KR102638643B1 - Loading and discharging system of this product ingots - Google Patents

Abstract

The present invention relates to a loading and discharging system for the main product ingot, and more specifically, to improve the working environment of workers by preventing safety accidents such as musculoskeletal diseases and burns due to the high heat and high weight of the cast ingot. make it possible
In particular, it relates to a loading and discharging system for the main product ingot that can improve productivity and product competitiveness by automating the process of loading and discharging the continuously cast ingot after transporting and aligning the ingot.
The present invention has the advantage of improving production efficiency by improving the working environment and manpower shortage by automating the transport and loading of the main product ingot that is continuously cast and discharged.
In particular, the loading robot grips the continuously cast main product ingot, forming a pallet in which the main product ingot is stacked in multiple layers on the top of the support ingot, which has the advantage of improving the efficiency of the loading operation. .
In addition, there is an advantage of preventing pallet defects and safety accidents and improving the competitiveness of the product through the banding process of fixing the pallet loaded with ingots in multiple layers at the loading workstation and the discharge process of discharging it to the other side.

Description

{Loading and discharging system of this product ingots}

The present invention relates to a loading and discharging system for the main product ingot, and more specifically, to improve the working environment of workers by preventing safety accidents such as musculoskeletal diseases and burns due to the high heat and high weight of the cast ingot. make it possible

In particular, it relates to a loading and discharging system for main product ingots that can improve productivity and product competitiveness by automating the process of loading and discharging continuously cast main product ingots after transporting and aligning them.

Aluminum (Al) is the second most abundant element on Earth after oxygen and silicon, but because of its relatively high oxidation property, it was known in ancient times as an oxide such as aluminum oxide. With the development of electrolysis refining technology, it was first used in the 18th century, later than other metals, in the 18th century. Purely separated.

Aluminum is a silver-white soft metal with great malleability and ductility, so it can be made into foil or wire. Its properties vary depending on its purity, and it is a good conductor of electricity. It is a typical light metal with a resistivity of about 1.6 times that of copper. am.

If left in the air, it forms a thin film of oxide and loses its luster, but does not erode to the inside. When heated in the air close to its melting point, it burns with a white glow and turns into aluminum oxide. At this time, the temperature is high, so powder must be used. Performs metallurgy and welding.

Therefore, it is manufactured with elements and alloys such as copper (Cu), magnesium (Mg), silicon (Si), zinc (Zn), manganese (Mn), and nickel (Ni), and is used in numerous industrial fields such as electricity, vehicles, and aircraft. It is widely used.

Meanwhile, to briefly explain the method of manufacturing aluminum ingots, aluminum materials are melted to form molten metal, the alloy element composition is adjusted to meet the KS standard for aluminum ingot products, and the hydrogen inside the molten metal is removed through degassing. After removing the gas components, it is poured into a mold to produce the ingot.

In order to continuously cast the aluminum ingot, each mold is arranged on a conveyor and during continuous transport, the molten metal poured into the mold is cooled and solidified, and then the ingot is separated from the mold during the circulation of the conveyor. It is discharged to the outside, and the process of pouring molten metal back into the mold is repeated.

Here, the ingot separated from the mold is manufactured in the form of a rectangular bar with a standardized length and weight, and is maintained at a high temperature of at least 150℃, so that the worker transports the ingot one by one to stack it in multiple layers. There was a problem in that loading and loading work put a strain on the musculoskeletal system, causing complaints of abnormalities and frequent sick days.

In addition, in the process of using the existing pneumatic loader, there were difficulties in the frequent occurrence of safety accidents such as falling or getting caught in the ingot during the movement of the loader, and the temperature in the work space rose due to the high temperature ingot, causing workers to become dehydrated and dizzy. There was a problem that appealed for reinforcement.

Therefore, the work process in which workers transport and load aluminum ingots and the necessary response personnel for each process must be assigned. However, as the work process is physically and mentally tiring, costs increase due to hiring difficulties and quality deteriorates due to the hiring of inexperienced workers. There was a problem that not only did work efficiency decrease due to increased worker fatigue, but the price competitiveness of the product decreased due to worker safety accidents and increased production costs.

Republic of Korea Patent Publication No. 10-1814786 ‘Aluminum ingot manufacturing device’ (registration date 2017.12.27.)

In order to solve the above problems, the present invention provides a loading and discharging system for the main product ingot, which can improve production efficiency by improving the working environment and manpower shortage by automating the transport and loading of the continuously cast main product ingot. There is a purpose to doing so.

In particular, the continuously cast main product ingot is transported and the support ingot is loaded on the loading workbench, and then the aligned main product ingot is gripped by a loading robot and the main product ingot is stacked in multiple layers on top of the support ingot. The purpose is to provide a loading and discharging system for this product ingot that improves work efficiency by forming a pallet.

In addition, through the banding process of fixing the pallet on which the ingots are stacked in multiple layers at the loading workstation and the discharge process of discharging them to the other side, the loading of this product ingot can prevent defects and safety accidents in the pallet and improve the competitiveness of the product. The purpose is to provide a and discharge system.

In order to achieve the above object, the loading and discharging system of the product ingot according to the present invention is,

A support ingot placement process (S110) of placing one stage of the support ingot (10) on the loading work table (30);

Main product ingot transfer process (S120) in which the main product ingot (15) separated from the mold moves along the main product transfer line (25);

Main product ingot alignment process (S130) in which the main product ingots 15 moving along the main product transfer line 25 are sequentially aligned in the ingot alignment unit 26 provided at one end of the main product transfer line 25. ;

A main product ingot gripping process (S140) in which the gripper device 50 of the main product loading robot 45 grips the plurality of main product ingots 15 arranged in the ingot alignment unit 26;

A plurality of main product ingots 15 gripped by the gripper device 50 are placed on the top of the one-stage support ingot 10 provided on the loading work table 30, so that the main product ingots 15 have multiple layers. It includes a pallet loading process (S150) to form a cross-loaded ingot pallet (B).

In addition, in the support ingot placement process (S110), the support ingots (10) are classified into large or small according to the set loading amount of the main product ingot (15) and are placed on the loading work table (30). (S111) may be further included.

In addition, in the support ingot placement process (S110), the support ingot transfer process (S112) in which the support ingot 10 separated from the mold is transferred along the support transfer line 20, and the support ingot is transferred through the operation of the support loading robot. A support ingot loading process (S113) for placing the ingot 10 on the loading work table 30 may be further included.

In addition, after the pallet loading process (S150), the support ingot (10) and main product ingot (15) are bent by operating the automatic bending machine provided on the loading work table (30) to form the ingot pallet (B) as a block. A pallet bending process (S160) may be further included.

In addition, after the pallet loading process (S150), a pallet discharging process (S165) for transporting the ingot pallet (B) to the storage may be further included.

In addition, the loading work table 30 is composed of a discharge transfer line on which at least two support ingots 10 are arranged, and the main product ingot 15 is loaded on one of the support ingots 10 to form an ingot pallet. When (B) is formed, the discharge line is moved so that the main product ingot (15) is loaded on the other support ingot (10).

In addition, the gripper device 50 includes a fixed frame 51 connected to the main product loading robot 45 and provided with a storage space 52 for accommodating a plurality of main product ingots 15 therein; A press support 53 assembled to the fixed frame 51 and pressing the upper part of the main product ingot 15 accommodated in the storage space 52; Rotatably assembled on both sides of the fixed frame 51, the main product ingots 15 are converted from an open state spread outward to a closed state retracted at the bottom of the plurality of main product ingots 15 arranged in the ingot alignment part 26. It may be configured to include a grip portion 55 that hangs and supports both ends of the ingot 15, switches to an open state again at the top of the loading work table 30, and drops and loads the main product ingot 15.

In addition, the gripper device 50 transmits the detection signal of the ingot sensor member (S2) provided at each corner of the fixed frame 51 to the main unit, compares it with the programmed loading stage, and fixes the fixed frame 51. It may be configured to change direction by horizontal rotation and include a grip control unit 57 that controls the opening and closing rotation of the grip unit 55.

In addition, the gripper device 50 includes a first loading portion 52a in which the main product ingot 15 is accommodated laterally in the storage space 52 of the fixing frame 51, and a second loading portion in which the main product ingot 15 is accommodated in the longitudinal direction. It is separately molded into (52b), so that the first loading part (52a) has 7 main product ingots (15) gripped in the horizontal direction, and the second loading part (52b) has 4 main product ingots (15) in the longitudinal direction. It can be configured to have a good grip.

In addition, in the gripper device 50, a guide frame 54 including an ingot sensor member S2 is formed at each corner of the fixed frame 51, and is positioned inside the fixed frame 51 by the grip portion 55. The moving height deviation of the received main product ingot (15) and the fixed height deviation of the loaded main product ingot (15) are sensed and transmitted to the main unit, and the transmitted moving height deviation and fixed height deviation are compared to create opposing deviations. The main product ingot 15 can be configured to be dropped and loaded by rotating the fixing frame 51 to a position having .

In addition, the ingot alignment unit 26 of the main product transfer line 25 is provided with an alignment sensor member (S1) that senses the thickness of the main product ingots 15, which are sequentially aligned, and transmits the thickness to the main part. A realignment elevating device 80 is further configured to move the main product ingot 15 in the direction of the main product transfer line 25 in accordance with the height deviation of the main product ingot 15, and the main product ingot 15 placed on the main product transfer line 25 is further provided. The main product ingot (15) can be configured to be rearranged and arranged in the ingot alignment unit (26).

In addition, the ingot pallet (B) has a first end (B1) where at least two support ingots (10) are arranged in the longitudinal direction based on the transfer direction at the upper part of the jig of the loading work table (30); A second end (B2) in which the main product ingot (15) is arranged horizontally and continuously on the upper part of the support ingot (10), which is the first end (B1); It is formed in a multi-stage shape that intersects at the upper part of the second stage (B2), and is stacked with seven main product ingots (15) arranged in succession, and four main product ingots (15) arranged in succession on one side. Bn; It can be configured to include:

The ingot pallet (B) can be constructed by stacking 11 main product ingots (15) arranged in one stage on the upper part of the support ingot (10) to have 20 stages.

In addition, the ingot pallet (B) includes a first end (B1) in which at least two support ingots (10) are arranged in the longitudinal direction based on the transfer direction at the top of the jig of the loading worktable (30); A multi-stage part (Bn) formed in a multi-stage shape at the upper part of the support ingot 10, which is the first end part (B1), and stacked with seven main product ingots 15 arranged in succession in the horizontal or longitudinal direction; It can be configured to include:

The ingot pallet (B) can be constructed by stacking 7 main product ingots (15) arranged in one stage on the upper part of the support ingot (10) to have 18 tiers.

Through the above solution, the present invention has the advantage of improving production efficiency by improving the working environment and labor shortage by automating the transport and loading of the main product ingot that is continuously cast and discharged.

In particular, the loading robot grips the continuously cast main product ingot, forming a pallet in which the main product ingot is stacked in multiple layers on the top of the support ingot, which has the advantage of improving the efficiency of the loading operation. .

In addition, there is an advantage of preventing pallet defects and safety accidents and improving the competitiveness of the product through the banding process of fixing the pallet loaded with ingots in multiple layers at the loading workstation and the discharge process of discharging it to the other side.

Figure 1 is a flow chart showing the loading and discharging system of the present inventor's ingot.
Figure 2 is a schematic plan view of the loading and discharging system of the present inventor's ingot.
Figure 3 is a schematic front view of the loading and discharging system of the ingot of the present invention.
4A and 4C are diagrams showing the operating state of the gripper device according to the present invention.
Figure 5 is a front view showing a first embodiment of an ingot pallet loaded according to the present invention.
Figure 6 is a front view showing a second embodiment of an ingot pallet loaded according to the present invention.

Examples of the loading and discharging system of the ingot according to the present invention can be applied in various ways, and the most preferred embodiment will be described below with reference to the attached drawings.

Figure 1 is a flow chart showing the loading and discharging system of the ingot of the present inventor, Figure 2 is a schematic plan view of the loading and discharging system of the ingot of the present inventor, and Figure 3 is a loading and discharging system of the ingot of the present inventor. This is a schematic front view.

First, to briefly explain the main ingot described in the present invention, aluminum material is melted to form molten metal, and the ingot is produced by pouring it into a mold that satisfies the KS standard for the main ingot product.

In order to continuously cast the main product ingot, each mold is arranged on a line and during continuous transfer, the molten metal poured into the mold is cooled and solidified, and then the main product ingot is separated from the mold during the line circulation process. It is discharged to the outside through the discharge line, and the process of pouring the molten metal into the mold is repeated.

Here, the ingot separated from the mold is divided into the main ingot (15) and the support ingot (10), and the main ingot (15) has a standardized length (680mm*100mm*30mm) and weight (4kg). It is manufactured in the form of a rectangular bar and is transported to one side through the main product transfer line 25, and the support ingot 10 is a large bar with a standardized length (1030mm*105mm*85mm) and weight (12kg). , or is molded into a small bar with a length (675mm*105mm*75mm) and a weight (10kg) and transported to one side through the support transfer line 20, and a groove is provided on the bottom of the support ingot 10 for bending as described later. When processing, ensure that the bend is inserted into the groove.

Referring to Figures 1 to 3, in the present invention, the main product loading robot 45 is disposed on one side of the main product transfer line 25, and the support loading robot is disposed on one side of the support transfer line 20, thereby carrying out the loading. The loading platform 30 is positioned within a range where the robot can move and load.

Then, in the support ingot placement process (S110), the worker manually places the support ingots 10 on the loading worktable 30 or automatically places them in one stage. As an example, at least two support ingots 10 are placed. are placed longitudinally on both sides.

Here, the support ingot placement process (S110) may further include a support ingot selection process (S111), a support ingot transfer process (S112), and a support ingot loading process (S113). The sorting process (S111) is a process in which the ingot pallet (B) is classified into large or small and loaded, and can be set in the main part, and a large or small support ingot (10) is selected according to the setting.

In addition, the support ingot transfer process (S112) is a process of transferring the support ingot 10 separated from the mold to one side through the support transfer line 20, and the support ingot loading process (S113) is a process of transferring the support ingot 10 separated from the mold to one side. This is a process in which the support ingot (10) transferred through the transfer line (20) is placed on the loading worktable (30) by holding the grip part of the support loading robot.

With the support ingot 10 first loaded on the loading worktable 30 as described above, the main product ingot 15 is stacked on top of the support ingot 10, and the large size of the support ingot 10 is stacked. Alternatively, the loading method of the main product ingot (15) can be changed depending on the small type.

First, the main product ingot transfer process (S120) is a process in which the main product ingot 15 separated from the mold moves along the main product transfer line 25, and the main product transfer line 25 has an alignment sensor member at one end. It detects the quantity and transfer speed of the main product ingots (15) that are equipped and transported, and transmits a detection signal to the main part to control whether the main product transfer line is operating.

In the main product ingot alignment process (S130), the main product ingots 15 moving along the main product transfer line 25 are sequentially aligned in the ingot alignment unit 26 provided at one end of the main product transfer line 25. In the arrangement process, an alignment sensor member (S1) is provided on one side of the ingot alignment unit 26 to detect the number of aligned ingots 15 and transmits a detection signal to the main unit. The operation of the loading robot 45 is approved. The movement of the robot operates according to the programmed contents and is configured so as not to interfere with other robots and the loading workbench. A gripper device is assembled on the robot arm to prevent shaking while moving. Let it happen.

In addition, in the main product ingot alignment process (S130), the alignment sensor member (S1) senses the thickness of the main product ingots 15 sequentially aligned in the ingot alignment part 26, and each main product is detected in the main part. Compare with the ingot, and operate the realignment elevating device (80) according to the height difference of the aligned main product ingot (15) to move the main product ingot (15) in the direction of the main product transfer line (25), and then again. A main product ingot realignment process of realigning and placing the ingot in the ingot alignment unit 26 may be further included.

The realignment lifting device 80 is assembled with a realignment body provided on the outside of the main product transfer line 25 and reciprocating in the longitudinal direction of the ingot alignment part 26, and one end of a cylinder member coupled to the realignment body. It consists of an alignment stand on which both ends of the main product ingot (15) are mounted, and the alignment stand lifts and moves the main product ingot (15) with different height deviations by lifting and lowering the cylinder member according to the electrical signal from the main part. When the realignment body moves in the direction of the main product transfer line 25 and moves the alignment support downward, the main product ingot 15 re-enters the ingot alignment unit 26 and is aligned.

The main product ingot gripping process (S140) is a process in which the gripper device 50 of the main product loading robot 45 grips a plurality of main product ingots 15 arranged in the ingot alignment part 26, and the gripper As shown in FIGS. 4A to 4C, the device 50 has a fixing frame 51 installed at one end of the main product loading robot 45, and grip parts provided on both sides of the fixing frame 51 according to the approval of the main part ( 55) is configured to fix and move the plurality of main product ingots 15 while rotating.

The fixing frame 51 of the gripper device 50 has a main product loading robot 45 connected to its upper surface, and is provided with a storage space 52 for accommodating a plurality of main product ingots 15 therein.

In addition, a press support 53 is elastically assembled on the upper plate of the fixing frame 51, so that the main product ingot 15 is accommodated in the storage space 52 and pushes the press support 53, thereby causing the press. The support 53 continuously presses the upper part of the main product ingot 15 in a downward direction.

In addition, grip parts 55 having an “L”-shaped hook shape are rotatably assembled on both sides of the fixing frame 51, so that the ingots are aligned in an open state in which the grip parts 55 are spread outward in response to an operating signal from the main part. After the plurality of main product ingots 15 arranged in the part 26 are inserted into the storage space 52, the grip part 55 is retracted inward to fit on the bent surface of the grip part 55. Both ends of the main product ingot (15) are hung and supported.

Afterwards, the gripper device 50 assembled on the main product loading robot 45 is moved toward the loading worktable 30, and the grip portion 55 is opened to the outside again at the top of the loading worktable 30. , the main product ingot 15 being pressed against the press support 53 in the storage space 52 can be loaded in multiple stages by dropping it onto the support ingot 10 and the upper part of the main product ingot 15 at the bottom.

Here, at each corner of the fixed frame 51, a guide frame 54 is formed which is located in an outer direction than the outer peripheral edge of the ingot pallet (B), and a support ingot and a support ingot are provided on the guide frame 54. It is equipped with a grip control unit (57) each containing an ingot sensor member (S2) that detects the position of the ingot (15), and transmits the detection signal of the ingot sensor member (S2) to the main unit to program The direction is changed by horizontally rotating the fixing frame 51 according to the height difference of the main product ingot 15 and comparison with the number of loading stages, and the opening and closing rotation of the grip part is controlled.

In addition, the ingot sensor member (S2) provided in the guide frame (54) determines the height difference of each main product ingot (15) accommodated inside the fixed frame (51) by the grip portion (55) and the loading work table (30). The fixed height deviation of the main product ingot (15) loaded in is sensed and transmitted to the main unit, and the transmitted moving height deviation and fixed height deviation are compared to rotate the fixed frame (51) to a position with opposing deviations. By configuring the main product ingot 15 to be dropped and stacked, it is possible to minimize the height deviation of the main product ingot 15 loaded on the loading worktable 30, for example, as in uneven assembly.

In addition, the gripper device 50 moves the main product ingot 15 to the loading worktable 30 several times, counts the number of stages to be loaded in the main unit, and compares it with the programmed number of stacking stages, so that the product ingot 15 is placed on the loading worktable 30. The main product ingot (15) is configured to be loaded by horizontally rotating the fixing frame (51) in the loading direction that intersects the loading direction of the loaded ingot, thereby preventing shaking and falling out during the loading process.

That is, after the gripper device 50 grips the main product ingot 15, it moves to the loading worktable 30 according to the number of loading steps programmed in the main part and counts, and the main product ingot 15 is counted according to the counting number. ) is rotated horizontally by the main product loading robot (45), and the main product ingot (15) is dropped and loaded in a direction that intersects or is in the same direction as the ingot loaded on the loading platform (30). Let it happen.

The fixed frame 51 of the present invention includes a first loading part 52a in which the main product ingot 15 is accommodated in the storage space 52 in the horizontal direction and a second loading part 52b in which the main product ingot 15 is accommodated in the longitudinal direction. It is molded separately, and the first loading part (52a) grips seven main product ingots (15), and the second loading part (52b) allows four main product ingots (15) to be accommodated.

That is, as shown in Figure 4c, the gripper device 50 of the present invention divides the storage space 52 of the fixed frame 51 into a first loading part 52a and a second loading part 52b, and each loading part The grip portion 55 is operated individually so that 7 or 4 original ingots 15 can be loaded.

In the pallet loading process (S150), a plurality of main product ingots (15) gripped by the gripper device (50) are placed on the upper part of the first stage of support ingots (10) provided on the loading work table (30) to place the main product ingots (15). (15) This is a process of forming one ingot pallet (B) by sequentially cross-stacking it so that it has multiple layers.

In one embodiment, the ingot pallet (B) largely includes a first end (B1) where at least two support ingots (10) are arranged longitudinally based on the transfer direction at the upper part of the jig of the loading work table (30). , a second end portion (B2) in which the main product ingot (15) is arranged horizontally and continuously placed on the upper part of the support ingot (10), which is the first end portion (B1), and a second end portion (B2) that intersects at the upper part of the second end portion (B2). It is formed in a multi-stage form, and a certain number of main product ingots are sequentially arranged and stacked in the longitudinal direction, and on one side of the main product ingots stacked in the longitudinal direction, a number of main product ingots less than the above-mentioned certain number are placed horizontally. It may be composed of multi-stage parts (Bn) arranged and loaded.

As a specific example of the multi-stage part (Bn), it is formed in a multi-stage shape crossing at the top of the second stage part (B2), and seven main product ingots 15 are arranged in succession in the longitudinal direction and stacked, and four main product ingots 15 are placed on one side. It is composed of a multi-stage part (Bn) in which the ingots 15 are arranged in a horizontal direction and stacked in succession. The main product ingots 15 are stacked with 11 ingots 15 arranged in one stage, for a total of 20 stages.

In the case of the multi-stage portion Bn configured in this way, an overlapping portion (FIG. 5, not indicated) may be formed where parts of the main product ingots 15 stacked in multiple stages in the longitudinal direction face each other.

The ingot pallet (B) is an embodiment, and as shown in Figure 5, the support ingot (10) of the ingot pallet (B) is composed of a large bar having a length (width 1030 mm * length 105 mm * height 85 mm), The main product ingot (15) is manufactured in the form of a rectangular bar with a length (width 680mm x length 100mm x height 30mm), and 11 main body ingots (length 100mm) are arranged on the top of the support ingot (width 1030mm). End B2 can be loaded.

To this end, the first loading part 52a and the second loading part 52b of the fixed frame 51 on the upper part of the supporting ingot 10 allow the main product ingot 15 to be loaded in the same direction.

In addition, from the upper side of the second end (B2), seven main product ingots (15) are arranged in succession in the direction where the first loading part (52a) of the fixing frame (51) intersects the second end, and the second stacking part is loaded. The part 52b forms a third end in which four main product ingots 15 are sequentially arranged in the same direction as the second end, and the four main ingots are stacked 7 times in the direction intersecting at the upper part of the third end. The two main product ingots are arranged in a row and stacked, and four main product ingots are stacked on the other side to form each end in succession.

To this end, after the first loading part 52a of the gripper device 50 loads the seven main product ingots, the gripper device 50 is horizontally rotated 90 degrees to load the grip portion 55 of the second loading part 52b. ) is spread outward and the four main product ingots are loaded in a direction that intersects the seven main product ingots.

In addition, as another example of the ingot pallet (B), as shown in FIG. 6, at least two support ingots (10) are arranged longitudinally at the upper part of the jig of the loading work table (30) based on the transfer direction. (B1) and the first end (B1), which is formed in a multi-stage form on the upper part of the support ingot 10, and is a multi-stage part in which seven main product ingots 15 are arranged in succession in the horizontal or longitudinal direction. It can be configured as (Bn), and the main product ingot (15) is loaded to have a total of 18 stages.

Here, the support ingot (10) of the ingot pallet (B) is composed of a small bar with a length (width 675 mm * height 105 mm * height 75 mm), and the main product ingot 15 has a length (width 680 mm * height 100 mm). *It is manufactured in the form of a rectangular bar with a height of 30mm), and the second part (B2), which has 7 main body ingots (100mm in height) arranged on top of the support ingot (675mm in width), is placed.

In addition, from the upper side of the second end (B2), seven main product ingots (15) are arranged in succession in the direction crossing the second end and loaded using the first loading part (52a) of the fixed frame (51). Each end is formed continuously.

The number and number of main ingots 15 and support ingots 10 described above are different depending on the length (horizontal or vertical) of each ingot, and are therefore not limited thereto. That is, depending on the horizontal or vertical length, more or fewer items may be loaded than the above-mentioned number.

And, after the pallet loading process (S150), a pallet bending process in which the support ingot (10) and the main product ingot (15) are bent to form one block by operating an automatic bending machine provided on the loading work table (30). (S160) is further included, and the automatic bending machine can be applied to various types according to the needs of those skilled in the art, so it is not limited to a specific type.

At this time, the bend is inserted into and fixed to the groove provided on the bottom of the support ingot 10, thereby preventing the main product ingot from falling off and fixing its alignment.

In addition, after the pallet loading process (S150), a pallet discharge process (S165) is further included in which the ingot pallet (B) loaded on the loading workstation 30 is transported to the storage roll. The ingot pallet (B) is transported. To do this, an unmanned forklift, which moves back and forth a certain distance according to the program of the main part, is used, and the extension fork of the forklift is inserted into the groove provided on the bottom of the support ingot 10 to facilitate transportation.

Here, the loading work table 30 is composed of a discharge transfer line in which at least two support ingots 10 are arranged, so that the entire main product ingot 15 is loaded on any one support ingot 10. When the ingot pallet (B) is formed, the discharge line is activated to move the ingot pallet (B) to one side to discharge the pallet, and the main product ingot (15) is placed in the other support ingot (10). It is configured to be loaded to prevent stagnation in the loading process.

Above, the loading and discharging system of the product ingot according to the present invention has been described. Those skilled in the art will understand that the technical configuration of the present invention can be implemented in other specific forms without changing its technical idea or essential features.

Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive.

10: Support ingot 15: Main product ingot
20: Support transfer line 25: Main product transfer line
30: Loading workbench 45: Main product loading robot
50: Gripper device 51: Fixed frame
52: storage space 53: press support
55: Grip part B: Ingot pallet
S110: Support ingot placement process
S120: Main product ingot transfer process
S130: Main product ingot alignment process
S140: Main product ingot grip process
S150: Pallet loading process

Claims (10)

A support ingot placement process of placing one level of support ingots on a loading workbench;
A main product ingot transfer process in which the main product ingot separated from the mold moves along the main product transfer line;
A main product ingot alignment process in which main product ingots moving along the main product transfer line are sequentially aligned in an ingot alignment unit provided at one end of the main product transfer line;
A main product ingot gripping process in which the gripper device of the main product loading robot grips the plurality of main product ingots arranged in the ingot alignment portion;
A pallet loading process of placing a plurality of main product ingots gripped by the gripper device on the upper part of a single-stage support ingot provided on a loading workbench to form an ingot pallet in which the main product ingots are continuously cross-stacked so that they have multiple layers; It is characterized by being composed of,
In the gripper device,
The detection signal of the ingot sensor member provided at each corner of the fixed frame is transmitted to the main unit, compared with the programmed loading stage, and the direction is changed by horizontally rotating the fixed frame, and the grip control unit controls the opening and closing rotation of the grip section. A loading and discharging system for the main product ingot, which is comprised of:
A support ingot placement process of placing one level of support ingots on a loading workbench;
A main product ingot transfer process in which the main product ingot separated from the mold moves along the main product transfer line;
A main product ingot alignment process in which main product ingots moving along the main product transfer line are sequentially aligned in an ingot alignment unit provided at one end of the main product transfer line;
A main product ingot gripping process in which the gripper device of the main product loading robot grips the plurality of main product ingots arranged in the ingot alignment portion;
A pallet loading process of placing a plurality of main product ingots gripped by the gripper device on the upper part of a single-stage support ingot provided on a loading workbench to form an ingot pallet in which the main product ingots are continuously cross-stacked so that they have multiple layers; It is characterized by being composed of,
The gripper device,
In the storage space of the fixed frame, the main product ingot is molded into a first loading part that is accommodated in the horizontal direction and a second loading part that is accommodated in the longitudinal direction.
The main product ingot is gripped in the horizontal direction in the first loading section,
A loading and discharging system for the main product ingot, characterized in that the second loading part is configured to grip the main product ingot in the longitudinal direction.
A support ingot placement process of placing one level of support ingots on a loading workbench;
A main product ingot transfer process in which the main product ingot separated from the mold moves along the main product transfer line;
A main product ingot alignment process in which main product ingots moving along the main product transfer line are sequentially aligned in an ingot alignment unit provided at one end of the main product transfer line;
A main product ingot gripping process in which the gripper device of the main product loading robot grips the plurality of main product ingots arranged in the ingot alignment portion;
A pallet loading process of placing a plurality of main product ingots gripped by the gripper device on the upper part of a single-stage support ingot provided on a loading workbench to form an ingot pallet in which the main product ingots are continuously cross-stacked so that they have multiple layers; It is characterized by being composed of,
The ingot pallet is,
A first end in which at least two support ingots are arranged longitudinally based on the transfer direction at the top of the jig of the loading workbench;
A second-stage portion in which the main product ingots are arranged horizontally and continuously on the upper part of the first-stage support ingot;
It is formed in a multi-stage shape that intersects at the top of the two-stage portion, and a certain number of main product ingots are sequentially arranged in the longitudinal direction and stacked, and on one side of the main product ingots stacked in the longitudinal direction, a number less than the certain number is placed. A multi-stage section in which the main product ingots are arranged horizontally and stacked continuously; A loading and discharging system for the main product ingot, which is comprised of:
According to any one of claims 1 to 3,
In the support ingot placement process,
A loading and discharging system for the main product ingot, which further includes a support ingot sorting process in which the support ingots are classified into large or small sizes according to the set loading amount of the main product ingot and placed on a loading workbench.
According to any one of claims 1 to 3,
In the support ingot placement process,
A support ingot transfer process in which the support ingot separated from the mold is transferred along the support transfer line, and a support ingot loading process for placing the support ingot on the loading workbench by operation of the support loading robot. Loading and discharging system of this product ingot.
According to any one of claims 1 to 3,
After the pallet loading process,
A loading and discharging system for the main product ingot, characterized in that it further includes a pallet bending process of forming an ingot pallet into blocks by bending the support ingot and the main product ingot by operating an automatic bending machine provided on the loading workbench.
According to any one of claims 1 to 3,
After the pallet loading process,
A loading and discharging system for this product ingot, characterized in that it further includes a pallet discharge process for transporting the ingot pallet loaded on the loading workbench to the storage.
According to any one of claims 1 to 3,
loading workbench,
It consists of a discharge transfer line on which at least two support ingots are arranged, and when the main product ingot is loaded into one support ingot to form an ingot pallet, the discharge transfer line is moved to transfer the other main product to the other support ingot. A loading and discharging system for the main ingot, characterized in that the ingot is loaded.
According to any one of claims 1 to 3,
The gripper device is,
A fixed frame connected to the main product loading robot and having a storage space therein for accommodating a plurality of main product ingots;
A press support that is assembled to the fixed frame and presses the upper part of the main product ingot accommodated in the storage space;
It is rotatably assembled on both sides of the fixed frame, and is converted from an open state widened outward to a closed state retracted at the bottom of the plurality of main product ingots arranged in the ingot alignment section, so that both ends of the main product ingots are hung and supported, A loading and unloading system for the main product ingot, which switches to an open state again at the top of the loading workbench and includes a grip part for dropping and loading the main product ingot.
According to any one of claims 1 to 3,
In the ingot alignment part of the main product transfer line,
It is equipped with an alignment sensor member that senses the thickness of the main product ingots that are sequentially arranged and transmits it to the main part, and a realignment elevating device is provided to move the main product ingots in the direction of the main product transfer line according to the height deviation of the aligned main product ingots. A loading and discharging system for the main product ingot, characterized in that the main product ingot placed on the main product transfer line is rearranged and disposed in the ingot alignment part.