size information obtained by a vision camera or the like.

Now, a configuration for automatically adjusting the positions of a pair of guide plates and a pair of holding units according to the size or specifications of the pallet will be described with reference to FIGS. 1 and 6.

For automatic position adjustment, the pallet handling device 1 includes a vision camera 800 that acquires image information of the pallet 3 located at an arbitrary position on the roller conveyor 2, and an image acquired by the vision camera 800. It includes a control unit 700 that determines the size and standard of the input pallet from the information and controls the first and second moving mechanisms included in the position adjustment unit.

As mentioned above, the first moving mechanism moves the gap between a pair of holding units (400A, 400B) each including finger pins (410A, 410B) by first motors (640A, 640B) consisting of servomotors. And, the gap between the pair of guide plates (300A, 300B) is simultaneously adjusted, and the second moving mechanism is driven by the second motors (680A, 680B) composed of servomotors, respectively, to move the finger pins (410A, 410B). The longitudinal position can be adjusted by moving the pair of holding units (400A, 400B) including in the longitudinal direction.

Therefore, the control unit 700 compares the image information acquired by the vision camera 800 with pre-stored pallet information of various sizes or specifications, determines the size and specifications of the input pallet, and determines the size and specifications of the pallet. Then, the first motors (640A, 640B) and/or the second motors (680A, 680B) are driven according to the control command to control the first moving mechanism and the second moving mechanism, and accordingly, a pair of holding units It is possible to control the positions of (400A, 400B) and a pair of guide plates (300A, 300B).

Alternatively, as shown in FIG. 7, instead of the first moving mechanism using the first motor of the previous embodiment, the first moving mechanism including first pneumatic cylinders 640a and 640b is a pair of holding units 400A. , 400B) and a pair of guide plates (300A, 300B), and includes second pneumatic cylinders (680a, 680b) instead of the second moving mechanism using the second motor. A moving mechanism can be used to adjust the longitudinal position of the pair of holding units (400A, 400B) and the pair of guide plates (300A, 300B).

In this example. For automatic position adjustment, the pallet handling device includes a vision camera 800 that acquires image information of the pallet 3 located at an arbitrary position on the roller conveyor, and the size of the input pallet from the image information acquired by the vision camera 800. and a control unit 700 that determines the standard and controls the first and second moving mechanisms included in the position adjustment unit and including first pneumatic cylinders 640a and 640b and second pneumatic cylinders 680a and 680b, respectively. Includes.

The present invention is not limited by the above-described embodiments and can be implemented with various modifications.

2: roller conveyor 3: pallet
100: frame 200: lifting unit
300A, 300B: Guide plate 400A, 400B: Holding unit
410A, 410B: Finger pin 420A, 420B: Finger actuator
600A, 600B: Position adjustment unit

Claims (3)

A pallet handling device used with a roller conveyor having a stacking/separating position mid-length for stacking or dispensing pallets, comprising:
A lifting unit that raises the pallet at the stacking/separation position by a height equal to or higher than the pallet height or lowers the pallet raised at the stacking/separation position;
A pair of guide plates disposed on the left and right at the stacking/separation position at intervals corresponding to the width of the pallet and guiding the pallet;
A pair of insert finger pin sets arranged on the left and right and the pair of insert finger pins are advanced toward the inside and inserted into the fork holes on both sides of the pallet, or the pair of insert finger pin sets are retracted toward the outside to insert the pair of insert finger pins into the fork holes on both sides of the pallet. a pair of holding units including a pair of finger actuators that are pulled out of the forkholes of; and
Depending on the size or standard of the pallet, the gap between the pair of holding units and the gap between the pair of guide plates can be adjusted simultaneously, or the longitudinal positions of the pair of holding units and the pair of guide plates can be adjusted simultaneously. A pallet handling device comprising a pair of position adjustment units for adjustment. According to paragraph 1,
The roller conveyor includes a plurality of transport rollers installed in a conveyor frame and arranged in a row along the longitudinal direction, and the lifting unit includes a lifting actuator located below the transport rollers at a stacking/separation position, and the lifting actuator It includes a plurality of elevating platforms that rise from an unexposed position below the transport rollers to raise the pallet to be spaced above the height of the pallet from the upper surface of the transport rollers or lower the raised pallet onto the transport rollers, Each of the plurality of lifting platforms is located between neighboring transfer rollers when viewed from above, and each of the pair of finger actuators is installed on each of a pair of base brackets integrally connected to each of the pair of guide plates, and the one Each of the pair of position adjustment units includes a first moving plate integrally coupled to the lower part of the base bracket, a first transfer mechanism that moves the first moving plate forward and backward in the width direction, and the first transfer mechanism is located in the upper part of the base bracket. It includes a second moving plate mounted on and a second transfer mechanism that moves the second moving plate forward and backward along the longitudinal direction, wherein the first transfer mechanism includes a first motor or a first pneumatic cylinder, A pallet handling device, wherein the second transport mechanism includes a second motor or a second pneumatic cylinder. According to paragraph 2,
A vision camera for acquiring image information of a pallet located at a random position on the roller conveyor, and determining the size and specifications of the pallet from the image information acquired by the vision camera, the first motor or the first pneumatic cylinder and the second A pallet handling device further comprising a control unit that controls driving of the motor or the second pneumatic cylinder.