KR20000008098A - Palletizing system - Google Patents

Abstract

PURPOSE: A palletizing system is provided to easily load products that are produced in small quantity and in multi sort and increase productivity and working efficiency. CONSTITUTION: The palletizing system has:a pallet allotting device(1) automatically allotting a pallet; a delivering conveyor unit(2) delivering the pallet that is allotted by the pallet allotting device; a working robot(3) loading various sized products with a robot hand by safely grasping without damage; a delivering line(4) delivering loaded products in the working range of the working robot. A fixing guide rail(28') supporting and guiding one side of the pallet and a moving guide rail(28) supporting and guiding the other side of the pallet and automatically varied according to the sorts of the pallet, that are installed on the delivering conveyor unit.

Description

Palletizing System

The present invention relates to a palletizing system, in the production line for producing a small quantity of various types, such as necessities, if you want to load the goods of different specifications on the pallet every time on different types of pallets with different specifications. The present invention relates to a palletizing system capable of loading goods by a robot by transferring pallets of any type to a batch work unit.

In general, palletizing systems transfer pallets by conveyors and automatically load goods on pallets using robots. Palletizing systems are applied on regular pallets in high-speed lines that produce large quantities of cuboid products. Applies to applications that must have a gong pattern. That is, it is widely used to load lightweight articles such as toilet paper, milk and confectionery boxes, and goods are loaded into various kinds of pallets as shown in FIG.

Conventionally used palletizing systems are designed to load goods into specified pallets so that when the orderer wants to load pallets other than the specified pallets, the pallets are placed on the ground or work table and the workers manually palletize in different positions. Pallets were distributed by dispensing and distributing pallets in the gong system, or by installing individual machines for pallet distribution. However, in the case of distributing the pallet by manual operation, it is difficult to smoothly load the article by the robot, the line becomes complicated, and a large installation space is required. In addition, since the pallet is distributed by hand, productivity and workability are lowered, and work avoiding phenomenon occurs due to simple repetitive work.

In addition, when distributing pallets by installing individual pallet distribution machines, it is possible to smoothly load goods by robots.However, according to the specifications of the pallets, a plurality of pallet distribution machines are installed separately and a forklift moving space for supplying pallets is provided. Because it needs to be secured, a large installation space is required, and a lot of equipment costs gave economic burden.

In addition, the conveying conveyor for transporting the pallets distributed by the manual or pallet distribution individual dedicated machine is to transfer only pallets of a certain standard, when the specifications of the pallets are changed by the orderer, it is necessary to install a separate pallet transporting conveyor line There were various problems.

The present invention has been made in consideration of the above problems, and an object thereof is to distribute / transfer various types of pallets regardless of the types of pallets, simplifying lines, reducing equipment costs, and smoothly loading goods. It is to provide a palletizing system that can facilitate the loading of the multi-products produced at the same time, and improve the productivity and workability.

The present invention provides a pallet dispensing apparatus for automatically distributing pallets of the same standard in batch work units regardless of the type and size of pallets; A conveying conveyor unit connected to the pallet dispensing apparatus and having one end connected to transfer the pallet distributed by the pallet dispensing apparatus, and having a wrapping device or a bending device installed, and the other end connected to the discharge line; A work robot for safely and securely holding goods of various specifications by the robot hand on the pallets transported to the product loading position along the conveying conveyor to load the goods; Pallet for carrying and transporting the goods to be loaded into the working range of the work robot, including a pallet for distributing / transporting the pallets of the same standard in batch work units irrespective of the type of pallets, pallets for loading the goods on the pallet In providing a tingsing system.

1 is an exemplary view showing a configuration of the present invention

Figure 2 is a schematic diagram showing the installation of the stopper, sensor and motor of the present invention

3 is a multi-type pallet distribution apparatus according to the present invention

4 is a pallet conveying conveyor according to the present invention.

5 is an exemplary view of a multi-standard pallet

* Explanation of symbols for the main parts of the drawings

(1): Multi-type pallet distribution device (2): Multi-standard pallet transfer conveyor

(3): Work robot (4): Goods transfer line

(5): Pallet 11: Link mechanism

(12): front wall (13): side wall

14: main frame 15: limit switch

(16): hook 17: pneumatic cylinder

18: lift 21: the first conveyor

21`: first 1 'conveyor 22: second conveyor

22`: 2nd `conveyor 23: 3rd conveyor

24: fourth conveyor 25: fifth conveyor

(25`): 5` conveyor (25 ″): 5 ″ conveyor

26. Sixth Conveyor 27 Discharge Line

28: moving guide rail (28 `): fixed guide rail

41: conveyor 42: sensor

(43): stopper (212`, 222`, 252`, 252 ″): motor

(211,221,231,241,251,261,211`, 221`, 251`, 251 ″): motor

212: First Sensor 213: First Stopper

222: second sensor 232: third sensor

233: third sensor 234: third sensor

235: third stopper 242: fourth sensor

(243): fourth sensor 244: fourth sensor

245: fourth stopper 253: fifth `sensor

254: fifth sensor 262: sixth sensor

1 is a schematic view of the present invention, Figure 2 is a schematic view showing the installation state of the stopper, sensor and motor of the present invention, Figure 3 is a multi-type pallet distribution device applied to the present invention, Figure 4 is a pallet according to the present invention The conveying conveyor is illustrated, and the present invention provides a multi-type pallet dispensing apparatus (1) for automatically distributing the pallet (5) of the same standard in batch work units irrespective of the specification and type of the pallet, and the pallet dispensing apparatus (1) The pallet conveyer part 2 which conveys the pallet 5 distribute | distributed by the to a loading position, and the pallet conveyed to the product loading position along the said conveying conveyor part 2 are damaged by a robot hand by goods of various specifications. It consists of a work robot (3) for safely grabbing and loading the goods, and a goods transport line (4) for transporting the goods to be loaded into the working range of the work robot (3).

The multi-type pallet distribution device 1 stores pallets of the same standard in batch work units regardless of the type of pallets, and transfers them to the transfer conveyor unit 2 by a motor (not shown). Front and side walls 12 and 13 which are operated by the operation of the link mechanism 11, and hooks 16 which are installed at the lower side of the front wall 12 and the main frame 14 and operated by the limit switch 15. And a lift 18 which is operated by the pneumatic cylinder 17 installed at the lower side and discharges the pallet 5 stored in the pallet dispensing apparatus 1 downwardly one by one to the transfer conveyor unit 2.

The work robot (3) is to load the goods transported along the goods transfer line (4) in a short time in a pallet by the robot hand, it is easy to load a variety of products of varying height and volume, that is, small quantities of products produced Only the robot hand or robot wheel should be replaced.

The goods transfer line 4 is to transport the goods to be loaded on the pallet within the working range of the work robot 3, a conveyor 41 for transporting the goods, a plurality of sensors 42 for detecting the transport of the goods and And a plurality of stoppers 43 operated by the sensor 42 to transfer and control the article. That is, the article transfer line 4 is the article is transported by the conveyor 41, the sensor 42 detects the entry of the article, the stopper 43 is operated by the sensor 42 to operate the robot The goods are to be transported within range. In addition, the article transfer line 4 may be provided with a plurality of article transfer line (4) capable of transferring the article within the working range of the work robot (3) for smooth transfer of the product.

The transfer conveyor unit 2 transfers the pallet 5 stored in the pallet distribution apparatus 1 along the work line, and a plurality of transfer conveyors are separated and installed on both sides of the conveyor to support both sides of the pallet. The moving guide rail 28 and the fixed guide rail 28 'which prevent the separation of a pallet are provided.

One end of the conveying conveyor 2 is connected to the pallet dispensing apparatus 1, and the other end of the conveying conveyor 2 is connected to the work process conveyor 26 of the lapping apparatus or the bending apparatus 100. It is installed in '□' shape. That is, the second, third, fourth, fifth, and separately installed conveyors 22, 23, 24, and 25 are installed in a '□' shape around the work robot 3, and the second and fourth conveyors 22 and 24 are installed. The pallet dispensing apparatus 1 is installed on the other side of the first conveyor 21 connected to one side of the lapping apparatus and the bending device at the position of the sixth conveyor 26 connected to one side of the fifth conveyor 25. At the same time, the sixth conveyor 26 and the discharge line 27 are connected to each other.

In addition, the upper part of the second conveyor 22, the goods transfer line 4 is installed so as to be perpendicular to the second conveyor 22, the second, third, fourth, fifth, the conveyor 22 is installed in the '□' shape. , 23, 24, 25 edges, that is, the end of the first conveyor 21, which is connected to the second, fourth conveyors 22, 24, the end of the second conveyor 22 and the fifth conveyor ( 25) separate first, second, five, and five conveyors (21, 22, 25, 25) for transporting pallets to other lines installed at an angle of 90 °. It is. The second, third, fourth, fifth conveyors 21, 22, 23, 24, 25, and 26 separately installed and the first, second, five, and five conveyors separately installed at the corners. And 25 ", 25 " are operated by respective motors 211,221,231,241,251,261,211`, 221`, 251`, 251 ″ installed below, and the motors 211,221,231,241,251,261,211`, 221`, 251`, 251 ″ It is operated by the pallet detection sensors 212,222,232,233,234,242,243,244,253,254,262 installed on the conveying conveyors 21,22,23,24,25,26,21`, 22`, 25`, 25 ″. 5 ′, 5 ″ conveyors 21 ′, 22 ′, 25 ′, 25 ″ are cams rotated by motors 212 ′, 222 ′, 252 ′, 252 ″ to facilitate pallet transfer. It is installed to move up / down by operation of. That is, when the pallet is detected by the first, second, fifth, and fifth sensors 212, 222, 253, and 254, the first, second, five, and five conveyors 21, 22, 25, 25, and 25 are detected. ) Is lifted by the motors 212`, 222`, 252`, 252 "within the range that the goods loaded on the pallet are not separated, and then is moved to another motor 211`, 221`, 251`, 251 ″. Is operated to transfer the pallets to the conveying conveyor of the next line.

When using the present invention configured as described above to load the goods in the pallet, first select the pallet according to the orderer's order, select the loading program suitable for the goods and pallet in the system control panel, and then in the operation panel of the pallet distribution device When the pallet model is set and selected, the front and side walls 12 and 13 in the pallet dispensing apparatus 1 and the moving guide rail 28 of the conveying conveyor unit 2 are automatically adjusted to the pallet standard. The pallet 5 is loaded in the distribution apparatus 1 using a forklift truck. When operating the present invention in which the pallet 5 of the same standard is loaded in the batch dispensing apparatus 1 in the batch work unit as described above, the pallet 5 loaded in the pallet dispensing apparatus 1 is connected to the pneumatic cylinder 17. The pallet 18 transported on the first conveyor 21 one at a time by the lift 18 operated by the lifter 18, and the pallet 5 conveyed along the first conveyor 21 is transferred to the first conveyor 21. After the temporary stop by the first sensor 212 and the first stopper 213 provided at the end, the second conveyor 22 and the second 'conveyor 22' to the third conveyor 23 or The pallet 5 transferred to the fourth conveyor 24 by the 1 ′ conveyor 21 ′ and the 3 and 4 conveyors 23 and 24 may include the third and fourth sensors 232 and 242 and the third and fourth sensors. Stopped at the robot working position (article loading position) by the stoppers 235 and 245, and when the pallet arrival to the loading position is detected by the 3rd and 4th sensors 233 and 243, the goods transferred along the article transfer line 4 The robot 3 is loaded on the pallet. That is, the work robot 3 sequentially loads the goods into pallets distributed and transferred to the third conveyor 23 and the fourth conveyor 24 by a loading program. The pallets which have finished loading of the robot are again transported along the third and fourth conveyors 23 and 24 according to the release of the third and fourth stoppers 235 and 245, and the pallets transferred along the third conveyor 23 are the fifth. The pallets conveyed along the fourth conveyor 24 by the 'conveyor 25' and the fourth conveyor 24 are conveyed by the fifth ", 5,5 " conveyors 25 ", 25, 25 " It is conveyed to the conveyor 26. At this time, when the pallet for which the article is loaded is detected by the 3 ″, 4 ″ sensor 234, 244, the completion of pallet discharge at the loading position, the third and fourth stoppers 235 and 245 are raised to stop the reference position of the newly introduced ball pallet. To determine. When the pallet on which the article is loaded is transferred to the sixth conveyor 26, the article is wrapped or banded by the bending apparatus and then discharged through the discharge line 27 by the wrapping apparatus.

As described above, the present invention is capable of distributing / transferring pallets of the same standard in batching units regardless of the type of pallets, thereby simplifying the line, thereby reducing the economic burden by reducing equipment costs, and installing the facilities. The space can be reduced considerably compared to the system using the conventional method, and the load of goods produced in various kinds can be flexibly handled.

In addition, it is possible to load goods by robot at the same time in two different positions with similarity that are carried in separate goods transfer lines (4, 4`) separately in the transport conveyor separately installed, productivity and workability There are many effects, such as improving.

Claims (3)

Pallet distribution device that automatically distributes pallets of the same standard regardless of the type of pallets, A conveying conveyor unit connected to one end of the pallet dispensing apparatus and connected to a wrapping device or a bending device and a discharge line and the other end of the pallet dispensing apparatus, and to transfer the pallet distributed by the pallet dispensing apparatus; A work robot for safely and safely holding goods of various sizes by a robot hand on a pallet transported to an item loading position along the conveying conveyor, and loading the goods; It comprises a goods transfer line for transporting the goods to be loaded within the working range of the work robot to distribute / transport pallets of the same standard regardless of the type of pallet, and to load the goods in a variety of loading patterns according to the specifications of the pallet Palletizing system, characterized in that. The method of claim 1; The conveying conveyor unit has one side connected to the pallet dispensing apparatus, and a first `conveyor which is moved up and down by a stopper and a motor which is operated by the sensor and a stopper and a motor which controls the pallet on the other side. Installed first conveyor, A second conveyor having one side connected to the first conveyor and having a second sensor configured to move up and down by a motor and a second sensor detecting a pallet entry on the other side; One side and one side of the second conveyor on which the second `conveyor is installed are connected to each other, and are operated by the third and third` 3 'and 3 ″ sensors for detecting pallet entry, arrival, and discharge into a loading position, and loading the pallet. A third conveyor provided with a third stopper for stopping in position, One side and one side of the first conveyor is installed, the first 'conveyor is installed in parallel with each other and the third conveyor is installed, the first to detect the loading position, arrival, discharge of the pallet transported by the first' conveyor A fourth conveyor provided with a 4,4`, 4 ″ sensor and a fourth stopper operated by the sensor to stop the pallet in the stowed position; A fifth` sensor that detects the entry of the pallet on one side connected to the third conveyor and a fifth` conveyor which is moved up and down by a motor are installed, and the entrance of the pallet is detected on one side connected to the fourth conveyor. A fifth conveyor provided with a fifth conveyor, which is moved up and down by a fifth sensor and a motor; A sixth conveyor having one side connected to one side of the fifth conveyor installed with the fifth `conveyor, a lapping device and a bending device installed, and the other side connected to the discharge line; Consists of a plurality of motors for operating the first, 1`, 2, 2`, 3, 4, 5, 5`, 5 ″ 6 conveyors so that pallets of various sizes can be shared and transported in batch work units. Palletizing system, characterized in that. The method of claim 1 or 2; The conveying conveyor unit is a palletizing system, characterized in that a fixed guide rail for supporting and guiding one side of the pallet, and a moving guide rail for automatically varying according to the type of pallet and supporting and guiding the other side of the pallet.