NL1014167C1 - Robot machine for placing piece goods on wooden pallet and for removing them has arm accommodating goods over large range and setting them down likewise over large range - Google Patents

Abstract

The robot machine for placing piece goods on a wooden pallet and for removing them has an arm accommodating the goods over a large range and setting them down likewise over a large range. It comprises a rectangular frame (1) in which a traverse (2) is movable upwards and downwards by a steel chain or plastic belt/chain (3a and/or 3b) driven by a motor (4). In the traverse is a structure (5) which can be moved sideways by a motor (6), drive being by a circulating chain or belt around rollers. Under the structure is an arm, (7 and/or 8), under which is a unit (9), on which a gripper is fitted for picking up piece goods. The arm can be moved under the structure by a motor (10).

Description

Page 1

The invention:

Robot (de) palletiser: 5 The invention consists of a rectangular frame (1) in figure 1 in which a crossbar (2) is moved up and down by a steel chain or plastic belt / chain (3a and / or 3b) which is driven by a motor (4).

The crossbar (2) can be moved up and down on 1 side by 1 chain or on 2 sides by 10 two chains. The two chains can then be connected by a shaft which is mounted above or below in the frame.

In the crossbar (2) a construction (5) is mounted which can be moved laterally in the crossbar by a motor (6) which is mounted in construction (5) or which is mounted on the side of the crossbar or the motor is mounted on the fixed frame (1) and the drive is performed via a chain or belt and idlers.

An arm (7 and / or 8) is mounted under the construction (5). Under the arm is mounted a unit (9) (sliding or fixed) to which a gripper is mounted for receiving the piece goods. The arm (7 and / or 8) can be moved under the structure (5) by a motor (10). 20 The unit (9) can be moved via chain (s) or timing belt (s). This can be a derived movement from motor 10 or it can be performed by a separate motor or pneumatic cylinder.

An (extreme) position in the horizontal plane is drawn above the pallet (11) with general cargo (ren) and marked with 7A, 8A, and 9A and a possible other (extreme) position of the arm is above the pick-up point (12) drawn and marked with 7B, 8B, 9B. Between these positions, the arms and unit (9) can move horizontally and assume any position.

The construction of the arm ensures that piece goods can be picked up in a large range and can be deposited in a large range. Characteristic is the rectangular block-shaped range.

If the arm is in the position where the arms are to the right of the vertical line A-A (7B, 8B and 9B), the pallet can be supplied or removed in the X and / or Y1 and / or Y2 direction. The arm can pick up or put away a new general cargo with its load-carrying device, 35 because the moving parts are then to the right of line A-A.

Under the unit (9), various load handling devices can be mounted, such as vacuum pistons, or mechanical grippers for piece goods, for example, boxes, packs, cans, bottles, plates, pallets. These plates and pallets can be made of wood, paper, steel or plastic.

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All motors and pneumatics are controlled by a PLC or PC or computer or processor with a control program.

Optionally, a frame (20) can move up and down via a guide mounted or integrated 5 into the main frame (1). The up and down movement is carried out via a chain and by a motor (21).

This frame can move up and down if the arms are to the right of line A-A in figure 1 (7B, 8B and 9B).

10 With different versions of this optional frame (20) the following functions can be performed: '' load stabilization and / or positioning of general cargo ',' 'applying plastic foil or paper insert sheet', and '' strapping of cargo with a plastic band".

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Page 3

Background:

Several palletizing machines (palletisers) for placing or stacking piece goods on a pallet are in use.

5 Robot palletisers with a robot arm, known in the industry as spherical robots or articulated arm robots, have the disadvantage that they often have a counterweight and are therefore relatively heavy, and the 'working envelope' or '' foot is also print ”relatively large. The robot can only work in a circle around its central or first axis.

10 Robot palletizers with 1 or 2 horizontally moving arms, known in the industry as scara robots, have the drawback that the arms can only move in a circle (s) around the vertical main mast, so that the pick-up position (s) of the general cargo and the pallet (s) must be arranged in a circle and if the arm is moved, great care must be taken to pinch the arm so that it does not hit other objects in the circle.

15

Portal robots operating with a horizontal traverse carriage with a vertical mast moving up and down have the disadvantage that the mast protrudes high above the pallet with products and can therefore not be used at a limited hall height. A telescopic mast can then be used, but it is more expensive, more complex and less rigid, so that the mast is limited in speed.

20

Plate palletiser or layer palletisers have the disadvantage that they cannot flexibly make all pack patterns or are often physically too large or too expensive.

With the above palletisers, in case of load stabilization during stacking or strapping with a plastic foil or band, an additional (often detached) device is required to perform these functions. When applying intermediate sheets or plates for charge stabilization, either an additional device is required or with a robot, this function can be performed by the leading group, but this is at the expense of capacity.

The present invention overcomes these disadvantages or does not have the above-mentioned disadvantages and with an optional frame the functions "load stabilization", "applying plastic foil or paper insert sheet", and "" strapping of load with a plastic band "can be performed where the influence on the stacking / palletizing capacity is limited.

This function is possible through the combination with the special robot arm.

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Optional frame for load stabilization and / or positioning of general cargo (figure 2);

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An optional frame (20) with load stabilization for holding, stabilizing and / or positioning the top layer of palletized products can be mounted on frame 1 in Figure 1.

The frame consists of a construction with 4 plates (22, 23, 24, and 25 in figure 2) which can be moved pneumatically or electrically in the direction of the arrows. In this way, the top layer of a palletized load can be pressed and stabilized during palletizing and depalletizing so that the piece goods (e.g. boxes) do not fall over and / or be positioned. 10 At the start of the palletizing cycle, the frame (20) is in the top position. After a complete layer of products has been palletized, the arms are brought to the right of vertical line A-A (7B, 8B and 9B) to pick up a new product. The frame (20) can now be moved down and stabilize the first layer.

After layer two has been fully palletised, the pressure plates are retracted, i.e. 15 against the direction of the arrows in figure 2 and the frame is moved upwards by the lifting motor (21) to the level of layer 2. Then the plates are pressed against the product again. Meanwhile, it can simply be palletised without hindrance.

The entire cycle can be repeated with layers 3, 4, etc.

When the pallet is fully palletised, the arm moves to the right (7B, 8B, and 9B). This allows the frame (20) to be fully raised again and the pallet with product to be transported.

The frame can also be used for load stabilization and positioning of the piece goods if it is aeo-idealized. In the starting position, the frame is high and the arm to the right of the vertical line A-A (7B, 8B, 9B). The pallet of product can then be brought to the depalletizing position.

First, the frame (20) is lowered. At the level of the top layer, the pressure plates are brought in the direction of the arrows in figure 2. This positions the load. Then the pressure plates are opened again and the frame moves down to the next top layer. The pressure plates are moved again in the direction of the arrows and the palletiser is then ready for depalletization.

This combined movement of a robot arm (7,8,9 in figure I) and a frame with load stabilization has very little influence on the capacity of the palletiser and is possible due to the combination of the arm parts of the arm (7,8, 9) because the total arm can move to the right of line AA in Figure I.

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Optional frame with plastic film or paper insert to be applied (figure 3):

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An optional frame (20) with an applicator for applying an insert of 5 plastic or paper from the roll to the palletized products can be mounted on frame 1 in figure 1. The optional frame is shown in figure 3.

Plastic foil or a paper sheet is used in industry as an intermediate sheet for stabilizing a pallet of product or it is used as a top sheet for covering the products.

10

The frame consists of a construction with a holder for a roll with plastic foil or paper (30). This foil or paper is passed through a combination of rollers (31) and retainers (32) along a cutting device (33). The front of the foil or paper can be caught by grippers or clamping strips on a cross beam (34).

This cross beam can move in the direction of the arrow in figure 3 and is reciprocated by a motor (35).

When moving the cross beam in the direction of the foil or paper roll, the cross beam with grippers or clamping strips pulls the film or paper over the top layer of the palletized products (36).

When the cross beam has reached the position furthest from the foil or paper roll, the foil or paper is cut or melted by a hot wire from the roll (33). The foil or paper is held with clamping strips (32).

At the start of the palletizing cycle, the frame (20) is in the top position of the palletiser (see figure 1).

After the first layer has been palletized, the robot arm moves to the right of the vertical line A-A (figure I). The entire frame (20) is lowered. The foil or paper insert is applied and cut. The grippers of the traverse release.

Now the arm (7,8,9) can put a product on the layer again.

30

If there is a complete layer of palletized product on the pallet, the arm (7,8,9) moves again to the right of the vertical line A-A (figure 1). The frame (20) moves up above the palletized layer. The traverse with grippers moves in the direction of the foil or paper roll again. The grippers grab the foil and pull the foil or paper over the pallet. And another 35 product can be put on the foil.

This combined movement of a robot arm (7,8,9 in figure I) and a frame (20) with the aforementioned function has very little effect on the capacity of the palletiser and is possible due to the combination of the arm parts of the arm (7 , 8,9) because the total arm can move to the right of line AA 40 in Figure I.

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Optional frame with for attaching a plastic strap (figure 4): 4 *

An optional frame (20) with an application device for applying a plastic band 5 with a height of 4 mm to 500 mm can be mounted on frame 1 in figure 1. This optional frame is shown in figure 4.

Plastic foil or plastic tape is used in industry to stabilize a pallet of product, among other things.

10

The frame (20) consists of a construction with a holder for the material (41), for example foil or a PE tape.

This foil or tape is passed through a combination of rollers and retainers along a cutting device (42). The front of the foil or plastic band can be gripped by 15 grippers or clamping strips on a cross beam (43). A rectangle (seen from above) is formed by a combination of grippers (43 and 44).

This cross beam (43) can move in the direction of the arrows in Figure 3 and is reciprocated by a motor (45).

When a rectangle of the foil or tape is obtained smaller than the pallet circumference, the foil or tape 20 is melted together and the foil is cut.

There is now a rectangular shape fired. The claws or grippers that hold the foil are moved further outward and the foil or band is stretched.

After obtaining a rectangular, larger than the perimeter of the palletized products, the entire frame is lowered when the arm (7,8,9) is to the right of the vertical line A-A (Figure 1). At the level of the top load on the pallet, the rectangle of PE foil or plastic tape is released. Due to the stretch in the foil or tape, the foil or tape clamps the load. This stabilizes the load (46).

At the start of the palletizing cycle, the frame (20) is in the top position.

30 After the first layer has been palletized, the robot arm moves to the right (figure I). The entire frame (20) is lowered. The aforementioned cycle takes place before applying the foil or tape.

The arm can palletize further so that the range of products can be placed on the pallet. When the robot arm is on the right, the frame can move up. The foil or tape can be stretched again and the second layer is waited until the second layer has been palletised. Then the frame (20) is lowered again.

This combined movement of a robot arm (7,8,9 in figure I) and a frame (20) with the aforementioned function has very little effect on the capacity of the palletiser and is possible due to the combination of the arm-parts of the arm ( 7,8,9) because the total arm can move to the right of line AA in Figure I.

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Claims (7)

1. The invention relates to a machine or device that palletises general cargo according to or with the characteristic of figure 1. 2. The invention relates to a machine or device that depalletises general cargo according to or with the characteristic of figure 1. The invention relates to the arm (7,8,9) which is moved back and forth on the side in the crossbar (2). 4. The invention relates to the arm (7,8,9) which is located in the horizontal plane from the far left above the pallet (7A, 8A, and 9A) to the far right above the pick-up point of the product (7B, 8B and 9B). ) can move and vice versa. 5. The working space of the load handler mounted under unit 9 is square, due to the specific combination of the arm and the cross beam. 6. Due to the specific construction of the arm (7,8,9), there are no blockages to the left of line A-A 15, so that the pallet with products can be transported in and out freely. 7. Due to the specific construction of the arm (7,8,9), there are no blocks to the left of line A-A, so that a frame (20) can be moved up and down without hindrance. A: This allows the frame to perform the function of load stabilization (according to Figure 2). B: This allows the frame to perform the function of centering or positioning general cargo 20 (according to Figure 2). C: This allows the frame to perform the function of inserting inserts of plastic film or paper (according to figure 3). D: This allows the frame to perform the function of strapping the pallet with piece goods plastic film or tape (according to figure 4). 25 10 1 4 167