KR20000074249A - Auto Loading Unit of a Pad - Google Patents

Abstract

PURPOSE: A slip sheet automatic interposing device uses a parallel four-joint link to feed a slip sheet accurately between loading layers and maximizes the work productivity of the product automatic loading device such as a robot. CONSTITUTION: A slip sheet automatic interposing device comprises a body part(10), a rotating part(20) of a parallel four-joint link, an elevator part(30), a slip sheet absorption part(40) and an automatic-switching slip sheet preparation part(50). The slip sheet absorption part(40) absorbs a first or a second slip sheet(4,4') at a slip sheet loading decking truck of the slip sheet preparation part(50) and lifts a first(4) or second slip sheet(4') by a cylinder(31) for elevation. Thereafter, the parallel four-joint link rotates to the slip sheet interposing work position by a cylinder(21) for rotation. A pose of the slip sheets(4,4') doesn't changes and maintains intactly due to the instrumental characteristics of the parallel four-joint link. With the slip sheets(4,4') still, the cylinder(31) for elevation descends and the slip sheet automatic interposition device puts the absorbed slip sheets(4,4') on an upper plane of the product loading layer accurately and repeatedly in the same pose.

Description

Auto Sheet Insertion Unit {Auto Loading Unit of a Pad}

The present invention relates to an automatic slip sheet insertion device using a parallel articulated link, and more particularly, when the product packaging is completed in the production process, the unit packaging is easily broken or stuck to each other due to the characteristics of the product is difficult to separate products It is a slip sheet inserting device that quickly and repeatedly supplies the sheet of paper in every stacking layer so as to prevent the fall of the stacking layer or the handling of cargo. The present invention relates to a dedicated interleaver automatic insertion device with a simple and inexpensive parallel articulated link structure that can maximize the operation rate.

Generally, a factory produces a product and loads a finished product on a pallet in various patterns for shipment or storage.

Conventionally, as a method of loading the product on a pallet, a number of workers manually load the product on a pallet, and recently, a product is automatically loaded on a pallet as a palletizing automation device such as a robot.

As the method of loading the product on the pallet is automated as described above, a lot of products are loaded on the pallet in a short time with a certain quality. As a result, the palletizing robot replaced with an additional hand or a separate hand and then inserted a sheet of paper or installed a separate sheet automatic inserting device.

At this time, when palletizing robot and pallet inserting work are performed in parallel with the palletizing robot, a separate hand for inserting the slip sheet is combined with the palletizing hand to increase the hand weight, thereby limiting the palletizing pattern implementation. In other words, there is a need for an expensive robot with a high payload, or a separate hand for adsorption of ice sheets and automatic replacement to increase productivity and lower productivity by temporarily reducing production speed. there was.

In particular, when the slip sheet is deformed from a monolithic quadrilateral to a plurality of narrow strips in order to reduce costs, the above-mentioned temporary production speed reduction problem has been raised.

In the case of using a separate automatic sheet inserting device like the latter, the sheet can be inserted only on the upper surface of the pallet before transporting the pallet to the stacking position due to the interference of the loading work space with the robot. In such a case, or a device configured to allow interleaving at every loading floor, a pallet that requires a large space for installation so as not to interfere with the work of the robot, or which has a larger size and an operation cycle time becomes faster. There is a problem that the investment cost is increased and productivity is lowered because it is relatively slow compared to the aging robot.

In particular, in the case of a product having a high unit density (that is, a weight to volume ratio) of the product, the above problem is more serious.

The present invention has been made in order to solve the above problems, when loading the finished product packaging on the pallet after production in the production process is easily broken due to the characteristics of the product, it is difficult to separate the separation layer or load of the product By supplying the automatic slip sheet inserting device repeatedly and quickly for every loading layer to prevent the collapse during transportation and handling of Its purpose is to provide an inexpensive, simple parallel joint linkage automatic insertion device that can maximize the work productivity of automatic loading devices such as robots by occupying the minimum installation space.

In order to achieve the above object, two long-axis links having a constant width and length are formed on the upper side of the main frame portion of the automatic slipper inserting device by the support joints in parallel at regular intervals, and the other end of each of the long-axis links. Forming a parallel joint link by forming a single axis link in parallel with the main frame to the hand-side joint, and to rotate each joint relative to the main frame of the combined parallel joint link to rotate at a predetermined angle One end of the cylinder is hinged to the main frame, the other end is connected to the rotating joint of the parallel articulated link structure configured by hinged to the long axis link through the rotation angle adjustment unit,

An elevating cylinder 31 and a sliding guide 32 formed on one side of the single-axis link, and an elevating portion for raising / lowering an ice sheet adsorption portion;

A selvage adsorption unit fixedly coupled to the rod end of the elevating cylinder and composed of a plurality of vacuum cups and a plurality of vacuum cup support units for vacuum-adsorbing and handling the sensor unit for checking the seizure adsorption and detachment positions;

A slip sheet is mounted on the ground of the lower portion of the slip sheet adsorption unit on a trolley rail formed in parallel with the conveyor for conveying pallets, and the slip sheet is mounted to allow automatic switching of the type of slip sheet to be worked by sliding the slip sheet stacking cylinder with a replacement cylinder. Preparation,

The sebaceous adsorption part picks up the kind of sebum that is set in advance in the sepaphore loading cart and lifts it by the lifting cylinder, and then rotates a certain angle to the position of inserting the selvage by the rotating cylinder based on the main frame of the parallel joint link. Afterwards, while the posture of the kanji remains unchanged by the mechanical characteristics of the parallel articulated link, the lifting cylinder is lowered so that the kanji can be repeatedly placed on the upper surface of the product loading layer accurately and repeatedly in the same posture. It is to provide an automatic interleaver inserting device using the parallel joint link.

1 is a whole palletizing system including the present invention automatic sheet inserting device

Configuration schematic

2 is an overall configuration of the present invention automatic slip sheet inserting device

3 is a schematic plan view of the present invention automatic sheet inserting device

4 is a side schematic view of the present invention automatic slip sheet inserting device

5 is a schematic view of the operation sequence of the present invention automatic slip sheet

<Explanation of symbols for the main parts of the drawings>

(1): Conveyor (2): Pallet

(3): robot

(4): first slip sheet (4 '): second slip sheet

(5): pallet dispenser (6): diverter

(10): body portion (11): leg portion

(12): mainframe

20: rotating part 21: rotating cylinder

(22): long link (23): short link

(24) (24 '): Support joint (25) (25'): Hand side joint

(27): rotation angle adjustment unit

(30): lifting section 31: lifting cylinder

(32): sliding guide (321): end bra

(33): sliding base (34): cable support

40: ice cream adsorption portion 41: hand frame

(42): vacuum cup support (43): vacuum cup

44: sensor

50: ice sheet preparation 51: replacement cylinder

(52): Trolley loading cart (53): Balance rail

Referring to the configuration and operation of the present invention in detail based on the accompanying drawings as follows.

1 is a whole palletizing system including the present invention automatic sheet inserting device

Composition schematic,

2 is an overall configuration diagram of the present invention automatic slip sheet inserting device,

3 is a schematic plan view of the present invention automatic sheet inserting device,

Figure 4 is a side schematic view of the present automatic slip sheet inserting device,

Figure 5 shows a schematic view of the operation sequence of the present automatic slip sheet inserting device.

Two long shaft links 22 having a constant width and length on one side of the main frame 12 of the main body inserting device of the automatic slip inserting device are formed to be parallel to the support joints 24 and 24 'at regular intervals. In addition, the short axis link 23 is coupled to the other side end of each of the long axis link 22 to the main frame 12 by hand joints 25 and 25 'to form a parallel articulated link. Rotating cylinder to rotate each joint 24, 24 ', 25, 25' relative to the main body 12 of the body portion 10 of the coupled parallel articulated link One end of the hinge 21 is hinged to the main body 12 of the body portion 10, the other end is a parallel articulated link formed by hinged to the long axis link 22 via the rotation angle adjustment unit 27 The rotating part 20 of the structure,

The sliding base 33 is attached to one side of the short axis link 13 of the parallel articulated link, and the lifting cylinder 31 and the sliding guide 32 which are operated up and down are installed on the sliding base 33. And a slip sheet 4 (4 ') which is set in contact with the first slip sheet 4 or the second slip sheet 4' at the lower end of the rod end of the lifting cylinder 31 and one end of the sliding guide 32. And the lifting section 30 is installed to connect the interleaver adsorption unit 40 to the lifting cylinder 31 so as to lift,

The hand frame 41 is fixedly coupled to the rod end of the elevating cylinder 31 and the lower end of one side of the sliding guide 32, and the insertion interval of the first interliner 4 in the lower portion of the hand frame 41; The vacuum cup support 42 for attaching a plurality of pieces at regular intervals to fit and attaching the plurality of vacuum cups 43 at appropriate intervals to the lower portions of the respective vacuum cup support 42, and the hand frame 41 And the selvage adsorption portion 40 formed by attaching the sensor portion 44 for detecting the sebum adsorption position and the sewage detachment position to the lower portion.

A trolley rail 53 is formed in parallel with the pallet conveyance conveyor 1 on the ground under the slipper adsorption part 40, and the first interleaver paper 4 and the second shape of the different shape on the trolley rail 53 are formed. Mount the interlude loading cart 52 formed to stack the interlude 4 'at the same time, and fix the rod side end of the replacement cylinder 51 to the lower one side of the interlude loading cart 52, and the replacement An automatic switchable gantry preparation unit 50 fixedly coupled to the body of the cylinder 51 in parallel with the trolley rail 53 at the center of one end of the trolley rail 53,

The slipper adsorption unit 40 sucks the first slipper 4 or the second slipper 4 'from the slipper loading cart 52 of the slipper preparation unit 50, lifts it up and down by the lifting cylinder 31, and then parallels it. When the joint link completes the rotation of the interleaver insert position by the rotating cylinder 21 with respect to the main body 12 of the body part 10, the interleaver adsorbed by the mechanical characteristics of the parallel joint link (4 (4 ') remains unchanged, and the lifting cylinder 31 is lowered, so that the slippers 4 and 4' adsorbed on the upper surface of the product loading layer can be repeatedly and exactly placed in the same position. It is configured to be.

An example of the operation of the present invention is as follows.

When the palletizing system starts automatic operation, the replacement cylinder 51 of the ice sheet preparation unit 50 is operated to transfer the ice sheet stacking cart 52 to one end, and to put moisture on the upper surface of the pallet primarily. The integrated second interliner 4 'of the upper part of the upper part of the wick adsorption part 40 is accurately positioned, and then the lifting cylinder 31 of the lifting part 30 that supports the wick adsorption part 40 is connected to the wick adsorption part ( The second slipper 4 'in which the slipper adsorption position detection sensor of the sensor part 44 formed at the lower end of the slippery adsorption portion 40 is loaded on the slipper loading cart 43; When the upper end of the) is detected, the predetermined amount is lowered by the set time, the operation of the lifting cylinder 31 is stopped, and the second separator 4 'is vacuum sucked, and when the adsorption is completed, the lifting cylinder 31 is operated. Raise the adsorption part 40 as much as possible.

Subsequently, when the empty pallet 2 is transferred to the product loading position by the conveyor 1 and the setting is completed at the loading work position, the second slip sheet 4 'to be inserted at the bottom end is sucked up and held at the highest height. The liver adsorption part 40 of the present invention operates the cylinder 21 for rotation of the rotating part 20 so that the long axis link 22 on one side of the parallel articulated link is referred to the support part 24 of the main frame 12. By rotating a certain angle to the ball pallet (2) is moved to the upper position,

At this time, due to the theoretically well-known kinematic operation characteristics of the parallelogram link, the single axis link 23 is rotated to the upper position of the ball pallet 2 while maintaining the posture parallel to the main frame 12. At the time of adsorption of the interleave sheets 4 and 4 ', the posture of the sliding section 30 attached to one end of the link 23 or the interstitial adsorption section 40 formed at one end of the sliding section 30 does not change. It remains the same as the posture.

After the rotation of the rotating part 20 is completed, the lifting device 31 for lifting and lowering the lifting device 30, which supports the slipping device 40, adsorbs and holds the second insulating paper 4 '. Ascending and lowering the 40 at a constant speed, the lifting cylinder 31 when the sensor detachable position detection sensor of the sensor unit 44 formed on the lower end of the slipper adsorption unit 40 detects the upper end of the empty pallet (2) To stop the operation and desorption by vacuum breaking the second interleaver (4 '), and when the desorption is complete, operate the lifting cylinder (31) to raise the interleaver adsorption unit (40) as much as possible and then the new interleaver (4) (4'). Return to the home position waiting to adsorb).

Subsequently, the robot 3 picks up the product and forms the first loading layer according to the loading pattern on the second sheet 4 'of the pallet by loading the product, and in parallel with the progress of the loading operation of the robot 3. The interleaver preparation unit 50 of the present invention operates the replacement cylinder 51 to transfer the interleave stacking cart 52 to the other end, so that the first interleave sheet 4 in the form of a narrow band to be inserted between the product stacking layers. Positioned correctly at the lower end of the velcro adsorption part 40, and then the lifting cylinder 31 of the lifting unit 30 supporting the velcro adsorption part 40 lowers the velcro adsorption part 40 at a constant speed. When the upper end of the second interval 4 'loaded on the interval loading cart 43 is detected by the detection zone detection sensor of the sensor section 44 formed at the lower end of the interval detection section 40 by a predetermined amount of time. After lowering the operation of the lifting cylinder 31 is stopped and the second sheet of paper (4 ') is vacuum-adsorbed, When the adsorption is completed, the lifting cylinder 31 is operated to raise the ice sheet adsorption unit 40 as much as possible.

Subsequently, when the loading of the first stage product of the robot 3 is completed, the slip sheet adsorption portion 40 of the present invention, which is held at the highest height after the adsorption of the first slip sheet 4, is rotated by the rotating portion 20. Dedicated cylinder 21 is operated to rotate the long shaft link 22 on one side of the parallel articulated link by a predetermined angle relative to the support joint 24 of the main frame 12 to the second interleaver 4 '. By the same operation principle as the insertion case, while moving the top of the product loading position of the pallet (1) while maintaining the posture of the first slipper (4), when the rotation of the rotating part 20 is completed, the slipper adsorption part ( The lifting cylinder 31 of the lifting unit 30, which supports 40, lowers the interlining unit adsorption unit 40 holding and adsorbing the first interliner 4 at a constant speed, and the interliner adsorption unit 40. The lifting edge detection position detection sensor of the sensor section 44 formed at the lower end of the The operation of the lining 31 is stopped, and the first detachment 4 is removed by vacuum breaking, and when the detachment is completed, the lifting cylinder 31 is operated to raise the interliner adsorption part 40 to the maximum, and then the new detachment 4 Return to the home position waiting to adsorb 4 '.

The robot 3 then handles the product again to form a new loading layer to form the next loading layer.

By repeating the above operation, multiple layers of product loading layers are formed on the pallet, and the form sheets set between each loading layer can be automatically and continuously inserted.

Therefore, the present invention utilizes the basic mechanical characteristics of the parallelogram link to minimize the space for equipment installation, simplify the structure,

By applying a rotational transport method, rather than the conventional linear traveling method, for the position movement of the ice sheet adsorption unit, the cycle time for inserting the ice sheet is relatively shortened, and the equipment cost is reduced by simplifying the configuration of the position moving unit.

In addition, by linking with the robot palletizing system, it is possible to automatically insert multiple sheets of paper between product stacking layers for the purpose in a short time.

It is a simple and inexpensive, compact and high efficiency automatic inserting equipment for simple inserting to realize the high speed and diversification of inserting paper in the automatic palletizing work of products that are diversified according to the change of consumption desire. In the robot palletizing system, it is a useful invention that can maximize the operation rate of the robot and maximize the work productivity.

Claims (2)

Two long shaft links 22 having a constant width and length on one side of the main frame 12 of the main body inserting device of the automatic slip inserting device are formed to be parallel to the support joints 24 and 24 'at regular intervals. In addition, the short axis link 23 is coupled to the other side end of each long shaft link 22 in parallel with the main frame 12 by hand joints 25 and 25 'to form a parallel articulated link. Rotating cylinder to rotate each joint 24, 24 ', 25, 25' relative to the main body 12 of the body portion 10 of the coupled parallel articulated link One end of the hinge 21 is hinged to the main body 12 of the body portion 10, the other end is a parallel joint link configured by hinged to the long axis link 22 via the rotation angle adjustment unit 27 The rotating part 20 of the structure, The sliding base 33 is attached to one side of the short axis link 13 of the parallel articulated link, and the lifting cylinder 31 and the sliding guide 32 which are operated up and down are installed on the sliding base 33. In addition, the rod end of the lifting cylinder 31 and the lower end of the one end of the sliding guide 32 in contact with the first slipper 4 or the second slipper 4 'to lift the slippers 4 and 4'. And the lifting portion 30 is installed to connect the ganji adsorption portion 40 to the lifting cylinder 31 to raise, The hand frame 41 is fixedly coupled to the rod end of the elevating cylinder 31 and the lower end of one side of the sliding guide 32, and the insertion interval of the first interliner 4 in the lower portion of the hand frame 41; The vacuum cup support 42 for attaching a plurality of pieces at regular intervals to fit and attaching the plurality of vacuum cups 43 at appropriate intervals to the lower portions of the respective vacuum cup support 42, and the hand frame 41 And the selvage adsorption part 40 formed with the sensor part 44 for detecting the seizure adsorption position and the detachment position of the sewage detachment at the bottom thereof. A trolley rail 53 is formed parallel to the pallet conveying conveyor 1 on the ground of the lower portion of the velcro adsorption part 40, and a plurality of different types of vellum are stacked on the trolley rail 53 at the same time. Mount the formed interleaver loading cart 52, fix the rod-side end of the replacement cylinder 51 to the lower side of the interleave loading cart 52, and the body of the replacement cylinder 51 to the balance rail 53 And auto-changing ganji ready portion 50 is fixed to the center of one end of the parallel to the balance rail 53, The slipper adsorption unit 40 sucks the first slipper 4 or the second slipper 4 'from the slipper loading cart 52 of the slipper preparation unit 50, lifts it up and down by the lifting cylinder 31, and then parallels it. After the joint link has completed the rotation to the interleave insertion position by the rotating cylinder 21 with respect to the main body 12 of the body portion 10, the interleaver (4) by the mechanical characteristics of the parallel joint link While the posture of (4 ') remains unchanged, the lifting cylinder (31) is lowered to repeatedly hold the slip sheets (4) (4') adsorbed on the upper surface of the product loading layer on the pallet in exactly the same posture. Automatic insertion device using a parallel articulated link, characterized in that configured to place The method of claim 1; Form a plurality of kanji on the kanji loading cart 52 of the kanji preparation unit 50 at the same time, respectively, built-in motor installed in the lower part of the kanji loading table 52 is placed on the balance rail 53 Icebreaker automatic insertion device, characterized in that configured to drive