KR960000291B1 - Robot system for loading - Google Patents

Abstract

The robot system for automatically loading the packaged box on the truck by presetting the load amount in sequence, comprises a feeder(100) for feeding the bags or boxes and including a guider(103) on a side; a head(200) gripping the load fed from the feeder(100) and moving it to the truck; an unmanned robot(300) connected to the head(200), coming near the truck; a drive vehicle(400) positioned on the upper part of the unmanned robot(300) and moving vertically to the truck, having a body(401) moving up and down.

Description

Unmanned Robot System

1 is an overall installation state of the present invention.

2 is an installation state of the unmanned robot of the present invention.

3 is an installation state of the head device of the present invention.

4 is a plan view of the unmanned robot of the present invention.

5 is an installation state of the balance of the present invention.

6 is an installation state of the box transfer head which is another embodiment of the present invention.

* Explanation of symbols for main parts of the drawings

100: transfer device 200: head device

201,202: head 203: table

204: first joint 205: second joint

300: unmanned robot 302: main body

303,306 ′: Wheel 305,306: Transfer head

309,309 ′: Sensor 320: Hydraulic brace

400: balance 401: body

402: guide wheel 404: wheel

405: rail 406: rotation axis

500: box transfer head 501: vacuum pad

503: cylinder 504: shear lever

The present invention relates to an unmanned robot system for automatically loading a packaging box packed with various products on a vehicle by packing a predetermined amount of feed, cement, and powder in a bag.

Conventionally, in various production facilities, when the contents are contained in a bag of vinyl or paper, they are individually mounted on the vehicle by using manpower.

Therefore, it requires a lot of time and manpower to be loaded on a vehicle, at the same time a lot of cost, inefficient operation.

In addition, many defects have occurred in the case of packaging boxes packed with various products.

In order to solve this drawback, a device for supplying and loading a product on a vehicle has been proposed, but this also has many drawbacks, such as having to load it one by one at the top of the vehicle.

Therefore, the present invention is intended to solve such a conventional drawback, and the object of the present invention is to first automatically load the vehicle unattended without the use of human power.

Secondly, it is possible to load bags and packing boxes, and to set the quantity from the inside so that it can be loaded accurately.

The present invention is provided with a head device that is supplied from a transport device that the bag and the packaging box is continuously transported and loaded repeatedly.

An unmanned robot is installed to install the head unit and the transfer unit and to load at the correct position while setting the loading position in the vehicle.

An unmanned robot is installed on the upper side, and moves to the position of the vehicle and consists of a conversation in which the height is adjusted.

Hereinafter will be described in detail with reference to the accompanying drawings an embodiment of the present invention.

1 is a diagram showing the installation state of the present invention, the conveying belt (101) 102 for conveying the bag (1) produced or the box in which the product is packaged is installed continuously and the bag (1) at the leading end to hold the head 201 The conveyer 100 is provided on the beam 104, the guide table 103 to be transported to the 202.

On one side of the transfer device 100, the head 201, 202 is installed on the upper side independently and the table 203 is installed on the lower side so that the first joint 204 and the second joint 205 are the motor 206. It is configured by the head unit 200 to be operated by the (207) to continuously load the bag (1).

Head device 200 is installed on one side of the main body 302 and the hydraulic cylinder 301 and the hydraulic brace 320 is installed on the lower side to hold the correct position and the wheels 303 (303 ') is installed on the lower side An unmanned robot 300 is configured to be moved and connected to the wire 316 at the rear.

The lower side of the unmanned robot 300 is supported by the lower hydraulic cylinder 403 and is guided by the guide wheel 402, the body 401 is adjusted up and down is installed, the morton inside the body 401 409 is installed and the wire 410 of a predetermined length is wound and connected to the unmanned robot 300 via the roller 412, and the rail 405 is installed on the ground, and the wheel 404 is moved at an abnormal stage. After being connected so as to connect the wheels 404 on both sides with the rotary shaft 406, the rotary shaft 406 is configured with a belt 400 that is connected to the motor 407 by a belt or chain 408.

2 and 4 and 5 is an installation state diagram for the head device and the unmanned robot of the present invention, the upper head 201, 202 is installed, respectively, so that the upper joint 212 can be bent once. Downwards, heads 305 and 306 are connected on the table 304, one to the screw shaft 307 and the other to the screw shaft 308, so that independent operation is possible.

The table 304 is supported by both rails 311 and 312 and is installed in the main body 302 to be moved up and down by the screw shaft 310.

The sensor 309 (309 ') protrudes above the main body 302, and as shown in FIG. 5, the rubber wheels 303, 303' are installed like a tank wheel and the motor can be operated independently. 313 is connected to wheel 303 via reducer 319 by belt 314 and motor 316 is connected to wheel 303 ′ via reducer 318 by belt 317.

The hydraulic brace 320 is installed on all sides of the main body 302 so as to stop without moving in place after the unmanned robot 300 takes place.

3 is an installation state diagram of the head device of the present invention, with the heads 201 and 202 installed on the moving shaft 210 by the table 203 on the rail 211 to enable independent operation. It is possible to move back and forth, and the first joint 204 is connected to the motor 206 so that the heads 201 and 202 can be independently rotated.

The first joint 204 is connected to the second joint 205 and is connected by the motor 207 and the belt 208 to enable rotational movement, and the second joint is connected to the table by the connector 209. 304).

6 is a diagram illustrating an installation of another embodiment of the present invention, in which a cylinder 503 is installed at the center thereof, and a shear lever 504 is installed at one side thereof, and a protrusion for moving the product box while reciprocating the cylinder 503 ( 505 protrudes.

On both sides of the cylinder 503, rollers 502 and 502 'are continuously installed, and a plurality of vacuum pads 501 are installed therein, so that the box moving head 500 enables the product packaging box to be loaded. ) Is configured.

The operation and effects of the present invention having such a configuration will be described in detail.

Before the vehicle T is input to one side of the truck 400, the load quantity (capacity) of the vehicle is set in advance to be loaded and then loaded. Then, if the vehicle T is input to one side of the truck 400, the vehicle T ) Cannot be aligned with the unmanned robot 300 so that the wheel 404 is moved by applying power to the motor 407 and rotating the rotation shaft 406 by the belt 408 to reciprocate on the rail 405. Since this is possible, the wheels 404 coincide with the vehicle 400 to be in line with the vehicle T. FIG.

After matching the vehicle and the bogie 400 in a straight line and operating the hydraulic cylinder 403, the body 401 is guided from all directions by the guide wheel 402 and moved up and down in the bogie 400 so that the body 401 The wheels 303 and 303 ′ of the vehicle T and the unmanned robot 300 are positioned on the same line by moving.

This adjusts the unmanned robot 300 to the same height as the vehicle after matching the waiting vehicle (T) and the truck (400).

After adjusting the unmanned robot 300 and the vehicle to the same height, the motors 313 and 316 are operated to rotate the wheels 303 and 303 'to advance the unmanned robot 300 to the upper portion of the vehicle T. Entered.

In this case, when the unmanned robot 300 and the vehicle T are not in a straight line, the wheels 303 and 303 'may be rotated by the motors 313 and 316, respectively. Enter correctly).

As such, when the unmanned robot 300 enters the inside of the vehicle T, the wire 316 and the line 410 are released while following the unmanned robot 300.

At this time, the unmanned robot 300 enters while measuring the distance between both sides of the vehicle (T) by the four-side sensor 309 (309 ').

That is, when the vehicle T enters, the substitute 400 is moved to match the vehicle 400 with the vehicle 400 in a straight line. After that, the vehicle 401 is moved by the hydraulic cylinder 403. After matching the height and the unmanned robot 400 enters the vehicle (T) to complete the loading preparation.

After the unmanned robot 300 enters the transfer apparatus 100 and the head apparatus 200 into the vehicle T, when the bag 1 is supplied from one side of the transfer apparatus 100, the roller 330 and the transfer belt are supplied. After moving through the 101 (102) 102, the turret (1) falls from the guide base 103 to the head 201.

Then, the joint 212 of the head 210 is folded to hold the bag 1. At this time, as the first joint 204 is rotated by the motor 206, the head device 200 is moved by the motor 207. When rotated through the second joint 205, the head 201 on the upper side moves downward.

When the head 201 is moved to the lower side, the head 305 is moved by the screw shaft 307 and the head device 200 is driven by the table 304 by the screw shaft 310 and the rails 311 and 312. Guided to position the head 201 on the vehicle.

At this time, the head 201 loads the bag 1 on the vehicle T while opening the joint 212 on the vehicle T.

On the other hand, when the head 201 is supplied from the guide platform 103 to the head 202, another bag 1 supplied through the transfer device 100 while loading the bag 1 to the vehicle (T) The joint 212 is folded to hold the bag 1, and the head 202 is also rotated about the first joint 204 by the motor 206 as the axis of the second joint 205 by the motor 207. Since the screw 308 is rotated in the head 306 after being rotated to the axis is loaded to the position to be loaded.

At this time, the heads 201 and 202 are operated independently and alternately successively receive the bag 1 to be loaded in the vehicle T, and the heads 305 and 306 are moved by the screw shafts 307 and 308. As it is transported to the left and right, the vehicle T is continuously loaded at a constant height according to the width of the vehicle.

In addition, the table 304 is moved upward from the bottom of the first vehicle (T) by the rail 311, 312 due to the rotation of the screw shaft 310 to adjust the loading height.

And when the turret 1 is loaded at a predetermined height in the innermost portion of the vehicle T, the unmanned robot 300 is as wide as the turret 1 by rotating the motor 409 and pulling the line 410 wound forward. You will reverse.

In this manner, after the unmanned robot 300 retreats, the heads 201 and 202 alternately receive the turret 1 and continuously load the turret 1 in the vehicle T.

In this way, after loading the bag 1 in order from the inside of the vehicle T, the vehicle T is sent out (preset quantity).

In this case, when the bag 1 is supplied to the head 201 and 202 and loaded into the vehicle T, the hydraulic brace 320 is protruded by the hydraulic cylinder 301 provided on all sides of the unmanned robot 300. It is possible to safely load by preventing flow during operation in T), when moving the unmanned robot 300 is to move by lifting the hydraulic brace 320.

On the other hand, the present invention is to be able to automatically load the product packaging box as shown in Figure 6 to install the box transfer head 500 in place of the head 201, 202 of the head device 200, When the (T) enters the vehicle T by the unmanned robot 300 and completes the loading preparation, the packing box is supplied from the transfer device 100 to the box transfer head 500 from the guide stand 103. Supplied.

After the box is supplied, the vacuum pad 501 is operated to pull the box so that the box does not fall when moved, and when the box is rotated by the second joint 205 while being rotated by the first joint 204, the box is moved to the stowed position. After sending, the cylinder 503 is operated to move the projection 505 while moving the product packaging box to one side to stop at the loading position.

At this time, the projection 505 is guided by the rollers 502 and 502 'on both sides when transporting the product packaging box. When the protrusion 505 is moved to the loading position, the product packaging box stops the operation of the vacuum pad 501. Is separated from 500.

In this case, two or three box transfer heads 500 are independently installed and continuously loaded while continuously operating.

As described above, the present invention supplies the bag or the product packaging box at the correct position by the transfer device, and receives the supplied bag repeatedly from the head device and moves to the loading position and loads them in sequence, and the loading of one line is completed. This will reverse the unmanned robot so that the next line can be loaded correctly.

The unmanned robot is moved to the correct position by the sensor as the wheel moves independently when entering the vehicle, and the unmanned robot can be moved up and down after the rail and wheel of the bogie are precisely moved to the entry position. It will move to match the height of the vehicle.

Therefore, the present invention can automatically load the bag on the vehicle unmanned, it is possible to set the loading amount and order in advance.

In addition, according to the present invention, the box for the box transfer head as well as the bag is continuously and unattended automatically loaded.

Claims (9)

A head for transporting the bag (1) or the box and moving the vehicle (T) by holding the bag (1) or the box supplied from the electric transfer device 100 and the transfer device having a guide table 103 on one side The device 200, the unmanned robot 300 connected to the electric head device 200 and entering the vehicle T unmannedly, and the electric unmanned robot 300 are located at the top, and the body 401 is up and down. Unmanned robot system, characterized in that consisting of a cart (400) which is installed to be moved and moved at a right angle with the vehicle (T). According to claim 1, The head device 200 is installed so that the head 201, 202 is rotated independently by the first joint 204 at the top and the second joint 204 perpendicular to the first joint 204 ), The heads 305 and 306 below the electric heads 201 and 202 are connected to the screw side 307 and 308 independently of the table 304, and the main body 302 and the table 304 are Unmanned robot system, characterized in that configured to move up and down. The unmanned robot system of claim 1, wherein the unmanned robot 300 is configured with supporting hydraulic cylinders 301 and hydraulic props 320 on all sides. According to claim 1 or 3, the unmanned robot 300 is provided with wheels 303 (303 ') on both sides and the battery wheels (303) (303') by the reducer 316, 319 motor. (313) (318) to operate independently, unmanned robot system, characterized in that the sensor 309 (309 ') configured on all sides. The robot system of claim 1, wherein the bogie (400) is configured such that the body (401) is supported by the guide wheel (402) and is supported by the lower hydraulic cylinder (403) to move up and down. 6. The cart 400 is provided with wheels 404 on both sides, the wheels 404 being mounted on a rail 405, and the wheels 404 on both sides of the rotating shaft 406. Unmanned robot system configured to be connected to the motor 407 by a belt 408 after being connected. The unmanned robot system according to claim 1, wherein a box transfer head (500) is configured in place of the head (201) (202) of the head device (200). According to claim 1 or 7, wherein the box transfer head 900 is a cylinder 503 protruding the projection 505 is installed in the center, a plurality of rollers (502) (502 ') are provided at both ends, Unmanned robot system, characterized in that a plurality of vacuum pads (501) is configured inside the roller (502) (502 '). The unmanned robot system according to claim 1 or 7, wherein two or three box transfer heads (500) are installed to operate continuously and repeatedly.