WO2021019110A1

WO2021019110A1 - Pallet-insertion machine

Info

Publication number: WO2021019110A1
Application number: PCT/ES2020/070347
Authority: WO
Inventors: Juan Tafalla García
Original assignee: Funcem S.L.U.
Priority date: 2019-07-31
Filing date: 2020-05-26
Publication date: 2021-02-04
Also published as: ES1235029Y; ES1235029U

Abstract

The invention relates to a pallet-insertion machine comprising an arm with a gripping element that traps the pallets from a supply station to a centring and insertion zone, wherein the gripping element comprises a first housing and a second housing arranged one above the other, wherein the first housing, in the upper position, is suitable for housing and holding a first pallet by means of side blades with relative movement therebetween that adjust the housing to the pallet and tabs that are inserted into the pallet to prevent it from falling, and wherein the second lower housing, suitable for housing a second pallet, is limited by pivoting side hooks suitable for being inserted into the side holes of the pallets, all governed by a positioner, a height meter and a sensor.

Description

DESCRIPTION

PALLET INSERTING MACHINE.

The invention, as its name indicates, refers to a machine of the type used for palletizing loads, specifically to deposit loads on a pallet for later wrapping or strapping.

The type of machines to which the present invention belongs is the type that comprises a warehouse for pallets, an arm that collects the pallets and deposits them in a centering area of the pallet to later be the pallet introduced into the insertion area. in which another element will center the load and deposit it on the pallets.

The main characteristic of the present invention is that the arm that collects the pallets can handle them two by two even when the pallets are of different sizes.

The technical sector to which the invention belongs is that of industrial machinery, more specifically that of packaging machines.

BACKGROUND

The use of pallets for the transport of goods has been fully introduced in the industry for decades.

For the merchandise to be transported on pallets, it is first necessary to load it on these, for which pallet inserting machines or palletizers are used.

These machines can be of many types, although the type that interests us here is the machine that comprises a warehouse for pallets of different sizes and an entrance for the goods to be palletized.

The merchandise -or load- is arranged on a palletizing line in such a way that the machine, normally automatically, identifies its dimensions and the type of pallet it requires, either by a real-time measurement or by obtaining information on the labeling of the merchandise.

The machine, with the information obtained, determines the type of pallet suitable for the load and with a vertical movement arm, preferably telescopic, which ends in an articulated claw, traps it from the warehouse and deposits it in a centering area to center the pallet and move it until it is in a lower position than the load, waiting for its descent and support on the pallet's load surface. In most palletizing machines of this type, once the load is on the pallet, shields help to center it in case it may have lost part of its verticality during lifting or lowering operations.

Palletizing lines allow you to work with two loads at the same time, thus saving time.

In this case, the articulated arm that collects the pallets from the warehouse receives the order to take two pallets instead of one. This operation does not have greater mechanical complexity since the articulated arm knows the location and height of the stack of pallets of interest and makes the claw lower on it.

Generally, the gripper comprises a probe in such a way that when the arm descends to pick up the pallets to be used and the probe comes into contact with the pallet, a sensor is activated and the arm's descent speed decreases until another sensor detects that the gripper has reached its final position and the arm is stopped to proceed to pick up the pallet (s).

The problem arises when each of the loads to be palletized is of a different size and requires a pallet of different dimensions and which, therefore, are stacked in different stacks.

The technical obstacles to overcome are several.

On the one hand, the possibility of independently holding each of the pallets, taking into account that the claw, after catching the first of them, must go in search of the second, something that does not happen in current machines where the pallets of two by two with a single movement.

On the other hand, the claw must be able to properly catch two pallets of different dimensions, therefore of different stacks.

Another problem to overcome is the way of detecting the approach of the gripper to the stack of pallets, since once loaded with the first pallet, the use of probes and sensors would be difficult.

There is no known background regarding the type of solution sought.

DESCRIPTION OF THE INVENTION

In order to overcome the problems set out, the intended invention refers to a pallet inserting machine of the type that comprises an introduction line of loads, a pallet introduction line and a palletizing or inserting area where the load is deposited on the pallet.

The pallet introduction line includes:

A pallet warehouse where the different types of pallets to be used are stacked.

An arm with a linear movement, preferably along the longitudinal axis of a structure that supports it, and another vertical up and down movement.

The arm mounts a gripping device comprising a claw with movable elements, suitable for catching an object arranged between them, and elements for measuring, positioning and detecting.

The gripper comprises in its interior cavity two analogue photocells arranged in an advanced way to the horizontal movement of the arm and that as it passes through the area of the stacks of pallets, it reads the height distance of each stack of pallet, in this way, a Once on the stack of pallets of interest, the arm descends vertically at fast speed to pick up the pallet until it is positioned about 10 cm or 15 cm from the contact position of a probe to the pallet, reducing the speed to slow speed until it makes contact with the first pallet in the stack, the highest, at which time the information is sent to the articulated arm by means of a proximity sensor so that it stops the lowering of the arm, instant in which the claw catches the pallet or the interested pallets, usually by pressure and geometry, to transfer them and deposit them in the aforementioned centering zone.

The combination of linear and vertical movement and the gripping device allow one or two pallets to be picked up in the warehouse area and deposited in a centering area, normally close to the insertion area.

Given that the intended machine is designed to work in parallel with pallets of different dimensions, it is necessary to equip it with a centering system that allows, in an agile way, to position each of the two pallets in an adequate and independent way that, in their case, they will be managed at the same time in the same palletizing cycle.

To do this, in that centering area where the pallet is deposited, there are centering devices that lead each pallet to occupy a suitable position to, in due course, receive the load. These centering devices have various sets of pallets that push the pallets into position.

Each set of blades has two external blades and two central blades preferably arranged in a line and the two central blades being retractable. This arrangement makes it possible to define two configurations. The first one defines two spaces, one between each central pallet and its closest external pallet, while in the second possible configuration, the central pallets are concealed, leaving a single space defined by the external pallets.

The first configuration will be used in the case of wanting to have two gaps in parallel in each palletizing cycle and the second configuration in case of wanting to have a single gap in each palletizing cycle.

This centering area optionally comprises a waiting area along which the pallets advance and are brought to meet the load thanks to the action of advance elements.

The elements for advancing the pallets to the palletizing area comprise pushers that move along the centering zone, which comprises the centering zone itself and optionally a waiting zone, and which have a forward and backward movement. .

The pushers comprise a mobile plate, preferably tilting, which has an open or closed position, being that in the open position a space is cleared between the plate and the centering area sufficient to allow the passage of a pallet, while in the open position. closed, the plate obstructs this space, preventing the passage of a pallet.

In this closed position, the plate obstructs the said space and therefore, in its forward movement towards the insertion area, it attacks and pushes the pallet it finds.

During the forward movement, the pusher, with the plate in the closed position, attacks a pallet, pushing it towards the insertion area and during the backward movement the pusher plate is raised, generating enough space to pass over the pallets previously deposited by the gripper in the centering area until occupying a position that allows, in the closed position, to ram this new pallet and thus reproduce the advance cycle. For this, each of these pushers has lateral supports associated with the traction mechanism that moves them, associated with the mobile plate.

In this way, the advance cycle of the pallet starts when the pushers advance towards the insertion zone with the plate in the closed position, ramming and pushing the pallet towards the inserting zone.

Once the pallet or pallets have been introduced into the insertion area, the pushers move backwards and the plate moves, preferably tilting, to an open position, freeing a space large enough for the pusher to pass over the pallets previously deposited by the grapple.

Once the pallet has been passed and the backward movement finished, the plate returns to the closed position and the cycle begins.

The opening and closing movement of the plate is preferably carried out by a tilting mechanism, although nothing prevents the use of other systems to move the plate.

As they advance, the pushers can advance the pallets to the inserting area or to a waiting area, depending on the location of the pusher and the configuration of the inserting machine.

In this way, it is possible that while pallets are being loaded in the inserting zone, others are in the centering zone, being centered, to be immediately introduced in the waiting or inserting zone, while the gripper goes to the warehouse. to collect two more, thus speeding up the process.

As has been explained, the linear and vertical movement arm that transports the pallets to the centering area mounts a gripping element capable of determining the height at which each of the pallets to be trapped is located and, subsequently, trapping them one by one regardless of their dimensions being different.

For this, the gripping device comprises:

A claw that comprises:

- First housing in upper position.

- Elements for fixing a pallet to the first housing.

- Second housing in lower position.

- Elements for fixing a pallet to the second housing. Where:

Both housings are communicated and superimposed one vertically on the other, the first housing being upper and the second lower.

The first housing is limited on two of its sides by the pallet fixing elements that comprise blades and flanges.

The blades present a relative movement with respect to each other, approaching or moving away from each other in such a way that the first housing is enlarged or narrowed.

The tabs, which fall on the first housing, are suitable to be inserted into the lateral holes of the pallets in such a way that the pallet is trapped in that first housing by the movement of the blades and fixed by the insertion of the tabs in their holes. lateral.

The second housing is limited on two of its sides by the fixing elements that comprise pivoting hooks that, when actuated and closed, penetrate the lateral recesses of the second pallet, trapping it.

The gripping device comprises a positioner that brings the gripper to a height close to the last known height of the stack of pallets of interest. Once it reaches that position and height, the gripper slows down until the first pallet, which occupies the first housing, lands on the second pallet, still in the warehouse stack, and pressure is exerted, at which time the descent of the gripper stops and the folding hooks are closed until they stop with the sides of the second pallet.

The palletizing cycle continues and the pallets are deposited in the centering area where the pallets take them to the proper position and location. Depending on the desired configuration, the central blades will be retracted or upright.

BRIEF DESCRIPTION OF THE FIGURES

For a better understanding of the invention, the following figures are attached.

FIGURE 1 shows, in a view from a top plane, the complete pallet inserting machine, showing: The warehouse areas (1) of pallets (6), the structure (2) through which the trolley that transports the telescopic arm moves, the trolley (3) that is the structure that transports the arm, the arm (4) telescopic that ends in the gripping element (5) that will catch the pallets (6) and take them from the warehouse areas (1) to the centering area (7) where it will deposit them for centering and transfer to the meeting with the load in the insertion area (17). The load enters the insertion area from a loading feeder (18) and, after being palletized, leaves through an evacuation line (19).

FIGURE 2 shows a rear elevation of the pallet inserting machine, appreciating the structure (2) that supports the trolley (3), seeing that said structure extends through the storage areas (1) and is traversed longitudinally by the trolley ( 3) that supports the telescopic and articulated arm (4) that ends in the gripping element (5).

FIGURE 3 shows the pallet inserting machine in side elevation, appreciating the movement structure (2) that is traveled by the carriage (3) associated with the arm (4). The stacks of pallets (6) are also appreciated.

FIGURE 4 shows the gripping element (5) arranged at the end of the arm (4) where the gripping element comprises a first housing (16) defined between two blades (10) that present a relative closing movement narrowing that first housing, these blades presenting flanges (11) overlying the first housing (16) suitable for, when the blades are closed, being inserted into the lateral holes of a first pallet and holding it. The gripping element also comprises a second housing (12) limited on two of its sides by the pivoting side hooks (13).

FIGURE 5 shows the gripping element that, in this case, is shown with two trapped pallets and thus it is seen that the blades (10) have changed their position, narrowing the first housing and causing the tabs to be inserted into the lateral holes of the a first pallet (14) holding it, while the hooks (13) have pivoted trapping a second pallet (15) arranged in the second housing (12).

FIGURE 6 shows the vacuum gripper.

FIGURE 7 shows from the side the centering area (7), the waiting area (27) with the advance elements (19) and the insertion area (17).

FIGURE 8 shows, from another perspective, the centering area (7), the waiting area (27), the advance elements (19) and the insertion area (17) being that in the The centering area shows the external pallets (24) and the central pallets (25), and the moving plate (23) can be distinguished in the advance elements, in this case tilting.

FIGURE 9 shows in detail a moment of the advance cycle in which the advance element (19) is pushing the pallet (6) as the plate (23) is in the closed position.

FIGURE 10 shows in detail a moment of the advance cycle in which the advance element (19) is receding and the plate (23) has been raised in this case by the action of the tilting mechanism, leaving enough space to exceed the pallet. The advance element (19), now in reverse, is passing the pallet (6) to be able to start a new cycle.

FIGURE 11 shows a detail of the centering area (7), specifically the part where the pallets are located and thus two pallets (6) can be seen on said centering zone (7) that includes external pallets (24) and central pallets (25) of relative movement with respect to each other that run along transverse rails (26), in such a way that some pallets push the pallet against each other and center it, leaving the pallet or pallets properly positioned. The central blades (25) are retractable although here they are represented upright.

FIGURE 12 shows a detail of the centering area (7), specifically the part where the pallets are located, which, on this occasion, are configured to define a single space between the external pallets (24), the internal ones being hidden and therefore not appreciated. That single space is occupied by two pallets.

DESCRIPTION OF A MODE OF CARRYING OUT THE INVENTION

An embodiment of the invention is described here which is explanatory but not limiting.

The invention refers to a machine for inserting pallets capable of managing a first pallet (14) and a second pallet (15) of different or equal dimensions in the same palletizing cycle. For this, the machine has a gripping element (5) suitable for catching and transporting two pallets of different sizes, each one picking up from a different stack of pallets from those in the warehouse area (1) and transporting them to a centering area (7) where paddles (24) and (25) position them in the proper location to access the insertion area (17), pushed by some advance elements (19) where they receive the load from a load feeder.

For this, the machine includes:

Two warehouse areas (1) where the pallets (6) to be inserted are stacked.

The warehouse areas (1) are overflown by a structure (2) that supports a trolley (3) associated with an arm (4) attached to the gripping element (5) that traps the pallets (6). This arm (4) and the gripping element (5) move longitudinally - by means of the carriage (3) flying over the warehouse areas (1) - and vertically.

Through a series of sensors and positioners, the arm (4) is located on the stack of pallets (6) of the type of pallet that it wishes to catch and, once on it, begins its descent at a fast speed until it approaches the pallet which is higher in the stack of pallets. The positioners comprise analog photocells arranged in advance to the horizontal movement of the arm that are reading the height of each stack of pallets so that, once the arm is on the stack of pallets of suitable dimensions, the arm lowers at a fast speed up to approximately 10cm to 15cm above it. At that distance the arm (4) decreases its speed passing at a slow speed until the positioner of the gripping element (5) encounters the stack of pallets and pressure is exerted against said element, a pressure that is detected thanks to the arm On its descent, it comprises a pressure sensor that also triggers the blades (10) or the hooks (13) depending on whether it is trying to trap a first pallet (14) or a second pallet (15).

Depending on whether the blades of the first pallet are open or closed, the arm knows whether it has to pick up the first or second pallet and, taking this into account, when lowering to pick up the pallet, it will activate the blades (10) of the first housing (16) or the hooks (13) of the second housing.

In the case of two pallets of the same dimensions, the blades and hooks closing operation can be carried out simultaneously.

With the closing of the blades, the first pallet (14) is fixed in the first housing (16) thanks to the joint action of the blades (10) that close and some tabs (11) that are inserted into the lateral holes of the first pallet (14) trapping it.

To catch the second pallet (15), the hooks (13) are pivoted which, when closed, press and are inserted into the lateral openings of that second pallet, trapping it. Once the pallet or pallets are trapped, the arm rises and moves longitudinally with the carriage (3), traversing the structure (2) until overflying the centering zone (7) where the pallet (s) are deposited.

This centering zone (7) comprises a series of central blades (25), external blades (24) and transverse rails (26) along which both the central and outer blades move.

The central pallets (25) and the external pallets (24) are aligned and mobile, being able to move or move away between them along rails (26) for the centering and positioning of the pallets. The central blades (25) are retractable.

In the event that the centering is desired to be carried out in a single central gap defined between the external blades (24), the central blades (25) will be retracted and the external blades (24) will move simultaneously to reduce the space between them pushing the pallet (s) to the centering position. In the case that it is desired that the centering operations are carried out in two parallel holes, the central pallets (25) remain upright and the external pallets (24) and the central pallets (25) will move simultaneously reducing the spaces between them to carry the pallet to the centering position.

Once the pallet or pallets are centered in the centering area, they are pushed by some advance elements (19) that lead them to meet the load in the insertion area (17).

Optionally, the centering area (7) comprises a waiting area (27).

These advance elements (19) comprise a tilting plate (23) with a lifting mechanism.

When tilting, the plate changes its position from open to closed or vice versa.

In its open position, the plate is raised and a free space is generated between the plate (23) and the surface of the centering area on which the pallet rests, this space being sufficient to exceed a pallet.

In its closed position, the plate (23) obstructs this space and, in its forward movement, ramms the pallets.

The advance elements (19) present a longitudinal movement in the forward and backward direction, along the centering zone (7) that comprises a zone of wait (27). We will call advance to the movement in the direction of the insertion zone (17) and reverse to the movement in the opposite direction.

When the advance elements move in the forward direction, the tilting plate (23) of the pushers is closed, so it attacks the pallet it encounters and pushes it in the forward direction.

Once the advance travel of the pushers is finished, a backward movement is started, in which the lifting mechanism of the plate (23) is activated to bring it by tilting to a horizontal position, allowing the advance element, in its retreat, pass and pass the pallet until reaching the starting point of the feed cycle.

The pallets advance from the centering area (7) to a waiting area (27) and, from there, they go to the inserting area (17). The load enters the insertion area from a load feeder (18) and, after being palletized, leaves the machine through an evacuation line (19).

Claims

1.- MACHINE FOR INSERTING PALLETS of the type that comprise an arm (4), with a gripping element, said arm having longitudinal movement along a raised structure (2) and vertical movement, where the pallets (6 ) are trapped by the gripping element and transported from a storage area (1) to a centering area (7) with central pallets (25) and external pallets (24) and from there to the inserting zone (17) characterized because the gripping element (5) comprises a first housing (16) and a second housing (12) communicated with each other and arranged one above the other where the first housing, in an upper position, suitable for housing a first pallet (14 ), is limited on two of its sides by blades (10) that have flanges (11) that fall on that first housing and said blades (10) present a relative movement between them approaching or moving away from each other and in where the second housing (12), in position The lower part and suitable to house a second pallet (15) is limited by some pivoting lateral hooks (13) suitable to be inserted in the lateral holes of the pallets and because the gripping element comprises a positioner, a height gauge and a sensor .

2.- MACHINE FOR INSERTING PALLETS according to claim 1, characterized in that in the centering area comprising external pallets (24) and central pallets (25) of relative movement to each other, the central pallets (25) are retractable.

3. -MACHINE FOR INSERTING PALLETS according to claim 1, characterized in that the height meter of the stacks of pallets comprises analog photocells arranged in advance to the horizontal movement of the arm.

4 MACHINE FOR INSERTING PALLETS according to claim 1 characterized in that the arm sensor is a pressure sensor.

5.- MACHINE FOR INSERTING PALLETS according to claim 1, characterized in that the centering area comprises advance elements (19) that comprise a movable plate (23) that, in the open position, leaves a gap between the plate and the surface on the that supports the pallet in the centering area (7) enough to allow the passage of a pallet (6) and, in the closed position, obstructs that space.

6.- MACHINE FOR INSERTING PALLETS according to claim 5, characterized in that the advance elements (19) present forward and backward movement, this movement being longitudinal along the centering zone (7).

7. MACHINE FOR INSERTING PALLETS according to claim 5, characterized in that the plate (23) is tiltable.

8.- MACHINE FOR INSERTING PALLETS according to claim 1, characterized in that the first pallet and the second pallet are of different dimensions.

9.- MACHINE FOR INSERTING PALLETS according to claim 1, characterized in that the centering area (7) comprises a waiting area (27)