KR20230126795A - Automated machinery handling heterogeneous pallets - Google Patents

Abstract

A sensor for measuring the width of the pallet is installed in the setup station that sets up the pallet, and the control device automatically adjusts the variable fork of the transfer cart that transports the pallet according to the width of the pallet detected by the sensor, Allows pallets to be used in parallel on one automation line. Therefore, the productivity of the automated processing line is improved by eliminating the waste and hassle of operating multiple automated lines for each pallet size as pallets cannot be changed, and furthermore, energy efficiency is reduced by using optimized pallets without using unnecessarily large pallets. There are savings and cost reduction effects.

Description

Automated machinery handling heterogeneous pallets}

The present invention relates to a system for transporting and storing pallets loaded with workpieces to be loaded into or discharged from a machine tool, and more specifically, to an automated machine for automatically recognizing and handling pallets of different sizes.

In general, in an automation line including a machining center, workpieces are placed (set up) on a pallet, brought into a machine tool along with the pallet, and processed, or stored in a rack in a pallet storage while mounted on a pallet. In addition, when the workpiece mounted on the pallet is finished processing in one machine tool, it is exchanged for a new pallet waiting for processing by an Automatic Pallet Changer (APC) and taken out, and the first exchanged by APC Workpieces that have been processed are mounted on pallets and loaded onto automated guided vehicles or transfer carts, and then transferred to another machine tool for secondary processing by an automated program or transferred to storage racks in pallet storage. do.

On the other hand, pallets used in the automation line as described above use pallets manufactured to a unified standard for work compatibility among pallet setup stations, unmanned guided vehicles, and automatic pallet changers constituting the automation line. That is, the automated line configuration devices for loading, unloading, or transporting pallets are set to the same width as a predetermined pallet in order to handle pallets by automation control. Therefore, it is not possible to input another type of pallet with a different pallet width to an automated line that has already been set to one type of pallet width and is in operation.

In order to use a pallet of a different standard in an automation line in which one type of pallet has already been set, the pallet handling structure such as the setup station, unmanned guided vehicle, and automatic pallet changer that constitutes the automation line must be readjusted and used. Since the procedure has to be performed every time the specifications of the pallet are changed, it delays the working time and causes inconvenience to the operator. Due to this circumstance, it has been treated as virtually impossible to put pallets of different specifications together into one automation line.

Therefore, even though it is a small-scale workpiece, there are unreasonable factors such as inconvenience in handling and waste of energy as it is used on an unnecessarily large pallet. In addition, in an automation line set with a small-sized pallet, due to the constraints of the pallet size, machine tools Although it is acceptable, large workpieces are not machinable.

On the other hand, Patent Document 1 introduced as prior art introduces a pallet magazine setup station. However, Patent Document 1 only introduces the index device of the pallet magazine setup station, but does not introduce the use of pallets of different specifications in parallel.

In addition, Patent Document 2 introduces a method of differentiating the transport speed at the time of carrying in/out of pallets in a machine tool having a parallel APC (Automatic Pallet Changer) structure according to the presence or absence of pallets. Therefore, Patent Document 2 also fails to introduce the use of pallets of different standards in parallel.

Korean Patent Publication No. 10-2004-0061746 Korean Patent Publication No. 10-1997-0033442

An object of the present invention to solve the above problems is, as the size of a workpiece or the scale of a machine tool has recently become diverse, pallet handling automation that can apply pallets of different specifications in parallel in one automation line It aims to provide a mechanism.

The automated machinery for handling heterogeneous pallets of the present invention to solve the above problems is,

A pallet storage for storing and storing pallets;

A machine tool for processing a workpiece while the workpiece is mounted on the pallet;

A setup station having a distance measurement sensor for measuring the distance between a support on which a pallet is placed and a pallet placed on the support;

A variable fork unit for adjusting the width of the variable fork supporting the pallet according to the size of the pallet, and a moving means for lifting and rotating the variable fork unit, and between the setup station, the pallet storage and the machine tool. A transport truck for loading, unloading or transporting the pallet;

The size of the pallet is determined and stored according to the distance detected by the setup station, and the width of the variable fork of the variable fork unit is adjusted according to the width of the stored pallet so that the pallet is mounted on the variable fork, and the machine tool and a control device for controlling the transfer cart to move between the pallet storage and the setup station.

In a preferred embodiment, the control device calculates and stores the width of each pallet based on the distance detected through the distance measurement sensor of the setup station, and calculates and stores the width of the variable fork of the variable fork unit according to the stored width of the pallet. It is characterized by adjusting the width.

In a preferred embodiment, the control device stores information on the width of pallets for each pallet type in advance in a storage device, and the distance detected through the distance measurement sensor is within a predetermined tolerance range with the width of the pallet stored in the storage device. When matched, the width of the variable fork of the variable fork unit is adjusted with the width of the pallet stored in the storage device.

In a preferred embodiment, the support of the setup station is installed at a certain height from the ground to support the pallet on the upper surface, and the distance measuring sensor measures the distance to one side of the pallet mounted on the upper surface of the support It is characterized in that it is installed at a certain distance from one side of the support so that can be measured.

In a preferred embodiment, the set-up station is characterized in that it is provided with a cover assembly that divides an inside and an outside including the support and the distance measurement sensor, and has a door capable of loading and unloading pallets forward.

In a preferred embodiment, the transfer cart includes a moving unit that travels on the floor surface along a path commanded by the control device at a lower portion, and a rotation plate rotating at a rotation angle commanded from the control device at an upper portion of the moving unit. An elevating frame is installed on the upper portion of the rotating plate in a vertical direction of the rotating plate, a guide unit is installed in a vertical direction on each elevating frame, and an elevating motor is installed on the upper portion of the elevating frame in a vertical downward direction. A ball screw is installed on the output shaft of the elevating motor, and the elevating frame is guided by the guide part and is screwed to the ball screw of the elevating motor to move up and down by the rotation of the elevating motor. It is characterized in that a variable fork unit having a variable fork whose width is variable according to the width is installed.

In a preferred embodiment, the elevating frame is installed in the shape of four pillars in directions symmetrical to each other with respect to the rotation center of the rotating plate, and the guide part is installed inward of the four elevating frames.

In a preferred embodiment, the variable fork unit includes a base plate guided by a guide part of the elevating frame and moved up and down by a ball screw connected to the elevating motor, a forward and backward movement plate moving forward and backward on the base plate, and the forward and backward movement plate. It includes a pair of variable forks installed at the front end and having a variable width in the left and right directions, and a fork width adjusting unit for adjusting the width of the variable fork, wherein the variable fork has a fork body extending upwards at a rear end thereof. , Through-holes are formed in directions facing each other in the left and right fork bodies, a guide bar is slidably inserted into the through-hole, and both ends of the guide bar are connected via a rear surface of the fork body by a support block It is characterized by being fixed.

In a preferred embodiment, the fork width adjusting unit includes a fluid cylinder fixed on the forward and backward plate, a block connected to the front end of a cylinder rod of the fluid cylinder and moved forward and backward, and the block and the pair of fork bodies. It is characterized in that it consists of a link rotatably coupled with a white paper pin, a guide block fixed to the lower part of the block, and a guide rail fixed to the upper part of the forward and backward plate and slidably coupled to the guide block. .

In a preferred embodiment, the fork width adjusting unit includes a servomotor fixed on the forward and backward plate, a block connected to the output shaft of the servomotor in a screwing manner and moved forward and backward by rotation of the servomotor, and the block And a link rotatably coupled to the pair of fork bodies with white pins, a guide block fixed to the lower part of the block, and a guide fixed to the upper part of the forward and backward plate and slidably coupled to the guide block Characterized in that it is made of rails.

The present invention enables pallets with different specifications to be used in parallel in one automation line, thereby eliminating the waste and hassle of operating multiple automation lines for each pallet size because the pallet cannot be changed, thereby improving the productivity of the automated processing line. Furthermore, there is an effect of energy saving and cost reduction by using optimized pallets without operating unnecessarily large pallets.

1 is an exemplary layout view of an automated machine for handling heterogeneous pallets as an embodiment of the present invention.
2 is a perspective view of a pallet setup station having a pallet width detection function as an embodiment of the present invention.
3 is a cross-sectional view of a pallet setup station showing a pallet width detection device according to an embodiment of the present invention.
4 is a perspective view of a pallet transfer cart having a variable fork function as an embodiment of the present invention.
5 is a perspective view of a pallet variable fork unit of a pallet transfer cart as an embodiment of the present invention.
6 is a configuration diagram of a fork width adjusting unit and a variable fork of a variable fork unit according to an embodiment of the present invention.
7 is a side view of a fork width adjusting unit and a variable fork of a variable fork unit according to an embodiment of the present invention.
8 is a cross-sectional view along line AA of FIG. 5 .
9 is a perspective view of a variable fork unit driven by a servo motor as an embodiment of the present invention.
10 is a side view of a variable fork unit driven by a servo motor as an embodiment of the present invention.
11 is a variable fork operating state diagram of a variable fork unit according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to FIGS. 1 to 11.

As shown in FIG. 1, the layout of the automation line using pallets 11 of different sizes includes a pallet storage 70 for storing and storing the pallets 11, and a workpiece mounted on the pallet 11. Equipped with a distance measurement sensor 22 for measuring the distance between the machine tool 10 for processing the workpiece, the support 21 on which the pallet 11 is placed, and the pallet 11 placed on the support 21 The setup station 20, the variable fork unit 40 that adjusts the width of the variable fork 43 supporting the pallet 11 according to the size of the pallet 11, and the variable fork unit 40 are lifted and lowered A transfer cart 30 that rotates and has its own moving means and loads, unloads, or transfers the pallets 11 between the setup station 20, the pallet storage 70, and the machine tool 10, The size of the pallet 11 is determined and stored according to the distance detected by the setup station 20, and the width of the variable fork 43 of the variable fork unit 40 is adjusted according to the size of the pallet 11. It consists of a control device 80 that controls the transfer cart 30 to move the pallet 11 between the machine 10, the pallet storage 70, and the setup station 20, and of the automation line The pallet storage 70, the machine tool 10, and the setup station 20 constituting the layout are disposed within a movable range of the transfer cart 30.

Hereinafter, the above major components will be described in more detail.

First, as shown in FIG. 1, at least one machine tool 10 is installed within a distance range in which the transfer cart 30 can move.

In addition, the pallet storage 70 is formed in a shelf structure capable of storing and storing pallets 11 of different types with different widths, and is multi-stage at a height capable of loading or unloading pallets 11 by the transport cart 30. made up of

As shown in FIGS. 2 and 3, in the setup station 20, the support 21 is installed at a constant height from the ground to hold the pallet 11 on the upper surface, and the distance measuring sensor ( 22) is installed at a certain distance from one side of the support 21 to measure the distance to one side of the pallet 11 mounted on the upper surface of the support 21, the distance measuring sensor ( 22) consists of a non-contact sensor such as an ultrasonic sensor or a laser sensor, or an image sensor or camera that identifies the size of the pallet 11 by recognizing the shape of the pallet 11. In this embodiment, an ultrasonic sensor is used.

On the other hand, the setup station 20 divides the inside and outside including the support 21 and the distance measuring sensor 22, and the cover assembly 23 having a door capable of loading and unloading the pallet 11 forward apply This cover assembly 23 may be omitted as a component for safety.

4 to 11 relate to the transfer cart 30, wherein the transfer cart 30 is a moving unit having a driving device at the bottom and traveling on the floor along a path commanded by the control device 80 ( 31), and a rotation plate 32 rotating at a rotation angle commanded by the control device 80 is installed above the moving unit 31.

A plurality of elevating frames 33 are installed in a vertical direction at a predetermined distance from the rotation center of the rotating plate 32 on the upper part of the rotating plate 32, and on one side of each elevating frame 33 in a vertical direction. The guide part 34 is installed.

An elevating motor 35 is installed in a vertical downward direction on the upper portion of the elevating frame 33, and a ball screw 36 is installed on an output shaft of the elevating motor 35.

In addition, the center of the plurality of elevating frames 33 is guided by the guide part 34 of the elevating frame 33 and is screwed to the ball screw 36 of the elevating motor 35 to move the elevating motor 35 The variable fork unit 40 having a variable fork 43 that moves up and down by the rotation of the fork and changes the width of the fork according to the width of the pallet 11 commanded by the control device 80 is installed in the front.

Preferably, the elevating frame 33 is installed in the shape of four pillars in directions symmetrical to each other with respect to the rotation center of the rotating plate 32, and the guide part 34 is installed in the shape of four elevating frames 33. ) is installed toward the inside of the

On the other hand, as shown in FIG. 5, the variable fork unit 40 is guided by the guide part 34 of the lifting frame 33 and moves up and down by the ball screw 36 connected to the lifting motor 35. A base plate 41, a forward and backward plate 42 that moves forward and backward on the base plate 41, and a pair of variable forks installed at the front end of the forward and backward plate 42 and having a variable width in the left and right directions ( 43) and a fork width adjusting unit 50 for adjusting the width of the variable fork 43.

On the other hand, the variable fork 43 has a fork body 57 extending upwards at its rear end, and through holes 59 are formed in the left and right fork bodies 57 in opposite directions, and the through holes 59 are formed in opposite directions. A guide bar 60 is slidably inserted into (59). Two upper and lower guide bars 60 are installed. In addition, both ends of the guide bar 60 are fixed by a support block 58 connected via the rear surface of the fork body 57.

In addition, the front ends of the pair of variable forks 43 are formed with seating grooves 61 in which both side surfaces of the pallet 11 are placed in a direction facing each other.

On the other hand, as shown in FIGS. 6 to 8, the fork width adjusting unit 50 includes a fluid cylinder 51 fixed on the forward and backward plate 42, and a cylinder rod of the fluid cylinder 51 ( 63), a block 52 connected to the front end and moving forward and backward, and a link 54 rotatably coupled to the block 52 and the pair of fork bodies 57 with white pins 53, respectively, , It includes a guide block 55 fixed to the lower part of the block 52, and a guide rail 56 fixed to the upper part of the forward and backward plate 42 and slidably coupled to the guide block 55. .

On the other hand, in another embodiment, the fork width adjusting unit 50, as shown in FIGS. 9 and 10, the servo motor 62 instead of the fluid cylinder 51 fixed on the forward and backward plate 42 ) is installed, and the block 52 is connected to the output shaft of the servomotor 62 performing a spiral motion in a screwing manner, thereby moving the block 52 forward and backward by the rotation of the servomotor 62 , The block 52 can arbitrarily adjust the width of the variable fork 43 by rotating the white pin 53 and the link 54.

In particular, when the servomotor 62 adjusts the variable fork 43 with the fluid cylinder 51, the width of the variable fork 43 is simply two types according to the stroke of the fluid cylinder 51. While can be adjusted, as much as the forward and backward distance of the block 52 can be arbitrarily adjusted by adjusting to an arbitrary rotation angle, the width of the variable fork 43 can be freely adjusted accordingly to pallets 11 of more various sizes. ) to be loaded and moved.

In addition, the control device 80 controls the work of the pallet 11 placed on the support 21 of the setup station 20 from the distance measurement sensor 22 through the distance measurement sensor 22 of the setup station 20. Detect the distance to the side, calculate the width of the pallet 11 based on this distance, store it together with the unique number of the pallet 11, and according to the stored width of the pallet 11, the variable fork unit ( 40) controls the fork width adjusting unit 50.

In another embodiment, the control device 80 stores information on the width of the pallet 11 for each type of pallet 11 in advance in a storage device, and the support of the setup station 20 (from the distance measuring sensor 22) 21) detects the distance to one side of the pallet 11 placed on it, calculates the width of the pallet 11 based on the detected distance, and then compares it with the width of each type of pallet 11 stored in the storage device If they match within a predetermined tolerance range, store the information of the pallet 11 as the width of the pallet 11 stored in the storage device together with the pallet unique number, and fork width control unit of the variable fork unit 40 Control (50). In this method, considering that the width of the pallet 11 is usually determined according to the standardized type, the distance measurement sensor 22 is used to measure the width of the pallet 11 without using a sensor having a high precision performance. width can be accurately identified.

Hereinafter, the operation process of the configuration of the embodiment will be described.

The sequence of operations described below is not necessarily sequentially operated, and the sequence of operations may be changed according to the working conditions of the machine tool 10 or the operator's operation command.

Initially, when the operator places an arbitrary pallet 11 on the support 21 of the setup station 20 to fix the workpiece to the pallet 11, the distance measurement sensor 22 is placed on the support 21 Pallet ( The distance to the side of 11) is measured and transmitted to the control device 80, and the control device 80 stores the distance information provided from the distance measuring sensor 22 in the storage device in advance. 11) Compared with the width information, it is recognized as the width of the pallet 11 of the type matching within the predetermined tolerance range and stored in the storage device along with the pallet unique number.

Thereafter, the transfer cart 30 moves to the setup station 20 by driving the moving unit 31 according to the command of the control device 80, and then rotates the rotation plate 32 to move the variable fork unit 40 ) to match the direction of the pallet 11, and then operate the lift motor 35 to match the height of the variable fork unit 40 to the height of the pallet 11.

Then, as shown in FIG. 11, the fork width adjusting unit 50 operates the fluid cylinder 51 according to the stored width information value of the recognized pallet 11 according to the command of the control device 80 to change the variable fork. (43) is adjusted to match the width of the pallet (11).

Subsequently, the control device 80 advances the forward and backward plates 42 of the variable fork unit 40 so that the variable fork 43 is located under the pallet 11, and then operates the lift motor 35 to lift. to separate the pallet 11 mounted on the variable fork unit 40 from the support 21 of the setup station 20.

Subsequently, the control device 80 sequentially or simultaneously controls the movement of the forward and backward plates 42 of the transfer cart 30, the drive of the moving unit 31, and the rotation of the lifting motor 35 and the rotating plate 32. By controlling, the pallet 11 mounted on the variable fork unit 40 is moved to the machine tool 10 or the pallet storage 70 and unloaded.

On the other hand, the transfer cart 30 moves the transfer cart 30 according to the operator's manipulation of the control device 80 or a command applied to the control device 80 from the numerical control device of the machine tool 10. It moves to the pallet storage 70 or the machine tool 10 where the commanded unique numbered pallet 11 is located, and the rotating plate 32, the lifting motor 35, the forward and backward plate 42 and the fork By operating the width control unit 50 sequentially or simultaneously, the width of the variable fork 43 is changed to the width of the corresponding pallet 11 commanded by the unique number, thereby loading, unloading or moving the corresponding pallet 11 .

On the other hand, the control device 80 operates the moving unit 31, forward/backward plate 42, lifting motor 35, rotation plate 32, fork width adjusting unit 50, etc. of the transfer cart 30. When controlling, the variable fork unit 40 or pallet 11 is simultaneously or sequentially controlled within the range of not colliding with the setup station 20, machine tool 10, or pallet storage 70, resulting in rapid operation. make this happen

On the other hand, in another embodiment, when a more precise sensor is used for the distance measuring sensor 22 and a servo motor 62 is used instead of the fluid cylinder 51 in the fork width adjusting unit 50, the control device (80) does not compare the distance measured from the distance measuring sensor 22 with the pallet 11 width information for each type of pallet 11 stored in advance in the storage device, but the distance measured from the distance measuring sensor 22 is used as a standard. The width of the pallet 11 is calculated, the result is stored in a storage device together with the unique number of the corresponding pallet 11, and the servo motor of the fork width adjusting unit 50 is used as the stored width value of the pallet 11. (62) can be controlled. Therefore, the transfer cart 30 can handle more diverse pallets 11 regardless of the width of the pallet 11.

As described above, the present invention allows pallets 11 having different specifications to be used in parallel in one automation line, so that the pallet 11 cannot be changed, and thus, a plurality of automation lines for each pallet 11 size are used. By eliminating the waste and hassle of operation, the productivity of the automated processing line is improved, and furthermore, there is an effect of saving energy and reducing costs by using an optimized pallet 11 without operating an unnecessarily large pallet 11.

10 machine tools
11 Palette
20 setup station
21 support
22 distance measuring sensor
23 cover assembly
30 transfer truck
31 mobile unit
32 rotating plate
33 lifting frame
34 guide part
35 lifting motor
36 ball screw
40 variable fork unit
41 base plate
42 Forward and backward plate
43 variable fork
50 Fork width adjustment unit
51 fluid cylinder
52 blocks
53 White Pin
54 links
55 guide block
56 guide rail
57 fork body
58 support block
59 through hole
60 guide bar
61 seating groove
62 Servo Motor
63 cylinder rod
70 pallet storage
80 control

Claims (10)

A pallet storage for storing and storing pallets;
A machine tool for processing a workpiece while the workpiece is mounted on the pallet;
A setup station having a distance measurement sensor for measuring the distance between a support on which a pallet is placed and a pallet placed on the support;
A variable fork unit for adjusting the width of the variable fork supporting the pallet according to the size of the pallet, and a moving means for lifting and rotating the variable fork unit, and between the setup station, the pallet storage and the machine tool. A transport truck for loading, unloading or transporting the pallet;
The size of the pallet is determined and stored according to the distance detected by the setup station, and the width of the variable fork of the variable fork unit is adjusted according to the width of the stored pallet so that the pallet is mounted on the variable fork, and the machine tool and a control device for controlling the transfer cart to move between the pallet storage and the setup station. The method of claim 1, wherein the controller calculates and stores the width of each pallet based on the distance detected by the distance measuring sensor of the setup station, and the variable fork unit of the variable fork unit calculates and stores the width of each pallet according to the stored width of the pallet. An automated mechanism for handling heterogeneous pallets, characterized in that for adjusting the width of. The method of claim 1, wherein the control device stores information on the width of pallets for each pallet type in advance in a storage device, and the distance detected through the distance measuring sensor is within a predetermined tolerance range with the width of the pallet stored in the storage device. Automatic machinery for handling heterogeneous pallets, characterized in that for adjusting the width of the variable fork of the variable fork unit with the width of the pallet stored in the storage device when matched in The method of claim 1, wherein the support of the setup station is installed at a constant height from the ground to hold the pallet on the upper surface, and the distance measurement sensor measures the distance from the upper surface of the support to one side of the pallet mounted on the upper surface of the support. An automated mechanism for handling heterogeneous pallets, characterized in that installed at a certain distance from one side of the support so that the distance can be measured. The set-up station according to claim 1, wherein the set-up station divides an inside and an outside including the support and the distance measurement sensor, and has a cover assembly having a door capable of forward loading and unloading of the pallet. Handling heterogeneous pallets, characterized in that automation machinery. The method of claim 1, wherein the transfer cart has a moving unit that travels on the floor along a path commanded by the control device at a lower portion, and a rotation plate rotating at a rotation angle commanded by the control device at an upper portion of the moving unit. An elevating frame is installed on the upper portion of the rotating plate in a vertical direction of the rotating plate, a guide unit is installed in a vertical direction on each elevating frame, and an elevating motor is installed on the upper portion of the elevating frame in a vertical downward direction, A ball screw is installed on the output shaft of the lifting motor, and the lifting frame is guided by the guide part and is screwed to the ball screw of the lifting motor to move up and down by the rotation of the lifting motor, and the pallet instructed by the control device in front. An automated machine for handling heterogeneous pallets, characterized in that a variable fork unit having a variable fork whose width is variable according to the width of the fork is installed. [Claim 7] The heterogeneous type according to claim 6, wherein the elevating frame is installed in the shape of four pillars in directions symmetrical to each other with respect to the rotation center of the rotating plate, and the guide part is installed in an inward direction of the four elevating frames. Automated machinery for handling pallets. 7. The method of claim 6, wherein the variable fork unit includes a base plate guided by the guide part of the lifting frame and moved up and down by a ball screw connected to the lifting motor, a forward and backward movement plate moving forward and backward on the base plate, and the forward and backward movement. It includes a pair of variable forks installed at the front end of the plate and having a variable width in the left and right directions, and a fork width adjusting unit for adjusting the width of the variable fork, wherein the variable fork has a fork body extending upward at a rear end thereof. The left and right fork bodies have through-holes formed in opposite directions, guide bars are slidably inserted into the through-holes, and both ends of the guide bars are connected to support blocks via rear surfaces of the fork bodies. An automated mechanism for handling heterogeneous pallets, characterized in that fixed by. 9. The method of claim 8, wherein the fork width adjusting unit comprises a fluid cylinder fixed on the forward and backward plate, a block connected to the front end of the cylinder rod of the fluid cylinder and moving forward and backward, and the block and the pair of forks. It is characterized in that it consists of a link rotatably coupled to the body with white paper pins, a guide block fixed to the lower part of the block, and a guide rail fixed to the upper part of the forward and backward plate and slidably coupled to the guide block. automated machinery that handles heterogeneous pallets. The method of claim 8, wherein the fork width adjusting unit comprises a servomotor fixed on the forward and backward plate, a block connected to the output shaft of the servomotor in a screwing manner and moving forward and backward by rotation of the servomotor; A link rotatably coupled to the block and the pair of fork bodies with white pins, a guide block fixed to the lower part of the block, and a guide block fixed to the upper part of the forward and backward plate and slidably coupled to the guide block An automated mechanism for handling heterogeneous pallets, characterized in that made of guide rails.