Tray transfer device for robotic palletizing, system for robotic palletizing comprising a tray transfer device, and method for robotic palletizing

Abstract

The present disclosure relates to a pallet transfer device (1) and a robotic palletizing system comprising the pallet transfer device (1) and a robot (2) performing work on a pallet, such as loading and unloading items to and from the pallet. The pallet transfer device (1) comprises a central body (3) arranged to support the robot (2), and a platform (4) for moving the pallet in a circumferential direction around the central body (3). The platform comprises a conveyor (5) for loading and unloading the pallet to and from the platform (4).

Description

Technical Field

[0001] This invention relates to a pallet transfer device for robotic palletizing. It also relates to a system for robotic palletizing including the pallet transfer device and its applications. Furthermore, it relates to applications of the system for robotic palletizing and methods for robotic palletizing using the system. Background Technology

[0002] Given the sheer volume of packages being shipped today, efficient loading of packages onto pallets is highly sought after. Systems for robotic palletizing, in which a single robot loads and unloads packages onto multiple pallets positioned around the robot, are common.

[0003] Pallets are platforms used for moving goods. Different types of pallets exist, made of different materials and with different dimensions. In modern times, pallet dimensions have been standardized to some extent. For example, there is a widely used standard for European pallets known as EUR pallets.

[0004] Systems for robotic palletizing include industrial robots that load and unload items onto pallets positioned near the robots. The system further includes one or more transfer devices for supplying empty pallets to the robots and removing them once the robots have filled them with items. Typically, in palletizing systems using industrial robots, pallets are moved within the reach of the robots on a stationary conveyor. Once the robots have finished loading or unloading the pallets, they are retrieved from the stationary conveyor from the opposite side of the robot. Naturally, this requires significant space, as space must be available around the palletizing system for forklifts or other equipment used to retrieve the pallets.

[0005] To improve palletizing efficiency, a large number of pallets can be arranged in fixed positions around the robot. For space and time efficiency, the number of pallets positioned close to the robot has been maximized in the solution. For example, in WO2006065147A1, conveyors with pallet positions are arranged in a circle around the robot. A pick-up ring is arranged around the circle. The pick-up ring includes brackets that are movable radially and laterally relative to the circle. Outside the supply and pick-up rings, an outer circle can be constructed, including pallet storage sections for empty pallets, buffer positions, and one or more conveyor belts for picking up fully loaded pallets. The problem with this palletizing system is that it requires a large amount of space.

[0006] In DE10119679B4, a circular conveyor is arranged around the robot on a ring-shaped disk. The pallet is lifted onto and from the disk by a transfer device with lifting forks, and then transferred to an adjacent unloading conveyor.

[0007] US6,691,748B1 discloses a container transfer and handling system. The system includes a robot and a turntable with a surface for supporting a large number of containers. The turntable surrounds the robot and is arranged to be rotatable around the robot. The system further includes a plurality of container working devices arranged around the turntable on its outer side. The turntable is rotatable around the robot between the container working devices. The container working devices perform various types of operations on the containers and their contents. The turntable simultaneously moves containers between the container working devices. The robot moves containers between the turntable and the container working devices. The disclosed system specifically relates to a container transfer and handling system for loading plate-like containers having a specified number of storage sections for performing processes such as DNA, immunization, chemical reactions, etc. The container transfer and handling system is not related to pallet handling in a robotic palletizing system.

[0008] With the ever-increasing demand for increased efficiency and minimized space consumption, there is always a need for improved palletizing systems. And, of course, minimized cost is always desirable. Summary of the Invention

[0009] The object of this invention is to provide an improved pallet transfer device for use in robotic palletizing systems. According to one aspect, the object of the invention is to reduce the space required by the robotic palletizing system. According to another aspect, the object of the invention is to reduce the cost of the robotic palletizing system.

[0010] This objective is achieved through pallet transfer devices and robotic palletizing systems.

[0011] The pallet transfer device includes a central body and a movable platform. The central body is arranged to support a robot performing tasks on a pallet, such as loading items onto and unloading items from the pallet. The movable platform is rotatably connected to the central body, such that the platform is movable in a circumferential direction around the central body. The platform includes a conveyor for loading pallets onto and unloading pallets from the platform.

[0012] A conveyor is a mechanical handling device that moves materials linearly from one location to another. In this disclosure, the conveyor is arranged to move pallets linearly on the platform during the loading and unloading of pallets from the platform. The conveyor is not a lift and does not move pallets by lifting and placing them.

[0013] The platform is designed to support one or more pallets. The platform moves the pallets to a defined location around a robot, and while the robot, mounted on a central body, performs work on the pallets arranged around it, conveyors on the platform can load and unload pallets onto and from the platform, such as loading and unloading pallets containing items. Because the robot is not involved in moving the pallets, it can focus on loading and unloading pallets containing items. Unlike existing technologies, there is no need for additional transfer devices (such as lifting forks or additional robots) between the mobile platform and the infeed conveyor, which transports empty pallets within the robot's reach, and the unloading conveyor, which transports filled pallets away from the robot. Therefore, the pallet transfer device reduces the space required to transfer pallets and thus reduces the space required for the robotic palletizing system.

[0014] Conveyors facilitate the loading and unloading of pallets onto and from platforms. For example, they make it easy to move pallets from a platform to another conveyor positioned around a robot, and from that conveyor to the platform. Conveyors are simpler and less expensive than lifting devices such as robots used to move pallets to other conveyors.

[0015] Another advantage of pallet transfer devices is that they are compact and have a simple design with few parts and few electrical components (such as drive systems).

[0016] The movement of the platform and the movement of the robot can be performed independently of each other. For example, a pallet transfer device can be used to move empty and filled pallets while the robot picks up items and loads them onto pallets positioned around the robot. For example, the pallet transfer device can be arranged to move empty pallets from the infeed conveyor to different locations around the robot, retrieve filled pallets after they have been filled by the robot, and move them to the outfeed conveyor while the robot loads items onto pallets positioned around the robot.

[0017] Preferably, the central body is designed to support the platform and the robot. This reduces the number of parts and also reduces the space required for the robotic palletizing system.

[0018] The term "the platform is movable in the circumferential direction around the central body" means that the platform is movable around the circumference of the central body.

[0019] According to some aspects, the platform has an inner end rotatably connected to a central body and an outer end facing away from the central body, and a conveyor is arranged to load and unload pallets at the outer end of the platform. This facilitates the loading and unloading of pallets onto the platform from a fixed conveyor arranged around the robot.

[0020] According to some aspects, the platform extends radially from the inner end attached to the central body to the outer end of the platform. Therefore, the central body extends radially to the outer end of the platform.

[0021] According to some aspects, the conveyor is arranged to move the pallet in the radial direction relative to the central body during the loading and unloading of the pallet.

[0022] Because the conveyors are arranged to load and unload pallets at the outer ends of the platform and to move the pallets radially relative to the central body during loading and unloading, the conveyors can be used to load and unload pallets at a fixed position from multiple other conveyors arranged in different radial directions around the robot. Hereinafter, the other conveyors arranged around the robot are referred to as second conveyors. The platform can move the pallet to a position around the robot corresponding to the position of the second conveyor. With the disclosed solution, the pallet can move around the robot between the second conveyor and the pallet transfer device. By arranging one of the second conveyors as an unloading conveyor, a pallet filled with items can be moved to the unloading conveyor via a platform on the pallet transfer device.

[0023] According to some aspects, the conveyor is arranged to move the pallet linearly on the platform in both forward and opposite directions during pallet unloading and loading. Suitably, the conveyor is arranged such that it can move the pallet in both the forward and opposite directions. For example, the conveyor is arranged to move the pallet in the forward direction, i.e., during pallet unloading, the pallet moves in a direction toward the outer end of the platform, and the conveyor is arranged to move the pallet in the opposite direction, i.e., during pallet loading, the pallet moves in a direction toward the inner end of the platform. For example, the pallet moves radially relative to the central body during pallet loading and unloading.

[0024] According to some aspects, the central body extends between the upper and lower ends, and the platform is rotatable about a rotation axis that is coaxial with the axis extending through the central body between the upper and lower ends. This makes the pallet transfer device more compact and reduces the required space. Suitably, the platform is rotatable about the central axis of the central body.

[0025] According to some aspects, the upper end of the central body is provided with fastening members for securing the robot to the central body. The fastening members for securing the robot are located at the upper end of the central body, allowing the robot to be attached to the upper end of the central body, which ensures a compact robot palletizing system with a small footprint. Furthermore, this aspect ensures that the platform is rotatable about the robot. Preferably, but not necessarily, the axis of rotation of the platform is coaxial with the axis of rotation of the robot. This makes the palletizing system even more compact.

[0026] According to some aspects, the platform is rotatable around a central body, and the fastening components for securing the robot are located at the upper end of the central body. This means that the fastening components are positioned above the platform as seen in the vertical direction. Therefore, the robot is mounted on top of the central body, and the platform rotates below the robot. This is advantageous because the risk of the platform's rotational movement interfering with the robot's rotational movement is reduced, and vice versa. This also eliminates the risk of collision between the platform and the robot.

[0027] In some respects, the central body is cylindrical. This facilitates the manufacture of the pallet transfer device.

[0028] According to some aspects, the pallet transfer device includes a fastening arrangement located at the lower end of the central body for securing the pallet transfer device to the mounting surface.

[0029] Based on several aspects, the platform is generally rectangular. Preferably, the conveyor is rectangular. Because most pallets are rectangular, a rectangular platform is suitable for the shape of the pallets, and the size of the platform can be reduced. Appropriately, the loading area of ​​the platform is rectangular. Therefore, the loading area of ​​the platform can be used optimally.

[0030] The size of the platform depends on the size of the pallets and the number of pallets transferred by the platform.

[0031] Depending on some aspects, the platform is elongated and arranged such that its longitudinal axis extends radially relative to the central body. Since most pallets are elongated and transported on conveyors, with their longitudinal axis aligned with the longitudinal axis of the conveyor, an elongated platform facilitates the loading and unloading of pallets onto the platform.

[0032] According to some aspects, the platform is designed to support a maximum of two pallets at a time. Therefore, the platform can transport one or two pallets simultaneously. This reduces the size of the platform and, consequently, the size of the pallet transfer device. For example, the platform can transport one empty pallet and one filled pallet at the same time. In one application, the platform delivers to a robot attached to a central body by providing an empty pallet and removing the filled pallet. There is ample space around the robot to accommodate several pallets. When the robot has filled a pallet, the platform is used to exchange the filled pallet for the empty one. During the pallet exchange, the robot can continue loading items into another pallet arranged around the robot. In this type of application, there is sufficient time to move one pallet at a time or two pallets at a time, because some time is required before the robot has filled the pallet with items.

[0033] Based on several aspects, the platform is designed to support one single pallet at a time. Therefore, the platform is designed to transport pallets one by one. This further reduces the size of the platform, and consequently, the size of the pallet transfer device.

[0034] Depending on some aspects, the loading area of ​​the platform is at least 1200 mm × 400 mm. This allows the platform to transport at least one pallet. For example, the loading area of ​​the platform is at least 1200 mm × 800 mm. This allows the platform to transport at least one EUR pallet. The loading area of ​​the platform refers to the area of ​​the platform that can be used to transport pallets.

[0035] According to some aspects, the platform's loading area is less than 2000 mm × 2000 mm. This allows the platform to transport two EUR pallets and keeps the pallet transfer device small and compact.

[0036] According to some sources, the platform's loading area is greater than or equal to 1000 mm × 400 mm and less than or equal to 2000 mm × 2000 mm.

[0037] Depending on the specifications, the conveyor width ranges from 800 mm to 2000 mm. This allows the platform to transport two EUR pallets while keeping the pallet transfer device small and compact.

[0038] Depending on the specifications, the conveyor length ranges from 800 mm to 1800 mm. This allows the platform to transport two EUR pallets while keeping the pallet transfer device small and compact.

[0039] According to some aspects, the pallet transfer device includes a first actuator arranged to actuate a rotational movement of a platform about a central body. For example, the first actuator is a servo motor. The servo motor can be precisely operated to move the platform to a precise position around the central body, aligning the conveyor on the platform with a stationary conveyor.

[0040] According to some aspects, the pallet transfer device includes a second actuator arranged to drive the radial movement of the conveyor. For example, the second actuator is an electric motor. The conveyor is driven, for example, by a chain drive or a flat belt drive.

[0041] Other motors besides electric motors for actuating rotation and / or driving the conveyor, such as internal combustion engines, can be used.

[0042] When the conveyor is a roller conveyor, the conveyor can be driven by rotating one or more rollers (e.g., the one furthest from the center body).

[0043] Because of the first and second actuators, the rotational motion of the platform and the radial motion of the conveyor are independent of each other.

[0044] According to some aspects, the pallet transfer device includes a control unit arranged to control a first actuator, causing a platform to move about a central body and stop at a defined radial position to load and unload pallets onto and from the platform. The control unit is further arranged to control a second actuator, causing a conveyor to load and unload pallets onto and from the platform once the platform has stopped at the defined radial position. This is an efficient way to handle pallets in a robotic palletizing system. The robot can be freed from pallet handling and can focus on performing tasks on the pallets, such as loading and unloading items onto and from the pallets.

[0045] For example, when the robot fills a pallet positioned in a first radial position relative to the robot with items, the filled pallet is loaded onto a platform, and the platform transports the filled pallet to an unloading conveyor positioned in a second radial position relative to the robot. The platform can then be moved to an infeed conveyor positioned in a third radial position relative to the robot to receive empty pallets. The empty pallets are loaded onto the platform and transported back to the first position via the platform.

[0046] According to some aspects, the conveyor includes a transport mechanism arranged to move a pallet radially relative to a central body. The central body defines a rotation axis for a platform, and therefore the conveyor is arranged to move the pallet radially relative to the platform's rotation axis. A robot is positioned on top of the central body, and the transport mechanism is arranged to move the pallet radially relative to the robot. Thus, the conveyor can be used to load and unload pallets from a second conveyor arranged around the robot in different radial directions. The transport mechanism may include, for example, rollers, belts, or chains.

[0047] Depending on several factors, a conveyor can be a roller conveyor, belt conveyor, or chain conveyor. Any conveyor that can be used to load pallets onto and from a platform is possible. The type of conveyor can be selected based on the type of pallets to be transported, such as pallet size.

[0048] According to some aspects, the platform is arranged to rotate at least 180° around a central body, preferably at least 270° around a central body, and most preferably at least 360° around a central body. This makes it possible to arrange numerous fixed conveyors around the robot.

[0049] According to some aspects, the pallet transfer device includes bearings arranged between the platform and the central body, allowing the platform to rotate relative to the central body. The bearings provide a stable means of rotatably arranging the platform around the central body. Due to the low friction in the bearings, the platform can also be easily rotated.

[0050] According to some aspects, the pallet transfer device includes an annular element surrounding a central body and arranged to rotatably around the central body, a platform attached to the annular element, and a bearing arranged between the annular element and the platform. This design is simple to manufacture and makes the pallet transfer device compact, with only a few parts.

[0051] Depending on some aspects, the bearing can be a slewing bearing, a ball bearing, or a sliding bearing. The bearing can be any kind of bearing that can be used to make the platform rotate about its central body.

[0052] According to some aspects, the bearing is a slewing bearing, also known as a rotary bearing. Slewing bearings are compact, reliable, and easy to maintain.

[0053] According to some aspects, the platform includes a coupling device arranged at the outer end of the platform for coupling the conveyor to a second conveyor, and the coupling device is arranged to engage and disengage with the second conveyor so that when the outer end of the platform faces the second conveyor, the platform's conveyor can form a combined conveyor with the second conveyor. The second conveyor is one of a fixed conveyor arranged around the pallet transfer device. Therefore, it is easy to move the pallet between the conveyor on the platform and the fixed conveyor arranged around the robot.

[0054] According to some aspects, the second actuator is arranged to drive the combined conveyor. The coupling device is arranged such that when the conveyor on the platform is coupled to the second conveyor, the second actuator drives the movement of the conveyor on the platform and the movement of the second conveyor. Therefore, the platform's conveyor and the second conveyor can be driven by the same actuator. Thus, only a single actuator is needed to move both conveyors when they are coupled to each other. Preferably, the single actuator is arranged on the platform. Thus, the actuator on the platform can be used to drive all stationary conveyors positioned around the pallet transfer device. It is advantageous if the actuator for driving the combined conveyor is arranged on the platform of the pallet transfer device, because then only a single actuator is needed to actuate both the pallet transfer device's conveyor and the second conveyor.

[0055] This disclosure also provides a system for robotic palletizing, comprising a pallet transfer device according to the invention and a robot attached to the upper end of a central body. The robot is attached to the upper end of the central body and configured to perform work on the pallet, such as loading items onto and unloading items from the pallet. The robotic palletizing system is configured such that a conveyor can load and unload pallets onto a platform while the robot is performing work on another pallet. The platform can also move pallets around the robot while the robot is performing work on another pallet. When discussing the pallet transfer device combined with the robot herein, the system has the same advantages as explained above.

[0056] The robotic palletizing system includes a control unit, which is arranged to control the rotation of the platform and the conveyor. The control unit can be mounted on the pallet transfer device or on the robot. Alternatively, the control unit can be located externally to both the pallet transfer device and the robot; for example, on an external server or in the cloud.

[0057] The pallet transfer device may include circuitry for receiving one or more control signals from a control unit. The circuitry may be arranged to receive wireless or wired signals. Alternatively, the signals may simply be signals to the first actuator of the pallet transfer device instructing the pallet transfer device how to rotate the platform, and signals to the conveyor commanding the conveyor to start or stop its movement.

[0058] According to some aspects, the control unit is a robot controller arranged to control the movement of the robot, the platform, and the conveyor. It is advantageous to use a robot controller to control both the robot and the pallet transfer device. A typical robot controller includes devices for controlling external axes, which enable control of a first actuator and a second actuator from the robot controller. Alternatively, the system may include a separate robot controller for controlling the robot's movement.

[0059] According to some aspects, the robotic palletizing system includes multiple second conveyors arranged around the robot at different radial positions, and a control unit is configured to control the rotation of the platform such that the platform is movable between each of the second conveyors. The second conveyors are arranged such that when the outer end of the platform faces one of the second conveyors, the conveyors on the platform can load pallets onto and unload pallets from the platform. Therefore, pallet transfer between the pallet transfer device and the second conveyors is convenient. Each of the second conveyors is arranged such that when the platform has been rotated so that its outer end faces the second conveyor, one end of the second conveyor is adjacent to or in direct contact with the outer end of the platform. The second conveyors are fixedly positioned around the robot in different radial directions, and preferably within the robot's working area. The number of second conveyors arranged around the pallet transfer device and the robot can vary depending on the size of the platform and the size of the second conveyors, for example, 10 or 14. The fact that so many second conveyors can be arranged around the pallet transfer device and the robot makes the system efficient because the number of pallets that the robot can handle can be maximized.

[0060] According to some aspects, the robotic palletizing system includes a pallet transfer device, which includes the coupling device described above. The coupling device of the platform's conveyor is arranged such that when the outer end of the platform faces the second conveyor, the platform's conveyor can form a combined conveyor with the second conveyor. In other words, the platform's conveyor can form a combined conveyor with each second conveyor individually. This facilitates the transfer of pallets between the platform and the second conveyor.

[0061] The robotic palletizing system includes actuators for driving the combined conveyor. The actuators can be arranged on a platform or connected to each of at least two second conveyors. The second actuators can therefore be arranged on a platform or connected to each of the second conveyors.

[0062] Depending on some aspects, the platform's conveyor and at least two second conveyors are roller conveyors, belt conveyors, or chain conveyors. The platform's conveyor and the second conveyors do not necessarily have to be the same type. Pallets will be loaded onto the platform from the second conveyor or unloaded from the platform onto the second conveyor, and this can be done even if the conveyor types are different, as long as the conveyor types can hold the pallets. Where the conveyors can form a combined conveyor as described above, it is preferred that the conveyors be of the same type.

[0063] In some respects, the robot is mounted on top of the central body, and the platform rotates beneath the robot. For example, the robot's base is attached to a fastening component of the transfer device. Thus, the robot is positioned above the platform when viewed vertically. This eliminates the risk of collision between the platform and the robot.

[0064] Depending on some aspects, the platform's axis of rotation extends through the robot's base. For example, the platform's axis of rotation coincides with the robot's first axis of rotation.

[0065] According to some aspects, a robotic palletizing system includes a height-adjustable component positioned between a pallet transfer device and a palletizing robot. The height-adjustable component can be stationary or have an adjustable height. It may include a base that can be secured between the pallet transfer device and the robot. If the height-adjustable component has an adjustable height, it may be a retractable device that can be set to different heights. The height-adjustable component is used to position the robot at a desired height. Different types of robots may require different working heights. Different palletizing stations may also require different working heights. The height-adjustable component makes the system more flexible in terms of where it can be used and which robots can be used.

[0066] According to some aspects, the robotic palletizing system includes a pallet wrapping machine, wherein at least one of at least two second conveyors is partially arranged below the pallet wrapping machine. A packaged pallet is loaded onto one of the second conveyors by the robot and can then be moved by a pallet transfer device to a second conveyor that includes a pallet wrapping machine for wrapping the packaged pallets. The second conveyor partially arranged below the pallet wrapping machine can be a location for retrieving the packaged pallets from a palletizing station that includes the palletizing system.

[0067] According to another aspect, the present invention relates to a method for robotic palletizing using a system according to the invention.

[0068] The methods include:

[0069] Arrange multiple pallets around the robot.

[0070] Control the robot so that it loads items onto and unloads items from the tray.

[0071] Move the movable platform to one of the trays in a circular direction around the robot.

[0072] Control the conveyor on the movable platform so that the pallet is loaded onto the movable platform.

[0073] Move the movable platform with the tray to a predetermined position in a circular direction around the robot, and

[0074] Control the conveyor on the movable platform so that when the platform has reached a certain position, unload the pallet from the movable platform.

[0075] This specific location is, for example, the location of an unloading conveyor.

[0076] According to another aspect, the present invention relates to the application of a system for robotic palletizing. A robot is used to load items onto and unload items from a pallet, a conveyor on a movable platform is used to load pallets onto and unload pallets from the movable platform, and the movable platform is used to move the pallets in a circumferential direction around the robot. Attached Figure Description

[0077] The invention will now be explained in more detail through descriptions of various aspects and with reference to the accompanying drawings.

[0078] Figure 1 An example tray transfer device is shown in a three-dimensional view.

[0079] Figure 2 An example pallet transfer device with two actuators is shown in a three-dimensional view.

[0080] Figure 3 As shown above Figure 2 Example of a tray transfer device.

[0081] Figure 4 Shown from the side Figure 2 Example of a tray transfer device.

[0082] Figure 5 An example coupling device for coupling a conveyor to a second conveyor is shown.

[0083] Figure 6 It shows Figure 5 An example of a coupling device in which the wheel has moved.

[0084] Figure 7 An example coupling device that has been installed on the platform is shown.

[0085] Figure 8 It shows Figure 7 An example coupling device in which the wheel has been moved to push the wheel toward the conveyor to be engaged.

[0086] Figure 9 Shown in 3D Figure 8 Example coupling device.

[0087] Figure 10 An example robotic palletizing system with a pallet transfer device and a robot is shown.

[0088] Figure 11 An example robotic palletizing system with a pallet transfer device and a robot is shown, the robot being equipped with a height-adjustable component arranged between the pallet transfer device and the robot.

[0089] Figure 12 An example robotic palletizing system is shown, comprising a pallet transfer device, a robot, and a second conveyor arranged around the pallet transfer device and the robot.

[0090] Figure 13 It shows a component with an increased height adjustment. Figure 12 Example robotic palletizing system.

[0091] Figure 14 This shows another location on the platform of the pallet transfer device. Figure 13 Example robotic palletizing system.

[0092] Figure 15 An example robotic palletizing system is shown, in which a pallet transfer device loads pallets with loaded packages.

[0093] Figure 16 This illustrates the situation when the platform of the pallet transfer device is loaded with pallets. Figure 15 Example robotic palletizing system.

[0094] Figure 17 This illustrates the process when the platform of the pallet transfer device has rotated to load pallets onto different second conveyors. Figure 16 Example robotic palletizing system. Detailed Implementation

[0095] The aspects disclosed herein will now be described more fully with reference to the accompanying drawings. However, the apparatus and systems disclosed herein may be implemented in many different forms and should not be construed as limiting the aspects set forth herein. The same reference numerals throughout the drawings denote the same elements.

[0096] The terminology used herein is for the purpose of describing a particular aspect of this disclosure only and is not intended to limit this disclosure. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well.

[0097] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0098] Figure 1 An example pallet transfer device 1 for a robot is shown in perspective. The pallet transfer device 1 includes a central body 3 for supporting the robot. The central body 3 includes an upper end 3a and a lower end 3b. The central body 3 extends along an axis between the upper end 3a and the lower end 3b. The central body 3 is provided with a fastening member 1b for securing the robot to the central body 3. The fastening member 1b can be arranged to connect with the upper end 3a for attaching the robot to the upper end 3a of the central body 3 of the pallet transfer device 1. In this example, the fastening member 1b is a fastening plate provided with multiple through holes. A bottom fastening device 1c can be arranged to connect with the lower end 3b of the central body to secure the pallet transfer device 1 to a mounting surface (such as a floor). The pallet transfer device 1 will be used in conjunction with a robot in a palletizing system.

[0099] The central body 3 has, for example, a cylindrical shape, i.e., a straight cylinder. However, the central body may have other shapes. The central body 3 has an enveloping surface 3c located between the upper end 3a and the lower end 3b.

[0100] The pallet transfer device 1 includes a platform 4 rotatably arranged on a central body 3, such that the platform 4 is rotatable about the central body. Therefore, the platform is rotatable about an enclosing surface 3c. The platform is rotatably connected to the central body, allowing the platform to move the pallet (6) in a circumferential direction about the central body (3). The platform 4 is arranged to be rotatable about a rotation axis A1. Suitably, the rotation axis A1 coincides with the axis of the central body. In the case where the central body 3 has a cylindrical shape, the rotation axis A1 preferably coincides with the axial direction of the cylinder. The platform is arranged to be rotatable about the central body by at least 180°, preferably at least 270°, and most preferably at least 360°. Suitably, the platform 4 has an inner end 4b rotatably connected to the central body 3 and an outer end 4a facing away from the central body 3. Preferably, the platform extends from the inner end 4b to the outer end 4a in a radial direction relative to the central body. The platform 4 can be extended in the radial direction. Preferably, the platform 4 is designed to transport up to two pallets at a time. This is advantageous because it allows for a small and compact pallet transfer device, thus reducing the space required for the robotic palletizing system. In this example, platform 4 is designed for transporting a single pallet at a time.

[0101] Platform 4 includes a conveyor 5 for loading and unloading pallets onto and from the platform. The conveyor 5 is arranged to load and unload pallets at the outer end 4a of platform 4. Suitablely, the conveyor 5 is arranged to move pallets linearly along the platform during loading and unloading. In this example, platform 4 includes two arms 4c, 4d arranged parallel to each other and spaced apart, and the conveyor 5 is arranged between arms 4c, 4d. The conveyor 5 is attached to arms 4c, 4d. The conveyor is arranged to support the pallets. Therefore, the size of the conveyor 5 defines the loading area of ​​platform 4. Preferably, since most standard pallets are rectangular, the conveyor is rectangular in shape. Preferably, the size of the loading area of ​​platform 4 is less than 2000 mm × 2000 mm to keep the pallet transfer device small and compact. Preferably, the size of the loading area of ​​the platform is at least 1000 mm × 400 mm to allow the platform to transport pallets.

[0102] The standard size for a EUR pallet is 1200 mm × 800 mm. For example, the loading area of ​​the platform must be at least 1200 mm × 800 mm to be able to transport EUR pallets. Appropriately, the width of conveyor 5 is 2000 mm to 800 mm. Appropriately, the length of conveyor 5 is 1800 mm to 800 mm. This allows the platform to transport one or two EUR pallets while keeping the pallet transfer device small and compact. However, many other types of pallets exist with other dimensions. Therefore, the platform can have other dimensions depending on the type of pallet to be transported.

[0103] Conveyor 5 includes a transport mechanism 5a arranged to move the pallet radially relative to the axis of the central body during loading and unloading of the pallet onto and from the platform. Appropriately, depending on whether the pallet is being loaded onto or unloaded from the platform, the transport mechanism 5a is arranged to move the conveyor in a forward and backward direction relative to the central body. For example, the transport mechanism 5a is arranged to move the conveyor in a forward direction toward the outer end 4a of the platform during pallet unloading, and in the opposite direction toward the inner end 4b of the platform during pallet loading. In this example, the transport mechanism 5a includes a plurality of spaced rollers 5b arranged rotatably about its longitudinal axis, and chains connected to the rollers 5b such that all rollers rotate synchronously when one roller rotates. The rollers can rotate clockwise and counterclockwise. The transport mechanism 5a can be arranged in different ways. For example, the transport mechanism 5a may include a conveyor belt.

[0104] The lower end 3b of the central body 3 may include a fastening device 1c, for example, in the form of a circular plate, to fasten the tray transfer device 1 to the mounting surface. The circular plate may have a larger diameter than the central body 3 to provide additional stability when the circular plate is fastened to the mounting surface.

[0105] The pallet transfer device 1 may include a bearing 7 disposed between the platform 4 and the central body 3, such that the platform 4 is rotatable relative to the central body 3. The bearing 7 provides a stable arrangement for the platform 4 to rotatably surround the central body 3. Note that the bearing is not visible in the figure, but... Figure 1 The middle arrow indicates the location of the bearing.

[0106] As in Figure 1As shown in the illustrated example, the pallet transfer device 1 may include an annular element 8 surrounding a central body 3 and arranged to rotatably about the central body 3. A platform 4 is attached to the annular element 8, and a bearing 7 is arranged between the annular element 8 and the platform 4. In the illustrated example, the arms 5c-5d of the platform are attached to the annular element 8. The platform 4 also rotates easily due to the low friction in the bearing 7. The platform 4 thus rotates via the rotary bearing 7. The bearing 7 is, for example, a slewing bearing, a ball bearing, or a sliding bearing. A slewing bearing, also known as a turntable bearing, is compact, reliable, and easy to maintain. The bearing 7 can be any type of bearing that can be used to rotate the platform 4 about the central body 3.

[0107] It should be noted that the platform 4 can be retractably arranged on the central body 3 of the pallet transfer device, so that the platform 4 can move away from the central body 3 and toward the central body 3 in a straight line.

[0108] Figure 2 An example pallet transfer device 1 with two actuators 9 and 10 is shown in a perspective view. Figure 3 As shown above Figure 2 Example tray transfer device 1, and Figure 4 Shown from the side Figure 2 Example pallet transfer device 1. Pallet transfer device 1 includes a first actuator 9 arranged to actuate the rotational movement of platform 4. The first actuator 9 is arranged to actuate the rotational movement of platform 4 about a central body in a positive circumferential direction and in a negative circumferential direction. For example, the first actuator 9 is a servo motor. The servo motor can be precisely operated so that platform 4 moves to a precise position about the central body 3, aligning conveyor 5 on platform 4 with a stationary conveyor. Pallet transfer device 1 further includes a second actuator 10 arranged to drive the movement of transport mechanism 5a of conveyor 5. For example, the second actuator 10 is an electric motor. Other actuators besides electric motors for actuating rotation and / or driving conveyors can be used, such as internal combustion engines. For example, conveyor 5 can be driven by chain drive or flat belt drive.

[0109] The first actuator 9 for rotating the platform 4 is, for example, a servo motor, which rotates the bearing 7 by rotating a rack and pinion gear on the bearing 7. The advantage of using a servo motor is that it allows for precise control of position, speed, and acceleration. Another option is to use a stepper motor for this purpose. The first actuator 9 may include a sensor for determining the position of the platform 4. The sensor is, for example, a resolver or encoder. Alternatively, the sensor may be positioned directly on the platform. The output from the sensor can be used to control the position of the platform. The control unit 12 can then use the input from the sensor to determine how to move the platform 4 and, accordingly, how to control the actuator 9.

[0110] The second actuator 10 for driving the conveyor 5 is, for example, a three-phase motor. Other motors besides electric motors for actuating rotation and / or driving the conveyor 5 can be used. The second actuator 10 for driving the conveyor 5 can also be a servo motor, and the actuator 9 for actuating the rotational motion of the platform 4 can also be a three-phase motor.

[0111] An alternative for rotating platform 4 is, for example, arranging multiple wheels on platform 4, the wheels engaging a mounting surface below the tray transfer device 1, and wherein at least one of the wheels is driven by a motor.

[0112] An alternative to using an electric motor is to use a pneumatic motor.

[0113] When the conveyor is a roller conveyor, it can be driven by rotating one or more rollers (e.g., the roller furthest from the central body 3). When all rollers are rotated, they are driven, for example, by a chain that causes all rollers to rotate synchronously. The chain is, for example, gear driven by a motor.

[0114] Another term used for roller conveyors is spool roller conveyor.

[0115] The protruding rings illustrated on the three rollers are used to guide the pallets so that they are loaded and unloaded vertically on the conveyor 5 of platform 4. The protruding rings are optional.

[0116] like Figure 7 As shown, platform 4 may include a coupling device 11 at its outer end 4a for coupling conveyor 5 to second conveyor 13. The second conveyor 13 then becomes one of a plurality of stationary conveyors 13 arranged around pallet transfer device 1. Figure 9 , Figures 12 to 17 The diagram illustrates the second conveyor 13. Conveyors 5 and 13 of platform 4 can be driven by the same driver (e.g., the second actuator 10) via coupling device 11. Therefore, only one of them needs to be driven, and if the actuator is arranged on platform 4, all the stationary conveyors around the pallet transfer device 1 can be driven using the second actuator of platform 4 with coupling device 11.

[0117] Figure 5An example coupling device 11 for coupling conveyor 5 to a second conveyor 13 is shown. This example device can be used when the conveyor is a roller conveyor. The example coupling device 11 includes a fastening device 11a for securing the coupling device 11 to the platform 4 and a wheel 11b, which is positioned such that it is adjacent to both the roller 5b of the conveyor 5 and the roller 5c of the second conveyor 13. Thus, when the roller 5b of the platform 4 rolls, the roller 5c of the second conveyor also rolls, and the roller 5c of the second conveyor is driven by the wheel 11b, which in turn is driven by the roller 5b of the platform 4.

[0118] Figure 6 It shows Figure 5 Example coupling device 11, in which wheel 11b has been moved. Example coupling device 11 can be arranged to move between at least two positions by linear motion. Linear motion is driven, for example, by an electric motor.

[0119] Figure 7 An example coupling device 11 that has been installed on platform 4 is shown, and Figure 8 It shows Figure 7 Example coupling device 11, in which wheel 11b has been moved to push wheel 11b toward the conveyor it is to be engaged with. It should be noted that Figure 7 and Figure 8 A side view is shown, with the wiring of the coupling device shown above the wiring of the platform and conveyors for better illustration. It can be seen from the figure that wheel 11b moves to a position adjacent to roller 5b of conveyor 5 and roller 5c of conveyor 13. Figure 9 An example coupling device 11 mounted on platform 4 is shown in a perspective view. In these figures, it can be seen that the fastening device is fastened to platform 4 on the underside of platform 4.

[0120] For example, in the case where conveyor 5 is chain-driven, an alternative coupling device 11 uses a gear at the outer end 4a of the platform, which is arranged to engage both the chain of platform 4 and conveyor 5 and the chain of the second conveyor. In this case, the chain of platform 4 and conveyor 5 drives the gear, which in turn drives the chain of the second conveyor. In this example, it could be advantageous if platform 4 is retractably arranged on the central body 3 as described above to facilitate engagement of the gear in the chain of the second conveyor.

[0121] Figure 10 An example of a robotic palletizing system is shown, comprising a pallet transfer device 1 and a robot 2 disposed at the upper end of a central body 3. As shown, the robot is positioned vertically above a platform 4. The robot is mounted on top of the central body, and the platform rotates beneath the robot.

[0122] Platform 4 is rotatable around robot 2. Preferably, platform 4 is rotatable around robot 2 by at least 180°, more preferably by at least 270°, and most preferably by at least 360°. The robotic palletizing system includes a control unit 12 arranged to control the rotation of platform 4 around a central body. Control unit 12 is arranged to control a first actuator 9 such that platform 4 moves around the central body 3 and stops at a defined radial position. Control unit 12 may also be arranged to control a second actuator 10 such that when the platform has stopped at the defined radial position, conveyor 5 loads a pallet onto platform 4 and unloads the pallet from platform 4. Control unit 12 may be part of pallet transfer device 1, or control unit 12 may be part of the robotic palletizing system. Control unit 12 may also be part of a robot controller for controlling the movement of the robot.

[0123] Control unit 9 is configured to control platform 4 according to one or more control programs, which include program instructions on how to control the movement of the pallet transfer device, such as rotating the platform to a specific position, stopping the rotation until the pallet has been loaded onto the platform or unloaded from the platform, and rotating the platform to a new position. Control unit 12 may be provided with a storage location indicating where platform 4 has moved, for example, as... Figure 12 As shown, the platform is aligned with a fixed second conveyor 13 arranged around the transfer device 1. The control program may, for example, include instructions on how to move the platform 4 to the position where the platform 4 is aligned with the fixed conveyor 13. The control unit 12 may be configured to control the first actuator 9 based on one or more control programs. The control unit 12 is, for example, configured to generate one or more control signals to the first actuator 9 based on the control programs.

[0124] The control unit 12 can also be arranged to control the movement of the conveyor 5 (e.g., start and stop the conveyor) and control the direction of movement of the conveyor. The control unit 12 can also be arranged to control the first actuator 9 and the second actuator 10.

[0125] The control unit 12 includes processing circuitry for processing data and controlling programs. The control unit 12 either includes or is connected to communication circuitry for receiving sensor data and sending commands to components it controls. Communication between the control unit 12 and the first actuator 9 and the second actuator 10 can be wired or wireless.

[0126] In this example, robot 2 has six axes. However, a robot can have more or fewer than six axes. It should be noted that robot 2 illustrated in the accompanying drawings is merely an example robot. The type of robot used on pallet transfer device 1 is not important. Many robots capable of palletizing exist. Furthermore, pallet transfer device 1 can be easily adapted to support any type of robot 2.

[0127] In this example, robot 2 has three main axes and three wrist axes. A stationary outrigger (commonly referred to as the robot's base 2a) supports a frame that can rotate about a first axis R1. The robot's base 2a is attached to a fastening member 1b on the central portion 3 of the transfer device 1. The platform's axis of rotation A1 extends through the robot's base 2a. In the illustrated example, the platform's axis of rotation A1 coincides with the robot 2's first axis of rotation R1.

[0128] The frame supports a first arm that can rotate around a second axis. The first arm supports a second arm that can rotate around a third axis. The second arm supports a wrist that can rotate around a fourth, fifth, and sixth axis. The wrist supports the tool. The movement of robot 2 is controlled by a robot controller. For example, control unit 12 is a robot controller.

[0129] Here, the pallet transfer device 1 is part of a system in which the robot 2 is mounted on the control body of the pallet transfer device 1. The control unit 12 can be mounted on the pallet transfer device 1 or the robot 2. It can also be mounted externally to both the pallet transfer device 1 and the robot 2; for example, on an external server or in the cloud.

[0130] exist Figure 10 In this example, control unit 12 is a robot controller and is arranged to control the movement of the robot, the rotation of platform 4, and the movement of conveyor 5. In this example, control unit 12 includes software and hardware such as input means and output devices. The processor unit includes one or more central processing units (CPUs) for handling the main functions of the robot controller, such as executing robot programs, performing path planning, providing commands regarding the robot's movement to the robot's drive units, and generating motor references for the robot's motors. Control unit 12 also includes software and hardware for controlling external axes, namely, for controlling the first actuator 9 and the second actuator 10. Therefore, the robot controller is adapted to generate control signals (such as motor references) to the first actuator 9, the second actuator 10, and the robot's motors.

[0131] The control unit 12 includes a program memory and a program executor. The program memory is used to store a robot program for controlling the movement of the robot and a control program for controlling the movement of the pallet transfer device. The program executor is adapted to execute the stored robot program and control program for the pallet transfer device.

[0132] The pallet transfer device 1 may include circuitry for receiving control signals from the control unit 12. The circuitry may be arranged to receive wireless or wired signals. Alternatively, the signals may include only signals to the first actuator 9 of the pallet transfer device 1 instructing how the first actuator 9 of the pallet transfer device 1 should rotate the platform 4, and signals to the conveyor to start and stop the conveyor.

[0133] The control unit 12 can also be arranged to control the movement of the coupling device 11 when using a coupling device 11.

[0134] Figure 11 An example robotic palletizing system is shown, comprising a pallet transfer device 1 and a robot 2 mounted therebetween with a height adjustment component 14. The robotic palletizing system may include a height adjustment component 14 disposed between the pallet transfer device 1 and the palletizing robot 2. The height adjustment component 14 may be a static component or have an adjustable height. It may include a base that can be secured between the pallet transfer device 1 and the robot 2. If the height adjustment component 14 has an adjustable height, it may be a telescopic device that can be set to different heights. The height adjustment component 14 is used to position the robot 2 at a desired height. Different types of robots 2 may require different working heights. Different palletizing stations may also require different working heights. The height adjustment component 14 makes the system more flexible in terms of where it can be used and which robots are used. The height adjustment component 14 can also be used to adapt the securing device of the pallet transfer device 1 to a specific robot 2. In other words, the height adjustment component 14 may be designed differently at the top, depending on which robot will be positioned on the height adjustment component 14.

[0135] Figure 12An example robotic palletizing system 15 is shown, comprising a pallet transfer device 1, a robot 2, and a plurality of second conveyors 13 arranged around the pallet transfer device 1 and the robot 2. The positions of the second conveyors 13 are fixed. The robotic palletizing system includes at least two second conveyors 13 arranged around the robot in different radial directions. Therefore, at least two of the second conveyors 13 can be part of the robotic palletizing system. The number of second conveyors 13 arranged around the pallet transfer device 1 can vary depending on the dimensions of the platform 4 and the second conveyors 13. For example, the number of second conveyors can vary between two and fourteen. Preferably, the robotic palletizing system includes at least three second conveyors 13 arranged around the robot in different radial directions. More preferably, the robotic palletizing system includes at least five second conveyors 13 arranged around the robot in different radial directions. Even more preferably, the robotic palletizing system includes at least ten second conveyors 13 arranged around the robot in different radial directions. The second conveyors 13 can include conveyors of different sizes and different types. For example, the second conveyor 13 may include an infeed conveyor 13a for supplying pallets (such as empty pallets) to the system and an outfeed conveyor 13b for transporting finished pallets (such as filled pallets) from the system. For example, the second conveyor 13 may include multiple pallet support conveyors 13c for supporting the pallets during robot loading and unloading. Suitably, the pallet support conveyors 13c have dimensions generally corresponding to the size of a pallet 6. The pallet support conveyors 13c can be manufactured smaller than conventional conveyors used in robotic palletizing systems and therefore require less space.

[0136] Control unit 12 is configured to control the rotation of platform 4 such that platform 4 is movable between each of the second conveyors 13. The second conveyors 13 are arranged such that when the outer end 4a of platform 4 faces one of the second conveyors 13, the second conveyor 13 can load pallets onto and unload pallets from conveyors 5 on platform 4. The second conveyors 13 are positioned at a distance from the central body of pallet transfer device 1 to allow platform 4 to rotate around robot 2 without colliding with the second conveyors 13, and for the robot to perform work on the conveyors without colliding with the platform. The second conveyors 13 should preferably be located within the robot's work area so that the robot can reach the conveyors. In the disclosed example, the robotic palletizing system includes fourteen second conveyors 13 arranged around pallet transfer device 1 and robot 2. The fact that so many second conveyors 13 can be arranged around pallet transfer device 1 and robot 2 makes the system efficient because the number of conveyors reachable by robot 2 is maximized.

[0137] Using the disclosed solution, platform 4 can move around the robot between the second conveyors 13, and pallets can be loaded onto and unloaded from the platform when the outer end of the platform faces the second conveyor. Infeed conveyor 13a supplies pallets to the system, and discharge conveyor 13b acts as an unloading conveyor to transport finished product pallets from the system. Pallets can be moved from infeed conveyor 13a to any of the second conveyors 13c via platform 4 on pallet transfer device 1, and pallets can be moved from any of the second conveyors 13c to discharge conveyor 13b via platform 4 on pallet transfer device 1. While pallets are being transferred between the second conveyors 13a, 13b, and 13c via pallet transfer device 1, robot 2 can perform work on pallets on the second conveyors 13c. For example, the robot can fill pallets on conveyor 13c with items. In this case, the robotic palletizing system may also include one or more second conveyors for supplying items to the robot.

[0138] The transfer of pallets and the movement of robot 2 can be performed independently of each other. The conveyor 5 on the pallet transfer device 1 can be used, for example, to transfer empty and filled pallets between platform 4 and a second conveyor 13 arranged around the robot, while robot 2 picks up items and fills the pallets positioned on the second conveyor 13 with the items.

[0139] Figure 13 A model with an increased height adjustment component 14 is shown. Figure 12 Example robotic palletizing system 15.

[0140] Figure 14 This shows another location on platform 4 of the pallet transfer device 1. Figure 13 Example robotic palletizing system 15. Here, platform 4 has been rotated to engage with another second conveyor 13 (such as one of the pallet support conveyors 13c).

[0141] Figure 15 An example robotic palletizing system 15 is shown, in which a pallet transfer device 1 loads a pallet 6 filled with items (such as packaging) onto a platform 4. A robot 2 has completed loading the items onto the pallet 6, and the platform 4 is used to move the entire pallet to an outgoing conveyor 13b. The platform 4 of the pallet transfer device 1 has been rotated such that the outer end of the platform faces the pallet support conveyor 13c that supports the pallet 6. A conveyor 5 of the platform 4 is used to move the pallet 6 onto the platform 4. During the loading of the pallet 6, the conveyor 5 moves the pallet 6 in the opposite direction toward the inner end of the platform.

[0142] Figure 16An example robotic palletizing system 15 is shown when the conveyor 5 has loaded the pallet 6 onto the platform 4 of the pallet transfer device 1.

[0143] Figure 17 An example robotic palletizing system 15 is shown when the platform 4 of the pallet transfer device 1 has been rotated so that the outer end of the platform faces the discharge conveyor 13b. The platform's conveyor 5 is used to move the pallet 6 to the discharge conveyor 13b. During pallet unloading, the conveyor 5 moves the pallet 6 in a forward direction toward the outer end of the platform 4.

[0144] exist Figures 12 to 17 In this configuration, the pallet transfer device 1 may include the coupling device 11 described above, such that when the outer end 4a of the platform 4 faces the second conveyor 13, the conveyor 5 of the platform 4 can form a combined conveyor with the second conveyor 13. In other words, the conveyor 5 of the platform 4 can form a combined conveyor with each of the second conveyors 13a, 13b, and 13c individually.

[0145] In an alternative embodiment, each of the second conveyors 13 may also include a coupling device arranged to engage and disengage with the coupling device 11 of the conveyor 5 of the platform 4, such that when the outer end 4a of the platform 4 faces the second conveyor 13, the conveyor 5 of the platform 4 can form a combined conveyor with the second conveyor 13.

[0146] The alternative is each second conveyor 13, including according to Figures 5 to 9 The coupling device 11. In this case, the coupling device 11 arranged on the platform 4 is not required. However, it is advantageous to arrange the coupling device 11 on the platform 4 so that only one coupling device 11 is needed, instead of one coupling device 11 on each second conveyor. Furthermore, the control unit 12 can control the coupling device 11 arranged on the platform 4. Such control on the second conveyor 13 requires more signal cables or more signal wireless receivers from the control unit 12 on each second conveyor.

[0147] The robotic palletizing system requires an actuator to drive the combined conveyor. This actuator can be arranged on a platform or connected to each of at least two second conveyors. Therefore, the actuator can either be arranged on a platform or connected to each of the second conveyors. Preferably, the second actuator 10 of the pallet transfer device is arranged to drive the combined conveyor. It is advantageous if the actuator for driving the combined conveyor is arranged on the platform 4 of the pallet transfer device 1, because then only a single actuator is needed to actuate both the pallet transfer device's conveyor and the second conveyors. The second conveyor 13 can be arranged on a fixed platform. In this case, the second actuator 10 can be arranged on the fixed platform.

[0148] The conveyor 5 of platform 4 and the second conveyor 13 can be, for example, a roller conveyor, a belt conveyor, or a chain conveyor. The conveyor 5 of platform 4 and the second conveyor 13 do not need to be of the same type. Pallets 6 can be loaded from the second conveyor 13 to platform 4 or from platform 4 to the second conveyor 13, and this can be done even if the types of conveyors are different, as long as the conveyor types are capable of holding the pallets. Where the conveyors can form a combined conveyor as described above, it is preferable that the conveyors are of the same type.

[0149] The robotic palletizing system may include a pallet wrapping machine, wherein at least one of at least two second conveyors 13 is partially arranged below the pallet wrapping machine. A pallet 6 loaded with packaging by a robot 2 on one of the second conveyors 13 can then be moved by a pallet transfer device 1 to a second conveyor 13 that includes a pallet wrapping machine for wrapping the packaged pallets. The second conveyor 13, partially arranged below the pallet wrapping machine, can be a location for retrieving packaged pallets from a palletizing station that includes the palletizing system.

[0150] In the diagram, conveyors 5, 13a, 13b, and 13c are all depicted as roller conveyors. However, they could also be, for example, belt conveyors or chain conveyors. Any conveyor that can be used to load pallets onto and from platform 4 is possible. The type of conveyor can be selected based on the type of pallets to be transported.

[0151] refer to Figures 12 to 17 An example of a method for robotic palletizing using a robotic palletizing system 15 is illustrated. For example... Figure 12 As shown, multiple second conveyors 13a-13c are arranged around the pallet transfer device 1 and the robot 2. Multiple empty pallets 6 are placed on the pallet support conveyors 13c arranged around the robot 2. Preferably, the empty pallets are supplied to the system on the infeed conveyor 13a and transferred to the pallet support conveyors 13c by means of the pallet transfer device 1.

[0152] like Figure 15 As shown, robot 2 is controlled to load items onto a tray 6 positioned on a second conveyor 13c arranged around robot 2. Figure 15 As shown, when the pallet is fully loaded with items, the movable platform 4 moves circumferentially around the robot, such that the outer end 4a of the platform faces the fully loaded pallet 6. Figure 16 As shown, the conveyor 5 on the movable platform 4 is controlled so that the pallet 6 is moved onto the movable platform 4 by means of the conveyor 5. The conveyor 5 moves the pallet in a direction toward the inner end of the platform until the pallet has been loaded onto the platform.

[0153] Platform 4, with tray 6, moves circumferentially around robot 2 such that the outer end 4a of the platform faces another second conveyor 13, for example... Figure 17 The discharge conveyor 13b is shown. A conveyor 5 on the movable platform 4 is controlled to unload the pallet 6 from the platform and move it to the discharge conveyor 13b. The conveyor 5 moves the pallet 6 in a direction toward the outer end of the platform until the pallet has been moved from the platform onto the conveyor 13. In the same manner, an empty pallet 6 can be transferred from one of the second conveyors 13 (e.g., the infeed conveyor 13a) to the empty pallet support conveyor 13c by means of the movable platform 4 and the conveyor 5 on the platform.

[0154] This invention is not limited to the disclosed embodiments, but can be varied and modified within the scope of the following claims. For example, a pallet transfer device may include two platforms for moving pallets in a circumferential direction around a central body, wherein each platform has an inner end rotatably connected to the central body and an outer end facing away from the central body, and each platform includes a conveyor for loading pallets onto and unloading pallets from the platform. Furthermore, different components of the pallet transfer device may have different shapes than those illustrated in the figures. Moreover, the type of robot used on the pallet transfer device is not limited to the type illustrated in the figures. Any kind of palletizing robot can be used. In an alternative embodiment, the platforms may be connected to the central body such that the axis of rotation of the platforms is coplanar with the direction of movement of the conveyor. List of reference numerals in the attached diagram: 1. Pallet transfer device b. Fastening components c. Fastening equipment 2. Robot a. The robot's base 3. Central Body a. Upper end b. Lower end c. Envelope surface 4. Platform a. Platform outer end b. Platform inner end c. First Arm d. Second arm 5. Conveyor a. Transportation agencies b. Roller c. Rollers of the second conveyor 6. Pallet 7. Bearings 8. Ring element 9. First actuator for a rotating platform 10. Second actuator for conveyors 11. Coupling device a. Fastening device b. Wheel body 12. Control Unit 13. Second conveyor a. Feed conveyor b. Discharge conveyor c. Pallet support conveyor 14. Height adjustment component 15. Systems for robotic palletizing A1 platform rotation axis R1 is the first axis of rotation of the robot.

Claims

1. A pallet transfer device (1) for robotic palletizing, the pallet transfer device (1) being used in conjunction with a plurality of second conveyors (13) arranged at different radial positions around the pallet transfer device (1), the pallet transfer device (1) comprising: A central body (3) for supporting a robot (2) performing work on a pallet (6), loading items onto the pallet (6) and unloading items from the pallet (6); and A movable platform (4) rotatably connected to the central body (3) such that the movable platform (4) is movable in a circumferential direction about the central body (3), and the movable platform (4) includes a conveyor (5) for loading the pallet (6) onto the movable platform (4) and unloading the pallet (6) from the movable platform (4), wherein the pallet transfer device (1) includes a first actuator (9) and a second actuator (10), the first actuator (9) being arranged to actuate the rotational movement of the movable platform (4) about the central body, and the second actuator (10) being arranged to drive the movement of the conveyor (5); and A control unit (12) is arranged to control the first actuator (9) such that the movable platform (4) moves in the circumferential direction and stops at a defined radial position corresponding to one of the plurality of second conveyors (13), and the control unit (12) is arranged to control the second actuator (10) such that when the movable platform (4) has stopped at the defined radial position, the conveyor (5) loads the pallet (6) from the one second conveyor or unloads the pallet (6) to the one second conveyor.

2. The tray transfer device (1) according to claim 1, wherein The movable platform (4) has an inner end (4b) rotatably connected to the central body (3) and an outer end (4a) opposite to the central body (3), and the conveyor (5) is arranged to load and unload the pallet (6) at the outer end (4a) of the movable platform (4).

3. The pallet transfer device (1) according to claim 1, wherein, The conveyor (5) is arranged to move the pallet (6) linearly in the forward direction and in the reverse direction on the movable platform (4) during the unloading and loading of the pallet (6).

4. The pallet transfer device (1) according to claim 1, wherein, The conveyor (5) is arranged to move the pallet (6) in the radial direction relative to the central body (3) during loading and unloading of the pallet (6).

5. The pallet transfer device (1) according to claim 1, wherein, The upper end (3a) of the central body (3) is provided with a fastening member (1b) for fastening the robot to the central body (3).

6. The pallet transfer device (1) according to claim 1, the pallet transfer device comprising a bearing (7) arranged between the movable platform (4) and the central body (3) such that the movable platform (4) is rotatable relative to the central body (3), and the pallet transfer device comprising an annular element (8) surrounding the central body (3) and arranged to be rotatable about the central body, the movable platform (4) being attached to the annular element (8), and the bearing (7) being arranged between the annular element (8) and the movable platform (4).

7. The pallet transfer device (1) according to claim 1, wherein, The movable platform (4) is arranged to be able to rotate at least 180° around the central body (3).

8. The pallet transfer device (1) according to claim 1, wherein, The movable platform (4) is arranged to be able to rotate at least 270° around the central body (3).

9. The pallet transfer device (1) according to claim 1, wherein, The movable platform (4) includes a coupling device (11) arranged at the outer end (4a) of the movable platform (4) for coupling the conveyor (5) to a second conveyor, and the coupling device (11) is arranged to engage and disengage with the second conveyor (13) such that when the outer end (4a) of the movable platform (4) faces the second conveyor, the conveyor (5) of the movable platform (4) can form a combined conveyor with the second conveyor (13).

10. A system (15) for robotic palletizing, comprising: Robot (2), which is configured to perform work on a pallet (6), loading items onto the pallet (6) and unloading items from the pallet (6), and According to claim 1, the pallet transfer device (1) wherein the robot (2) is attached to the upper end (3a) of the central body (3); and A plurality of second conveyors (13, 13a, 13b, 13c) are arranged in different radial positions around the robot (2), and wherein the second conveyor (13) is arranged such that when the outer end (4a) of the movable platform (4) faces one of the second conveyors, the conveyor (5) on the movable platform (4) is able to load the pallet (6) onto the movable platform (4) and unload the pallet (6) from the movable platform (4).

11. The system according to claim 10, wherein, The movable platform (4) includes a coupling device (11) arranged to engage and disengage with the second conveyor (13) such that when the outer end (4a) of the movable platform (4) faces the second conveyor, the conveyor (5) of the movable platform (4) can form a combined conveyor with each of the second conveyors (13).

12. An application of the system for robotic palletizing according to claim 10, wherein, The robot (2) is used to load items onto the pallet (6) and unload items from the pallet (6), the conveyor (5) on the mobile platform (4) is used to load the pallet (6) onto the mobile platform (4) and unload the pallet (6) from the mobile platform (4), and the mobile platform (4) is used to move the pallet (6) in a circumferential direction around the robot (2).

13. A method for robotic palletizing using the system according to claim 10, wherein, The method includes: Multiple pallets (6) are placed on the multiple second conveyors (13) surrounding the robot. Control the robot (2) so that it loads items onto or unloads items from the tray (6). The movable platform (4) is moved in a circumferential direction around the robot to a first radial position corresponding to the first second conveyor in the second conveyor. Control the conveyor (5) on the movable platform (4) so ​​that the pallet (6) is loaded from the first and second conveyors onto the movable platform (4). The movable platform (4) with the tray (6) is moved in the circumferential direction around the robot (2) to a determined second radial position corresponding to the second conveyor in the second conveyor, and Control the conveyor (5) on the movable platform (4) such that when the movable platform (4) has reached the determined second radial position, the pallet (6) is unloaded from the movable platform (4) onto the second conveyor.

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