WO2021080336A1 - Appareil de transfert automatique d'un objet à transférer et procédé de transfert automatique - Google Patents

Appareil de transfert automatique d'un objet à transférer et procédé de transfert automatique Download PDF

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Publication number
WO2021080336A1
WO2021080336A1 PCT/KR2020/014455 KR2020014455W WO2021080336A1 WO 2021080336 A1 WO2021080336 A1 WO 2021080336A1 KR 2020014455 W KR2020014455 W KR 2020014455W WO 2021080336 A1 WO2021080336 A1 WO 2021080336A1
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WO
WIPO (PCT)
Prior art keywords
pallet
unit
transfer
chemical
alignment
Prior art date
Application number
PCT/KR2020/014455
Other languages
English (en)
Korean (ko)
Inventor
송용익
채희봉
최진규
윤병춘
원종호
Original Assignee
(주)에스티아이
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020190133439A external-priority patent/KR102119268B1/ko
Priority claimed from KR1020190143483A external-priority patent/KR102220925B1/ko
Application filed by (주)에스티아이 filed Critical (주)에스티아이
Priority to CN202080070080.1A priority Critical patent/CN114502488A/zh
Publication of WO2021080336A1 publication Critical patent/WO2021080336A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes

Definitions

  • the present invention relates to an automatic transfer device and an automatic transfer method of an object to be transported, and more particularly, to automatically align and transport an object to be transported according to the size of a pallet, and when the object to be transported is transported along a transport line, from the object to be transported It relates to an automatic transfer device and an automatic transfer method of a transfer object capable of detecting whether there is a protruding part.
  • the chemical containers are generally packaged in bundles on pallets that can be moved by a forklift or hand lift, and are shipped from a chemical manufacturing plant.When unloading with a forklift at the entrance of the factory using chemicals, the operator uses a handlift. Bring it into the building.
  • the worker wears chemical-resistant clothing and safety protective equipment such as a gas mask, and transfers the amount of chemical containers that can be installed on a cart that can be mounted on the chemical supply device.
  • the chemical container may be installed by installing rollers on the top of the bogie and the bottom of the chemical supply device, or it may be installed outside the chemical supply device.
  • a coupler with a nozzle is connected to the chemical injection/exit port of the chemical container inside the chemical supply device.
  • the chemical transfer pump is driven to transfer the chemicals of the chemical container to the place of use.
  • nitrogen gas can be injected into the chemical container to transfer the chemical to the place of use at a set pressure.
  • an alignment unit for aligning the pallet to the center of the transfer line is provided.
  • the alignment unit is configured to align the pallet by pushing both sides of the pallet toward the center when the pallet is put into the transfer line.
  • the pallets can be aligned smoothly.
  • the inspection unit is provided with a protrusion detection sensor for detecting whether the chemical container is protruded from the frame due to the chemical container being pulled to either side of the pallet or the packing state of the chemical container is poor.
  • the protrusion detection sensor is provided on the front, rear, left and right sides of the frame constituting the inspection unit.
  • the protrusion detection sensor should detect each of the four surfaces while the chemical container is stopped, and the protrusion detection sensor is configured to cross in an X-shape or a +-shape, consisting of a light-emitting part and a light-receiving part.
  • the present invention has been conceived to solve the above-described problems, and an object thereof is to provide an automatic transfer device and an automatic transfer method of a transfer object that is aligned in correspondence with the size of a pallet.
  • the purpose is to provide an automatic transfer device and an automatic transfer method of a transfer object that can minimize the number of sensors to detect whether there is a protruding part from the transfer object to the set position, and minimize the undetected surface. There is this.
  • An automatic transfer device for a transfer object includes a pair of devices for detecting whether there is a protruding portion from both sides of a transfer object to be transferred through a transfer line to a set position, in a state in which the transfer object is transferred. 1 detection sensor; And a pair of second detection sensors for detecting whether or not there is a protruding portion from the front and rear surfaces of the transfer object to the setting position while the transfer object is stopped.
  • the transport object may include a chemical container for supplying to the chemical supply device and a pallet supporting the lower portion of the chemical container.
  • the pair of first detection sensors and the pair of second detection sensors may be provided in an inspection unit installed on the transfer line to inspect chemical information of the chemical container.
  • An inspection unit installed on the transfer line to inspect chemical information of the chemical container, and an input unit for inputting the chemical container into the transfer line;
  • the pair of first detection sensors are provided in a state coupled to a support provided between the inspection unit and the input unit;
  • the second detection sensor may be positioned on the front and rear sides of the inspection unit, respectively.
  • a control unit configured to receive chemical information of the chemical container transferred through the transfer line, and to supply the chemical container to the chemical supply device when the received chemical information matches information required by the chemical supply device;
  • the inspection unit determines that the chemical container transferred from the input unit is incorrectly inserted, the inspection unit switches the transfer direction of the chemical container and transfers the chemical container to the second transfer line.
  • a connection part connecting the lines is provided;
  • the chemical container transferred from the inspection unit to the second transfer line through the connection unit may be provided to be discharged to the outside through the discharge unit.
  • the first detection sensor and the second detection sensor are first detected by the first detection sensor while the transfer object is being transferred, and later detected by the second detection sensor after the transfer object is transferred and stopped at a predetermined position.
  • a detection sensor may be provided.
  • the first detection sensor and the second detection sensor are first detected by the second detection sensor while the transfer object is stopped at a predetermined position, and later detected by the first detection sensor while the transfer object is being transferred. It can be provided.
  • the first detection sensor may include a light-emitting part that emits light in an upward or downward direction, and a light-receiving part that receives light generated from the light-emitting part.
  • the light emitting unit may be formed of a light source unit that generates laser light
  • the light receiving unit may be formed of a reflector that reflects the laser light
  • the second detection sensor may be formed of a light curtain to detect the entire area of the front and the rear of the inspection unit, respectively.
  • a third detection sensor may be further provided to detect whether there is a portion protruding upward from the upper surface of the object to be transported to the set position.
  • the conveying object includes a chemical container for supplying to a chemical supply device, and a pallet supporting a lower portion of the chemical container;
  • An inspection unit installed on the transfer line to inspect chemical information of the chemical container is provided;
  • the third detection sensor may be installed on an upper frame provided on the upper side of the inspection unit, and may be provided to detect whether there is a portion protruding upward while the object to be transported is stopped.
  • the third detection sensor may be provided to detect whether there is a portion protruding upward while the object to be transported is being transported.
  • An automatic transfer device for a transfer object includes: a pair of first detection sensors for detecting whether there is a protruding portion from both sides of the transfer object to a set position while the transfer object is stopped; A pair of second detection sensors for detecting whether or not there is a protruding portion from the front and rear surfaces of the transfer object to a setting position while the transfer object is stopped; and the first detection sensor and the second detection sensor
  • the sensor is made of a light curtain so as to detect the both sides and the entire area of the front and rear surfaces.
  • the transfer line is provided to transfer the chemical container loaded on the pallet and put into the input unit to the chemical supply device;
  • the automatic transfer device of the object to be transferred may include an alignment unit that aligns the chemical container and the pallet transferred through the transfer line to the center of the transfer line, and aligns the pallet according to the size of the pallet.
  • An inspection unit for inspecting chemical information of the chemical container transferred through the transfer line may be provided, and the alignment unit may be provided between the input unit and the inspection unit.
  • the alignment unit may include a plurality of transfer members for transferring the chemical container and the pallet transferred from the input unit along the transfer line; A pair of alignment members for pushing both sides of the pallet to align it with the transfer line; It may include an alignment driver for reciprocating the pair of alignment members in a direction opposite to each other.
  • the alignment member may have a length in the direction of the transfer line and may be provided such that at least a portion thereof is in surface contact with a side surface of the pallet.
  • the alignment unit includes a pallet information recognition unit for recognizing information on the pallet, and a pair of alignment members which are moved by driving of an alignment driving unit to push both sides of the pallet and align them so that they are aligned with the transfer line;
  • the control unit may be provided to control the alignment driver to correspond to the recognized information on the pallet and the amount of movement of the alignment member.
  • the pallet information received by the pallet information recognition unit includes information on the size of the pallet, and the control unit may be provided to control the alignment driver so that the amount of movement of the alignment member is determined according to the size of the pallet. have.
  • a movement amount of the alignment member corresponding to information on a plurality of pallets may be preset.
  • the pallet information recognition unit may be configured to recognize a barcode label attached to the pallet or a unique identifier made of RFID.
  • the alignment unit includes a pallet information recognition unit for recognizing information on the pallet, and a pair of alignment members which are moved by driving of an alignment driving unit to push both sides of the pallet and align them so that they are aligned with the transfer line;
  • the pallet information recognition unit may include a pallet detection unit for detecting the size of the pallet, and may be provided to determine the amount of movement of the alignment member corresponding to the size of the pallet detected by the pallet detection unit.
  • the alignment unit includes a pallet information recognition unit for recognizing information on the pallet, and a pair of alignment members which are moved by driving of an alignment driving unit to push both sides of the pallet and align them so that they are aligned with the transfer line;
  • the pallet information recognition unit may include a distance measurement sensor for measuring a distance to the pallet, and may be provided to determine a movement amount of the alignment member in correspondence with a distance to the pallet detected by the distance measurement sensor.
  • a position detection sensor may be provided to detect whether the pallet is in a correct position to be aligned by the alignment unit.
  • the original position detection sensor is provided in front of the alignment unit to detect whether the front of the pallet entering the alignment unit deviates from a set position, and a first position detection sensor provided at the rear of the alignment unit, wherein the It may be composed of a second position detection sensor for detecting whether the rear of the pallet entering the alignment unit has reached a set position.
  • Separation prevention stoppers may be provided at the front and rear of the alignment unit to prevent the pallet entering the alignment unit from being separated forward or rearward, respectively.
  • the alignment unit includes a pallet information recognition unit for recognizing information on the pallet, and a pair of alignment members which are moved by driving of an alignment driving unit to push both sides of the pallet and align them so that they are aligned with the transfer line;
  • the alignment driver may be formed of a servo motor to control the amount of movement of the alignment member.
  • a control unit that receives chemical information of the chemical container transferred through the transfer line and controls to supply the chemical container to the chemical supply device when the received chemical information matches the information required by the chemical supply device. It can be provided.
  • a) whether there is a protruding part from both sides of the transfer object being transferred through the transfer line is detected by the first detection sensor in a state in which the transfer object is transferred. step; b) detecting whether or not there is a portion protruding from the front and rear surfaces of the transfer object while the transfer object is stopped, by a second detection sensor.
  • a second detection sensor detects whether there is a part protruding from the front and rear of the transfer object while the transfer object is stopped. Step of becoming; b) detecting whether or not there are protruding portions from both sides of the transport object in a state in which the transport object is being transported, by the first detection sensor.
  • the object to be transferred may be discharged to the outside through a discharge unit.
  • the transfer object may be discharged through the discharge unit provided in the second transfer line disposed adjacent to and parallel to the first transfer line connected to the input unit into which the transfer object is input.
  • the conveying object includes a chemical container for supplying to a chemical supply device, and a pallet supporting a lower portion of the chemical container;
  • the first detection sensor and the second detection sensor are provided on an inspection unit installed on the transfer line to inspect the chemical information of the chemical container, and the inspection unit transfers the object to be transferred to the second transfer line and the discharge unit Can be discharged through.
  • the transfer object consisting of a chemical container for supplying to the chemical supply device and a pallet supporting the lower portion of the chemical container is introduced into the input unit, it is transferred to the chemical supply device along the transfer line, and the control unit is transferred through the transfer line.
  • the chemical container and the pallet to be transferred may be controlled to be aligned with the central part of the transfer line to correspond to the size of the pallet.
  • the control unit may receive information on the size of the pallet and control an alignment driving unit for aligning the pallet in accordance with the size of the pallet.
  • the control unit may receive information on the positions of both sides of the pallet and control an alignment driver for aligning the pallet in correspondence with the positions of both sides of the pallet.
  • the control unit When the chemical information of the chemical container transferred through the transfer line is received by the control unit, and the received chemical information matches the information required by the chemical supply device, the control unit supplies the chemical container to the chemical supply device. Can be controlled to do.
  • the pallet When it is sensed whether or not the pallet to be transported along the transport line is in a preset position, the pallet may be aligned.
  • the pallets of different sizes can be transferred through one transfer line by allowing alignment in the alignment unit corresponding to the size of the pallet, so that the automatic chemical container transfer device can be efficiently operated.
  • the object to be transferred detects whether there is a part protruding from both sides of the object to be transferred to the set position while the object to be transferred is being transferred, and whether there is a part protruding from the front and rear of the object to the set position is in the state of the transfer object being stopped.
  • the number of sensors for detecting the protruding part can be minimized, and the undetected surface can be minimized.
  • FIG. 1 is a perspective view showing an automatic transfer device according to the present invention
  • FIG. 2 is a perspective view showing an input/discharge part in the automatic transfer device shown in FIG. 1
  • FIG. 3 is a plan view showing the input/discharge unit shown in FIG. 2
  • FIG. 4 is a perspective view showing a state in which a detection sensor is provided in a frame of a first inspection unit according to the present invention
  • FIG. 5 is a side view showing a state in which a detection sensor is provided in a frame of a first inspection unit according to the present invention
  • FIG. 6 is a front view showing a state in which a detection sensor is provided in the frame of the first inspection unit shown in FIG. 4
  • FIG. 7 is a view showing a state in which the object to be transferred is stopped in the first inspection unit in the cross-sectional view A-A of FIG. 6
  • FIG. 8 is a plan view showing a state in which a first detection sensor is provided on a support as another embodiment of the present invention
  • FIG. 9 is a front view showing a first detection sensor, a chemical container, and a pallet as the embodiment shown in FIG. 8
  • FIG. 10 is a front view showing a state detected by a third sensor during transport of an object to be transported as another embodiment of the present invention
  • FIG. 11 is a perspective view showing a state in which a third detection sensor is installed on an upper side of a first inspection unit as another embodiment of the present invention
  • FIG. 12 is a perspective view showing an alignment part in the input part shown in FIG. 2
  • FIG. 13 is a view as viewed from the front of the alignment portion of FIG. 12
  • FIG. 14 is a view showing a state in which a chemical container and a pallet are loaded in the alignment part of FIG. 12
  • inspection unit 20a first inspection unit
  • transfer line 30-1 first transfer line
  • connection part 70-1 first alignment part
  • lifting member 81, 82, 83, 84 support
  • the automatic transfer device 1 of the object to be transferred will be described, but in this embodiment, the object to be transferred is stacked up and down, and the chemical container 2 and the pallet 3 are transferred along the transfer line 30 Becomes.
  • the object to be transported is referred to as a chemical container 2, but when a description of the pallet 3 is required, it will be described with reference to the chemical container 2.
  • the transfer object is exemplified by the chemical container 2 and the pallet 3, but the present invention is not limited thereto and can be applied to other objects that can be transferred along the transfer line 30.
  • the automatic transfer device 1 of the object to be transferred includes at least one transfer line for transferring the chemical container 2 (FIG. 9) put in the input/discharge unit 10 to the chemical supply devices 100-1 and 100-2 ( 30), when the chemical information of the chemical container 2 transferred through the transfer line 30 is received and the received chemical information matches the information required by the chemical supplying devices 100-1 and 100-2 And a control unit (not shown) that controls the supply of the chemical container 2 to the chemical supply devices 100-1 and 100-2.
  • a chemical container 2 is mounted on the pallet 3 (FIG. 9) in the interior of the chemical supplying devices 100-1 and 100-2.
  • the chemical supplying devices 100-1 and 100-2 automatically open the lid of the chemical container 2 and open the coupler.
  • the chemicals accommodated in the chemical container 2 may be transferred to the chemical use place by pressurization of a transfer pump or nitrogen gas.
  • a pump unit having the transfer pump may be installed at one side of the chemical supplying devices 100-1 and 100-2.
  • the transfer line 30 defines a path for transferring the pallet 3 on which the chemical container 2 is loaded, and the transfer line 30 for transferring the chemical container 2 and the pallet 3
  • a transfer member may be provided from the start to the end of the.
  • a forklift puts the chemical container 2 into the transfer line 30 or transfers the chemical container 2 that has been used in the chemical supply devices 100-1 and 100-2 to the transfer line ( 30) and then discharged to the outside.
  • the inspection unit 20 (20a, 20b) may inspect chemical information through a barcode label attached to the chemical container 2 or a unique identifier such as RFID.
  • the unique identifier attached to the chemical container 2 includes a chemical name as well as various necessary production information.
  • the inspection unit 20 may inspect a barcode label attached to the pallet or a unique identifier such as RFID.
  • the unique identifier attached to the pallet also includes a chemical name as well as various necessary production information.
  • the inspection unit 20 checks the unique identifier, and the control unit may check whether the chemical required by the chemical supplying devices 100-1 and 100-2 is correct from the identified chemical container and the chemical information of the pallet.
  • the first buffer unit 40 and the second buffer unit 50 are provided to temporarily wait before the chemical container that has passed through the inspection unit 20 is supplied to the chemical supply devices 100-1 and 100-2. will be.
  • the first buffer unit 40 is provided on the first layer
  • the second buffer unit 50 is provided on the second layer, and a chemical between the first buffer unit 40 and the second buffer unit 50
  • An elevating device may be provided to elevate the container.
  • the chemical container is injected into the chemical supplying device 100-1,100-2 through the unmanned transport vehicle 400 or discharged from the chemical supplying device 100-1,100-2. I can.
  • a transport vehicle rail 300 may be provided between the chemical supply devices 100-1 and 100-2 and the transport line 30 so that the transport vehicle 400 can reciprocate.
  • the transport vehicle rail 300 is provided, but the transport vehicle 400 may be configured to travel according to a line drawn on the floor or according to a predetermined coordinate.
  • a chemical container is input to the chemical supplying device 100-1,100-2 or a transfer line 30 from the chemical supplying device 100-1,100-2 while the chemical container is seated thereon.
  • a conveying member such as a roller to be discharged to the side.
  • the input/discharge unit 10 is an input unit 10a for inputting the chemical container 2, for discharging the chemical container 2 that has been used in the chemical supply devices 100-1 and 100-2 to the outside. It consists of a discharge part (10b).
  • the transfer line 30 is connected to the input unit 10a and is connected to the first transfer line 30-1 in a linear shape, and the transfer line 30 is connected to the discharge unit 10b and is formed in a straight line. And a second transfer line 30-2 disposed adjacent to the line 30-1.
  • the input part 10a is a position where the first transfer line 30-1 starts, and the discharge part 10b is a position where the second transfer line 30-2 ends.
  • the transfer line 30 defines a path for transferring the pallet 3 on which the chemical container 2 is loaded, and the first transfer line 30-1 and the second transfer line 30-2 The transfer member is provided.
  • the transfer member is, for example, a roller 31-1 provided in plural along the longitudinal direction of the first transfer line 30-1 and a roller driving unit (not shown) for rotating the roller 31-1. It can be made of.
  • the pallet 3 on which the chemical container 2 is loaded is seated on the plurality of rollers 31-1, and the chemical container 2 and the pallet 3 are rotated by the rotation of the rollers 31-1. Is transferred along the first transfer line 30-1.
  • the conveying member may be composed of a conveyor belt instead of a roller, and a hoist with wheels attached to both sides of the monorail installed on the ceiling may be composed of a chain block moving by an electric motor.
  • Such a transfer member may be provided to enable forward and reverse driving to enable bidirectional transfer of the chemical container 2 and the pallet 3.
  • a first inspection unit 20a for inspecting the chemical information of the chemical container 2 supplied from the input unit 10a is provided on the first transfer line 30-1, and the control unit is the first inspection unit It can be configured to receive the chemical information from (20a).
  • the discharge part 10b and the second inspection part 20b are provided on the second transfer line 30-2.
  • the discharge unit 10b is provided to transfer the chemical containers that have been used in the chemical supply devices 100-1 and 100-2 through the second transfer line 30-2 and then discharge them to the outside.
  • the discharge part 10b may be provided to be adjacent to the side of the input part 10a.
  • the discharge unit 10b and the second inspection unit 20b are provided with a plurality of transfer members along the transfer direction to transfer the chemical container.
  • the transfer member may be rotationally driven so that the chemical container can be transferred in both directions along the second transfer line 30-2.
  • a connection part 60 for connecting the first transfer line 30-1 and the second transfer line 30-2 is provided between the first transfer line 30-1 and the second transfer line 30-2. It can be provided.
  • the connection part 60 shown in FIGS. 2 and 3 is configured to connect between the first inspection unit 20a and the second inspection unit 20b.
  • the first inspection unit 20a includes a plurality of first transfer members for transferring the chemical container along the transfer direction of the first transfer line 30-1, and transfer of the first transfer line 30-1.
  • a plurality of second transfer members are separately provided for transferring the chemical container in the direction of the second inspection unit 20a, which is a direction perpendicular to the direction.
  • a plurality of third transfer members for transferring the chemical container along the transfer direction of the second transfer line 30-2 and the second transfer line 30-2 are transferred to the second inspection unit 20b.
  • a plurality of fourth transfer members are separately provided for transferring the chemical container between the first inspection unit 20a.
  • the chemical container in the first inspection part 20a is connected to the connection part ( It can be transferred to the second inspection unit 20b through 60). That is, if it is determined that the chemical container transferred from the input unit 10a has been incorrectly injected because it is not a chemical required by the chemical supply devices 100-1 and 100-2 as a result of checking the chemical information in the first inspection unit 20a, After transferring the chemical container to the second inspection unit 20b by switching the transfer direction of the chemical container, it may be discharged through the discharge unit 10b. It is also possible to transfer in the opposite direction.
  • a first alignment unit 70-1 is provided between the input unit 10a and the first inspection unit 20a, and a second alignment unit 70- is provided between the discharge unit 10b and the second inspection unit 20b. 2) is equipped.
  • the chemical container 2 is It is provided to align the twisted state when transported in an obliquely twisted state.
  • the chemical container 2 may be configured to be aligned with the center of the first transfer line 30-1 or the second transfer line 30-2.
  • the configuration of the detection sensor provided in the first inspection unit 20a will be described with reference to FIGS. 4 to 7.
  • the first inspection unit 20a is provided with a frame 25 for combining components constituting the first inspection unit 20a.
  • the frame 25 is an upper frame 25a made of a quadrangle on the upper side, and a vertical frame which is longly coupled in the vertical direction at the corner of the upper frame 25a and is arranged in plural around the side of the chemical container 3 It can be made with (25b).
  • the frame 25 may be provided with a scanner (not shown) for checking chemical information attached to the chemical container 2 and the pallet 3.
  • the detection sensor detects whether there is a part protruding from both sides of the transport object (chemical container or pallet) to be transported through the first transport line 30-1 to a set position, in a state in which the transport object is transported.
  • a pair of first detection sensors (21, 22) for detecting whether there is a protruding part from the front and rear of the transfer object to the setting position when the transfer object is stopped It consists of (23,24).
  • a portion in front of the first transfer line 30-1 is called a front side
  • a portion behind the transfer direction is called a rear side.
  • the portion located at the rear relative to the transfer direction of the first transfer line 30-1, and the portion facing the front of the object to be transferred is referred to as the front side, and the portion at the rear of the transfer direction. Is called the rear.
  • the pair of first detection sensors (21, 22) of the first inspection unit (20a) to detect whether or not protruding while the object to be transferred is being transferred based on the transfer direction of the first transfer line (30-1). It is provided in the vertical frame (25b) provided on both sides of the front.
  • the first detection sensors 21 and 22 include light emitting units 21a and 22a that emit light downward, and light receiving units 21b and 22b that receive light generated from the light emitting units 21a and 22a. It can be made of.
  • the light-emitting parts 21a and 22a are provided on the upper side, and the light-receiving parts 21b and 22b are provided on the lower side. ) May be configured as provided at the top.
  • the first detection sensors 21 and 22 may be formed of a laser sensor. That is, the light emitting units 21a and 22a may be formed of a light source unit that generates laser light, and the light receiving units 21b and 22b may be formed of a reflecting plate that reflects the laser light.
  • the light emitting part 21a constituting the first detection sensor 21 provided on one side is installed on one side of the upper part of the vertical frame 25b provided on the front side of the first inspection part 20a, and the light receiving part 21b is As a lower portion of the light emitting portion 21a, it is provided on a lower side of the vertical frame 25b.
  • the light emitting unit 22a constituting the first detection sensor 22 provided on the other side is installed on the other side of the vertical frame 25b provided on the front side of the first inspection unit 20a, and the light receiving unit 22b Is provided on the other lower side of the vertical frame 25b as the lower part of the light emitting part 22a.
  • the laser light generated by the light emitting units 21a and 22a is irradiated from the top to the bottom at a position spaced apart from both sides of the object by a set position. Therefore, when the object to be transported is transported along the first transport line (30-1), if there are no protruding portions from both sides of the object to be transported, the protrusion is not detected, and portions such as packaging material from both sides of the object When the laser light protrudes to a position through which it passes, the protrusion is detected by the first detection sensors 21 and 22.
  • the object to be transported is in the process of being transported, and since the first detection sensors (21, 22) are in a fixed position, both sides of the object to be transported from both front ends of the object to the rear end of the object to be transported are exposed to the laser beam. It can detect whether it protrudes until it passes through. Therefore, when only one light emitting part and one light receiving part are provided for the first detection sensors 21 and 22, additional components are not required, so that it is possible to detect whether or not both sides of the object to be transported protrude with only a simple configuration.
  • the pair of second detection sensors 23 and 24 are used to detect whether the object protrudes from the front or rear surface of the object to be transported while the object to be transported is stopped based on the transport direction of the first transport line 30-1. As a result, it is composed of a second detection sensor 23 provided on the front surface of the first inspection unit 20a and a second detection sensor 24 provided on the rear side of the first inspection unit 20a.
  • the second detection sensor 23 provided on the front side of the first inspection unit 20a is a position spaced apart from the first detection sensor 21 and 22 along the transport direction by a predetermined distance, and the front side of the first inspection unit 20a It is installed on the vertical frame (25b) provided on the side.
  • the second detection sensor 24 provided on the rear side of the first inspection unit 20a is installed on the vertical frame 25b provided on the rear side of the first inspection unit 20a.
  • Each of the second detection sensor 23 and the second detection sensor 24 may be formed of a light curtain. That is, among a pair of vertical frames 25b provided on the front side of the first inspection part 20a, a light emitting part 23a is provided in one vertical frame, and a light receiving part 23b is provided in the other vertical frame.
  • the light-emitting part 23a and the light-receiving part 23b are composed of a light curtain having a length in the vertical direction so that the entire area of the first inspection part 20a can be sensed.
  • a light emitting part 24a is provided in one vertical frame among a pair of vertical frames 25b provided on the rear side of the first inspection part 20a, and a light receiving part 24b is provided in the other vertical frame.
  • the light-emitting part 24a and the light-receiving part 24b are formed of a light curtain having a length in the vertical direction so that the entire area of the rear surface of the first inspection part 20a can be sensed.
  • the first detection sensor 21 and 22, the second detection sensor 23 provided on the front side of the first inspection unit 20a, and the second detection sensor 24 provided on the rear side of the first inspection unit 20a Due to the sequential provision of, the first detection sensor (21, 22) detects whether there are protruding portions on both sides of the object to be transported during the transport of the object to be transported, and after the transport object is transported, the first inspection unit (20a) When stopped at, the second detection sensors 23 and 24 detect whether or not there is a part protruding from the front and rear surfaces of the object to be transported.
  • the first detection sensor 21 and 22 for detecting whether the object protrudes while the object is being transported are provided to first detect the object to be transported, and the second sensor for detecting whether the object protrudes when the object is stopped.
  • the case where (23, 24) is provided to detect the object to be transferred later has been described, but on the contrary, the second detection sensor (23, 24) is provided to first detect whether the object to be protruded while the object to be transferred is stopped.
  • the first detection sensors 21 and 22 may be configured to later detect whether the object protrudes while the object to be transported is being transported.
  • the transport member of the first transport line 30-1 When a chemical container, which is an object to be transported, is inserted through the input unit 10a, the transport member of the first transport line 30-1 is driven to rotate so that the object to be transported is transported along the first transport line 30-1.
  • the first detection sensors 21 and 22 detect whether there are protruding portions from both sides of the object to be transported along the first transport line 30-1.
  • the object to be transported After the rear surface of the object to be transported passes through the first detection sensors 21 and 22, the object to be transported enters the inside of the first inspection unit 20a and stops at a predetermined position inside the first inspection unit 20a.
  • the object to be transferred is detected whether or not there are portions protruding from the front and rear surfaces of the object to be transferred by the second detection sensors 23 and 24.
  • the transfer continues along the first transfer line 30-1. If it is detected that there is a protruding part, an alarm is generated, and the transfer direction is changed in the direction of the connection part 60 and the second test part 20b inside the first test part 20a, so that the transferred object is transferred to the second test part ( 20b).
  • the transfer object transferred to the second inspection unit 20b is discharged to the outside through the discharge unit 10b along the second transfer line 30-1.
  • the transport member of the first transport line 30-1 When a chemical container, which is an object to be transported, is inserted through the input unit 10a, the transport member of the first transport line 30-1 is driven to rotate and the object to be transported is transported along the first transport line 30-1 to a set position. Will stop at. Whether or not there is a portion protruding from the front and rear surfaces of the stationary transfer object is first detected by the second detection sensors 23 and 24. Thereafter, the object to be transported is continuously transported along the first transport line 30-1, and during the transport, it is sensed whether or not there are portions protruding from both sides of the object to be transported by the first detection sensors 21 and 22. If there is a protruding part as a result of the detection, an alarm is generated and the object to be transported is discharged to the outside through the discharge unit 10b.
  • the first detection sensor (21, 22) is provided in a state coupled to the support (81, 82) provided between the first inspection part (20a) and the input part (10a), the second detection sensor (23, 24) consists of each positioned on the front and rear of the first inspection unit (20a).
  • a light-emitting portion 21a and a light-receiving portion 21b of the first detection sensor 21 are provided at the upper and lower portions of the supporter 81 on one side, and a first detection sensor ( The light emitting portion 22a and the light receiving portion 22b of 22) are provided, respectively.
  • the above configuration detects whether there is a part protruding from both sides of the object to be transferred to the set position, while the object to be transferred is being transferred, and transfers whether there is a part protruding from the front and rear of the object to the set position.
  • the embodiment shown in FIG. 10 is a third sensing for detecting whether there is a part protruding upward to a set position above the chemical container 2 while the chemical container 2 and the pallet 3, which are the objects to be transferred, are being transferred. Sensors 26a and 26b are provided.
  • the third sensor (26a, 26b) is composed of a light emitting portion (26a) and a light receiving portion (26b), the light emission on a pair of supports (83, 84) provided on both sides of the first transfer line (30-1). A portion 26a and a light receiving portion 26b are provided, respectively.
  • third detection sensors 27a and 27b are provided on an upper frame 25a provided on an upper portion of the first inspection unit 20a.
  • a light-emitting part 27a and a light-receiving part 27b are provided on one side and the other side of the upper frame 25a.
  • the third side The detection sensors 27a and 27b detect whether there is a protruding part from the top of the object to be transferred to the set position.
  • the third detection sensors 27a and 27b may be formed of a light curtain to detect the entire upper area of the first inspection unit 20a.
  • the case of detecting whether the object to be protruded by the first detection sensor while the object to be transported is being transported has been described. It is sensed, and the front and rear surfaces of the object to be transported may be detected by the second sensing sensor, and the upper side of the object to be transported may be detected to be protruded upward by the third sensing sensor. In this case, in order to minimize the undetected area, it is preferable that all of the first to third sensing sensors are configured with light curtains.
  • the configuration of the alignment units 70-1 and 70-2 will be described with reference to FIGS. 12 to 14. Since the first alignment unit 70-1 and the second alignment unit 70-2 have the same configuration, only the first alignment unit 70-1 will be described, and the second alignment unit 70-2 A description of is omitted.
  • the first alignment unit 70-1 is a plurality of units for transferring the chemical container 2 and the pallet 3 transferred from the input unit 10a along the first transfer line 30-1.
  • the alignment It includes a pair of alignment driving parts 73-1 and 73-2 for reciprocating the members 74-1 and 74-2 in a direction opposite to each other. Due to this configuration, the first alignment unit 70-1 transfers the chemical container 2 and the pallet 3 transferred through the first transfer line 30-1 to the first transfer line 30-1. ), but arranged in the center of the pallet (3) in correspondence with the size of the pallet (3).
  • Both ends of the transfer member 71 are supported by a pair of side frames 72-1 and 72-2 having a length in the direction of the first transfer line 30-1, and the transfer member 71 and The side frames 72-1 and 72-2 are supported by the lower frame part 76.
  • the pair of alignment members 74-1 and 74-2 include a first alignment member 74-1 provided on one side of the first transfer line 30-1 and a second alignment member provided on the other side ( 74-2).
  • the first alignment member (74-1) and the second alignment member (74-2) have a plate shape having a length in the direction of the first transfer line (30-1), and correspond to the length of the pallet (3). It can be formed in length.
  • the first alignment member (74-1) and the second alignment member (74-2) are configured such that at least a part of the side surface of the pallet (3) is in surface contact, thereby improving the alignment of the pallet (3). I can.
  • the pair of alignment driving units 73-1 and 73-2 may include a first alignment driving unit 73-1 providing a driving force for reciprocating movement of the first alignment member 74-1, and the second alignment driving unit 73-1. It consists of a second alignment driving unit (73-2) that provides a driving force for the reciprocating movement of the alignment member (74-2).
  • a first driving shaft (75-1) is provided between the first alignment member (74-1) and the first alignment driver (73-1), so that the driving force of the first alignment driver (73-1) is adjusted to the first alignment. It is transmitted to the member 74-1, and a second driving shaft 75-2 is provided between the second alignment member 74-2 and the second alignment driving unit 73-2, so that the second alignment driving unit 73 The driving force of -2) is transmitted to the second alignment member 74-2.
  • the pallet 3 of different sizes may be input to the automatic transfer device 1 of the object to be transferred according to the present invention. That is, the size of the pallet 3 may vary for each type of chemical.
  • the movement amount of the first alignment member (74-1) and the second alignment member (74-2) If the value is set in advance, the pallets 3 of different sizes may not be properly aligned.
  • the movement amount of the first alignment member 74-1 and the second alignment member 74-2 is set to align the first pallet of the first size, a second size smaller than the first size
  • the amount of movement of the first alignment member 74-1 and the second alignment member 74-2 does not reach the side of the second pallet, and thus alignment is not performed properly. .
  • the first alignment unit 70-1 of the present invention is provided so as to be aligned corresponding to the size of the pallet 3.
  • the size of the pallet 3 is information on the pallet 3, and the size of the pallet 3 may be determined for each type of the chemical.
  • the information on the pallet 3 is information on the chemical (type) It can also mean.
  • the first alignment unit 70-1 includes pallet information recognition units 78-1 and 78-2 for recognizing information on the pallet 3.
  • the pallet information recognition unit (78-1, 78-2) includes a first pallet information recognition unit (78-1) provided on the side where the first alignment member (74-1) is installed, and the second alignment member ( It consists of a second pallet information recognition unit (78-2) provided on the side where 74-2) is installed.
  • the first pallet information recognition unit 78-1 and the second pallet information recognition unit 78-2 are respectively located above the first side frame 72-1 and the second side frame 72-2. It can be provided.
  • the pallet information recognition units 78-1 and 78-2 may be configured to recognize a barcode label attached to the pallet 3 or a unique identifier such as RFID.
  • the pallet information recognition units 78-1 and 78-2 consist of a scanner that recognizes pallet 3 information (or chemical information) by scanning a unique identifier attached to the pallet 3 surface. I can.
  • the pallet information recognition units 78-1 and 78-2 may be configured as a pallet sensing unit for measuring the size of the pallet 3. It may be configured to determine the amount of movement of the alignment members 74-1 and 74-2 corresponding to the size of the pallet detected by the pallet detector.
  • the pallet sensing unit may be formed of a distance measuring sensor that measures a distance between the pallet 3 and the side surface.
  • the size of the pallet 3 can be measured from the distance between the side of the pallet 3 measured by the distance measuring sensor.
  • the pallet sensing unit may be configured to detect the positions of both sides of the pallet 3. Positions of both sides of the pallet 3 currently being transported may be sensed, and movement amounts of the alignment members 74-1 and 74-2 may be determined according to the detected positions of both sides of the pallet 3.
  • first alignment member 74-1 and the first alignment member 74-1 and the first alignment member 74-1 and the first alignment member 74-1 and the first alignment member 74-1 and the first alignment member 74-1 and the first alignment member 74-1 and the first alignment member 74-1 and the first alignment member 74-1 are 2
  • the amount of movement of the alignment member 74-2 may be determined.
  • the amount of movement of the alignment members 74-1 and 74-2 corresponding to the information of the plurality of pallets 3 may be preset in the control unit.
  • the amount of movement of the alignment members 74-1 and 74-2 according to the preset pallet 3 information is matched from the information of the pallet 3 recognized by the pallet information recognition units 78-1 and 78-2. Controls the alignment drive (73-1, 73-2).
  • the alignment driving units 73-1 and 73-2 need to control the amount of movement of the alignment members 74-1 and 74-2, they are preferably made of a servo motor.
  • the first alignment unit 70-1 is provided with a position detection sensor for detecting whether the pallet 3 is in the correct position in order to be aligned by the first alignment unit 70-1.
  • a position detection sensor for detecting whether the pallet 3 is in the correct position in order to be aligned by the first alignment unit 70-1.
  • the original position detection sensor is provided in the front of the transfer direction to detect whether the front of the pallet 3 entering the first alignment unit 70-1 deviates from a set position. It may be composed of a sensor and a second position detection sensor provided at the rear of the transfer direction to detect whether the rear of the pallet 3 that has entered the first alignment unit 70-1 has reached a set position. have.
  • the pallet 3 is transferred along the first transfer line 30-1 until the rear end of the pallet 3 is detected by the second fixed position sensor. In addition, when the front end of the pallet 3 is detected by the first fixed position sensor, the pallet 3 is stopped from being transported.
  • a separation prevention stopper 77-1 for preventing the pallet 3 entering the first alignment unit 70-1 from being separated from the front or rearward. ,77-2) are provided respectively.
  • the separation prevention stopper (77-1) located in the front prevents the front end of the pallet (3) from being separated forward, and the separation prevention stopper (77-2) located in the rear side is the rear end of the pallet (3) to the rear.
  • the separation prevention stoppers 77-1 and 77-2 are configured to elevate in the vertical direction, so that the separation prevention stoppers 77-1 and 77-2 are more than the upper position of the transfer member 71 By ascending to a high position, it is possible to prevent the pallet 3 from being dislodged.
  • the conveying member 71 When the conveying member 71 is made of a roller, it is conveyed along the first conveying line 30-1 in a state in which the surface of the roller is in contact with the bottom of the pallet 3, and frictional force to generate this conveying force Since this is necessary, the surface of the roller may be made of a synthetic resin, and among the synthetic resins, a polyethylene (PE) material may be used.
  • PE polyethylene
  • the alignment members 74-1 and 74-2 push and align both sides of the pallet 3, the bottom surface of the pallet 3 is in contact with the upper surface of the transfer member 71, so the When the side of the pallet 3 is pushed with the alignment members 74-1 and 74-2, the pallet 3 is not pushed due to the frictional force on the surface of the roller, or scratches are generated on the surface of the roller. have.
  • the chemical container 2 and the pallet 3 are lifted upward so that the bottom surface of the pallet 3 is upwardly spaced from the surface of the roller, and the alignment members 74-1,74 When the pallet 3 is pushed with -2), alignment is possible without causing scratches on the surface of the roller.
  • an elevating member 79 and an elevating driver (not shown) for lifting the pallet 3 may be provided.
  • the elevating member 79 is for lifting the pallet 3 in an upward direction while the pallet 3 is seated on the transfer member 71, along the conveying direction of the pallet 3 It may be provided in plural. In this case, the elevating member 79 is provided between the conveying members 71 adjacent to each other so as to elevate and descend without interference with the conveying member 71.
  • the elevating driver is for elevating the elevating member 79 in the vertical direction, and when the elevating member 79 is plural, the plurality of elevating members 79 may be integrally elevated.
  • the chemical container 2 and the pallet 3 injected into the input unit 10a are transferred along the first transfer line 30-1.
  • Whether or not the pallet 3 is transferred along the first transfer line 30-1 is detected in a preset location by the location detection sensor.
  • the driving of the transfer member provided in the first transfer line 30-1 is stopped, and the transfer of the pallet 3 is stopped.
  • the first pallet information recognition unit 78-1 and the second pallet information recognition unit 79-1 recognizes the pallet 3 information, and the recognized pallet 3 information is received by the control unit. do.
  • the information on the pallet 3 may be information on the size of the pallet 3 or information on the location of the pallet 3.
  • the amount of movement of the first alignment member 74-1 and the second alignment member 74-2 is determined according to the pallet 3 information received by the control unit.
  • the control unit drives the first alignment driving unit 73-1 and the second alignment driving unit 73-2 to drive the first alignment member 74- 1) and the second alignment member 74-2 move toward the pallet 3 in the middle in a direction opposite to each other.
  • the first alignment member 74-1 and the second alignment member 74-2 push both sides of the pallet 3 so that the pallet 3 is aligned.
  • the pallets 3 are aligned in response to information on the pallets 3 including the size of the pallets 3, the pallets 3 are aligned at a certain position even if pallets 3 of different sizes are inserted. Since this becomes possible, it is possible to efficiently operate the device.
  • the chemical container 2 and the pallet 3 are continuously transferred along the first transfer line 30-1, and the first inspection unit ( 20a).
  • the first inspection unit 20a inspects the chemical information of the chemical container 2, and if the chemical information matches the information required by the chemical supplying devices 100-1 and 100-2, the control unit controls the chemical container (2) is controlled to be supplied to the chemical supply devices 100-1 and 100-2.

Abstract

La présente invention a pour objectif de fournir un appareil de transfert automatique d'un objet à transférer, et un procédé de transfert automatique qui permet de minimaliser le nombre de capteurs pour détecter la présence ou non d'une partie faisant saillie vers le haut jusqu'à une position définie à partir d'un objet à transférer. Pour ce faire, l'appareil de transfert automatique comprend : une paire de premiers capteurs pour détecter la présence ou non d'une partie faisant saillie vers le haut jusqu'à une position définie à partir des deux côtés d'un objet à transférer, qui est transféré le long d'une chaîne de transfert, pendant le transfert de l'objet à transférer ; et une paire de seconds capteurs pour détecter la présence ou non d'une partie faisant saillie vers le haut jusqu'à une position définie à partir des surfaces avant et arrière de l'objet à transférer, pendant que l'objet à transférer est stationnaire.
PCT/KR2020/014455 2019-10-25 2020-10-22 Appareil de transfert automatique d'un objet à transférer et procédé de transfert automatique WO2021080336A1 (fr)

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Application Number Priority Date Filing Date Title
CN202080070080.1A CN114502488A (zh) 2019-10-25 2020-10-22 运送对象的自动运送装置及自动运送方法

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KR1020190133439A KR102119268B1 (ko) 2019-10-25 2019-10-25 이송 대상물의 자동이송장치 및 자동이송방법
KR10-2019-0133439 2019-10-25
KR10-2019-0143483 2019-11-11
KR1020190143483A KR102220925B1 (ko) 2019-11-11 2019-11-11 케미컬 용기 자동이송장치 및 자동이송방법

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