Palletizing apparatus

Abstract

To provide a palletizing apparatus that can be readily moved and easily installed near a manufacturing line, and that has improved installation stability and operation stability.SOLUTION: A palletizing apparatus according to the present invention is a palletizing apparatus that is disposed in proximity to at least one of a manufacturing line and a delivery line and that stacks packages flowing along the manufacturing line and the delivery line onto pallets, the palletizing apparatus comprising a gripping unit that grips the packages, a robot arm that includes the gripping unit and is capable of moving the gripped packages, a pallet placement member on which pallets for stacking the packages are installed, a control unit that controls the gripping unit and the robot arm, and a main body that constitutes the robot arm and the pallet placement member.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a palletizing device that can be moved around within a factory or the like and that loads goods onto pallets. [Background technology]

[0002] In various places such as factories and distribution centers, cargo is often loaded onto pallets. A pallet is a loading plate of a certain size that can be used to transport multiple cargoes. Loading cargo onto a pallet allows for efficient and routine transport using commonly available equipment such as forklifts.

[0003] Furthermore, since cargo is loaded on a pallet as a single unit, mass transportation by truck etc. becomes more efficient, as pallets of a specified size can be lined up on the truck bed, improving loading efficiency.

[0004] In many places, pallets have standardized shapes and sizes. This allows pallets to be shared between the factory where the goods are loaded and the distribution center that receives them. Even if pallets are delivered from different companies, the work processes at factories and distribution centers can be standardized.

[0005] In order to standardize and streamline the entire transportation process, including loading, carrying, transporting, and dismantling, pallets are used to load cargo in a variety of situations.

[0006] Loading such cargo onto a pallet is often called palletizing, and the device that performs this palletizing is often called a palletizing device. In this specification, palletizing refers to loading cargo onto a pallet, and a palletizing device refers to a device that performs palletizing.

[0007] Techniques relating to such palletizing devices have been proposed (see, for example, Patent Documents 1, 2, 3, and 4). [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-170059 [Patent Document 2] Japanese Patent Application Laid-Open No. 2013-170029 [Patent Document 3] Patent No. 7241229 [Patent Document 4] Patent Publication No. 2021-094634 Summary of the Invention [Problem to be solved by the invention]

[0009] Patent Document 1 discloses a palletizing system including a work conveyor 20, a delivery device 31, a pallet conveyor 10, and a palletizing robot 40.

[0010] The palletizing system disclosed in Patent Document 1 is a technology for palletizing by installing the system permanently on a production line or delivery line in a factory or delivery center. For example, it is installed permanently downstream of a production line. It is installed as part of a line in a factory, etc. In this state, goods are loaded onto pallets.

[0011] However, the technology in Patent Document 1 requires a fixed installation and cannot be moved to each location where palletizing is required. Actual factories take various forms, and there are an increasing number of factories that are required to manufacture and deliver a wide variety of products in small quantities in a short period of time. In such factories, production lines and other things can be changed flexibly.

[0012] The technology of Patent Document 1 has the problem that it cannot respond to flexible changes in such production lines, etc., and is unable to achieve palletizing that is highly maneuverable and adaptable to changes.

[0013] Patent Document 2 discloses a palletizing device 50 that uses a multi-axis robot 2 to pick up workpieces 28 and load them onto a pallet 48, characterized in that the palletizing device has a conveyor 4 for placing and moving the pallet 48, a stage 1 that is positioned across the conveyor 4 and has thrust in the conveying direction of the conveyor 4, and a multi-axis robot 2 that is positioned on the stage 1.

[0014] Patent Document 2 takes into consideration miniaturization and simplification compared to Patent Document 1.

[0015] However, the technology in Patent Document 2 is also not a device that is mobile and maneuverable. It is still assumed that it will be installed and used in a fixed location. Even if it were mobile, there is no explanation or disclosure of the various problems that arise when downsizing is required for portability. Therefore, just like Patent Document 1, there is the problem of being unable to accommodate flexible palletizing.

[0016] Patent Document 3 discloses a first conveying device for conveying a plurality of workpieces;

[0017] rearrange the conveying order of the plurality of workpieces conveyed by the first conveying device, a loading operation unit that loads the plurality of workpieces sorted by the sorting device onto any of a plurality of loading members by a robot; and a loading operation unit that moves the plurality of workpieces sorted by the sorting device toward the loading operation unit.

[0018] and a second conveying device for conveying the first palletizing material.

[0019] The technology of Patent Document 3 enables mobility.

[0020] However, to perform palletizing while moving to various production lines within a factory, or to perform palletizing in response to changes in production lines, it is necessary to balance ease of movement with stability during installation (and operation). Prioritizing ease of movement requires compactness and light weight, but prioritizing this compromises stability during installation and operation.

[0021] Palletizing machines are used in factories and other places, so their stability is directly linked to the realization of a safe and reliable operating environment. If this stability is lost, the palletizing machine may tip over or drop packages during palletizing, which could cause the factory or delivery to come to a halt while the machine is being restored. Of course, serious problems such as injuries to workers could also occur.

[0022] Patent Document 3 does not consider or disclose how to achieve both mobility and stability, and there is a problem in that it does not particularly consider stability. Even if it is mobile, it will be difficult to use it in actual factories or distribution centers.

[0023] In particular, in today's factories and distribution centers where high-mix, low-volume production is the norm, there are many small and medium-sized manufacturing lines (distribution lines), and it is necessary to move the palletizing equipment to each of these lines and perform palletizing. Also, when factory line design changes frequently occur, it is necessary to move the equipment to accommodate these changes. Although this requirement differs depending on the manufacturing and distribution content, it exists in a variety of places and is increasing with the times.

[0024] In Patent Document 4, when palletizing, the conveyor (picking position) can be positioned using a camera, but it is difficult to specify which pallet to use (as it moves to other factories or inside and outside the factory), and it is not possible to attach landmarks, so the positional relationship between the robot and the pallet must be fixed. In addition, the robot needed to be anchored when in operation, and the pallet installation section was fixed, which got in the way when moving it, making it difficult to move and preventing it from being used in multiple processes.

[0025] In such factories and distribution centers, conventional palletizing equipment is not sufficient, and packages have continued to be loaded onto pallets manually. This practice is becoming unsustainable due to issues such as labor saving, an aging workforce, and labor shortages.

[0026] The conventional techniques such as those disclosed in Patent Documents 1 to 4 have had problems in that they cannot address these issues.

[0027] In view of these problems, the present invention has an object to provide a palletizing device that is easy to move and install near a production line, while also having improved installation stability and operational stability. [Means for solving the problem]

[0028] In view of the above problem, there is provided a palletizing device that is located near at least one of a manufacturing line and a delivery line and loads packages that are flowing along the manufacturing line and the delivery line onto pallets, the palletizing device comprising: a gripping unit that grips the luggage; a robot arm including the gripping unit and capable of moving the gripped load; a pallet installation member for installing a pallet on which the cargo is loaded; a control unit that controls the gripping unit and the robot arm; a main body that configures the robot arm and the pallet installation member, the robot arm moves the load held by the gripper onto the pallet and loads it thereon; The pallet installation member is openable and closable, The pallet installation member is closed when the main body moves, The pallet installation member opens when the robot arm loads an object (hereinafter referred to as "loading operation period"). When the pallet installation member is open, the pallet installation member spreads out and comes into contact with the floor surface, thereby increasing the contact area of ​​the main body with the floor surface. [Effects of the Invention]

[0029] In the palletizing device of the present invention, the pallet installation member for installing the pallets can be opened and closed, and by closing it when moving and opening it when in use, the size of the entire device can be further reduced, and naturally the portability is also improved.

[0030] The pallet is placed on the open pallet installation member in an open position relative to the floor. Then, cargo is placed on the pallet. This configuration increases the contact area with the floor, strengthening the base for the loading arm and other overhead equipment, improving stability. This also reduces the risk of tipping over.

[0031] As a result, it is possible to achieve both the conflicting requirements of compactness and lightness for easy movement and stability during installation and use, thereby realizing the automation of palletizing in factories and distribution centers where large palletizing equipment could not be installed.

[0032] In addition, the palletizing device of the present invention can be easily moved to a required location in a factory, a distribution center, or the like, and then installed and used at that location. [Brief explanation of the drawings]

[0033] [Figure 1] 1 is a photograph of a palletizing device actually manufactured by the inventor according to the first embodiment of the present invention. [Figure 2] 1 is a perspective view of a palletizing device according to a first embodiment of the present invention. [Figure 3] This is a photograph showing the grasping and movement of this load. [Figure 4] 2 is a perspective view showing opening and closing of a pallet installation member of the palletizing device according to the first embodiment of the present invention. FIG. [Figure 5] 1 is a plan view of a palletizing device according to a first embodiment of the present invention, as viewed from above. [Figure 6]FIG. 10 is a perspective view of a palletizing device according to a second embodiment of the present invention. [Figure 7] FIG. 10 is a perspective view of a palletizing device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0034] A palletizing device according to a first aspect of the present invention is a palletizing device that is located near at least one of a production line and a delivery line and loads packages that are transported along the production line and the delivery line onto pallets, the palletizing device comprising: a gripping unit that grips the luggage; a robot arm including the gripping unit and capable of moving the gripped load; a pallet installation member for installing a pallet on which the cargo is loaded; a control unit that controls the gripping unit and the robot arm; a main body that configures the robot arm and the pallet installation member, the robot arm moves the load held by the gripper onto the pallet and loads it thereon; The pallet installation member is openable and closable, The pallet installation member is closed when the main body moves, The pallet installation member opens when the robot arm loads an object (hereinafter referred to as "loading operation period"). When the pallet installation member is open, the pallet installation member spreads out and comes into contact with the floor surface, thereby increasing the contact area of ​​the main body with the floor surface.

[0035] With this configuration, the device is small and easy to move, but when in use the pallet installation members open to increase the contact area and improve installation stability.

[0036] In a palletizing device according to a second aspect of the present invention, in addition to the features of the first aspect, the pallet installation member that opens and contacts the floor surface during the loading operation period is This can achieve both the installation function of the pallet and the stabilization function of increasing the installation stability of the main body.

[0037] This configuration allows for both ease of movement and stable installation, making it possible to perform automated palletizing in places where palletizing processing has previously been difficult.

[0038] A palletizing device according to a third aspect of the present invention is the same as that of the first aspect, further comprising a drive unit that makes the main body movable, The palletizing device is movable.

[0039] This configuration allows the product to be easily moved to a location where palletizing is required, such as in a factory or distribution center.

[0040] A palletizing device according to a fourth aspect of the present invention has the following features in addition to the first aspect: the pallet installation member is rotatable up and down; By rotating upward, the pallet installation member is in a closed state, By rotating downward, the pallet mounting member is placed in an open state.

[0041] This configuration allows the pallet installation member to be easily opened and closed. Furthermore, by being able to open and close by rotating it up and down, it is easy to achieve both compactness during transportation and stability during loading.

[0042] A fifth aspect of the present invention provides a palletizing device according to the first aspect of the present invention, wherein the pallet installation member has a grounding member that contacts the floor surface in an open state, The pallet and the cargo loaded on the pallet apply a load to the pallet installation member, increasing the contact pressure at the contact member.

[0043] This configuration can further improve the installation stability.

[0044] In the palletizing device of the sixth invention of the present invention, in addition to the first invention, the pallet mounting member comprises a first pallet mounting member provided on one side of the main body portion and a second pallet mounting member provided on the other side of the main body portion.

[0045] This configuration makes it possible to easily configure a pallet installation member that can be opened and closed.

[0046] A seventh aspect of the present invention provides a palletizing device according to the first aspect of the present invention, further comprising: an extension portion that can protrude from the pallet installation member; a load distribution detection unit that detects a load distribution of the main body unit; When the load distribution detection unit detects an abnormality in the load distribution, the extension portion protrudes, thereby increasing the contact area of ​​the pallet installation member.

[0047] This configuration further improves the installation stability, particularly in response to changes in the stability state of the palletizing device.

[0048] In a palletizing device according to an eighth aspect of the present invention, in addition to the features of the first aspect, the area of ​​the pallet installation members when opened is larger than the movable range of the robot arms.

[0049] This configuration allows the installation stability to be maintained even while the robot arm is in operation.

[0050] In a palletizing device according to a ninth aspect of the present invention, in addition to the features of the first aspect, the robot arm returns to its initial position in the event of a power outage.

[0051] This configuration ensures accurate operation when restarting after a power outage and maintains worker safety.

[0052] A tenth aspect of the present invention provides a palletizing device according to the first aspect of the present invention, further comprising: an imaging unit that images an installation position of the main body; The system further includes a position adjustment unit that adjusts the relative position between the floor surface and at least one of the manufacturing line and the delivery line based on the image captured by the imaging unit.

[0053] This configuration allows for optimal installation and accurate palletizing.

[0054] According to an eleventh aspect of the present invention, in addition to the features of the first aspect, the palletizing device has a center of gravity of the main body portion located below the center in the height direction.

[0055] This configuration increases the stability of the main body, and maintains the stability of the palletizing device even during the palletizing operation of the robot arm.

[0056] A palletizing device according to a twelfth aspect of the present invention is the palletizing device according to any one of the first to eleventh aspects of the present invention, further comprising an elastic member that allows the main body to be fixedly installed on the floor surface.

[0057] This configuration allows the position to be fixed when installed.

[0058] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0059] (Embodiment 1)

[0060] (Overview) Fig. 1 is a photograph of a palletizing device actually manufactured by the inventor of the first embodiment of the present invention. The actual manufactured device is shown so that the overall configuration of the palletizing device of the present invention can be easily understood. The photograph is also shown from an oblique angle so that the configuration can be easily understood.

[0061] FIG. 2 is a perspective view of the palletizing device according to the first embodiment of the present invention.

[0062] As explained in the prior art, the palletizing device 1 picks up parcels transported along a conveyor line in a factory, a distribution center, or the like, and loads them onto pallets. The conveyor line can be a manufacturing line or a distribution line. Of course, the device can also be used for other conveyor lines that require the parcels to be picked and loaded onto pallets.

[0063] The palletizing device 1 of the present invention is used in places where palletizing is required, such as factories and distribution centers. Furthermore, it is located close to at least one of a production line and a delivery line, and loads the goods traveling along these lines onto pallets. Furthermore, unlike conventional palletizing devices that are fixed and unmoving, the palletizing device 1 of the present invention is movable and can be installed in a location close to the production line or delivery line where palletizing is required.

[0064] As will be described later, the palletizing device 1 is small and equipped with movable wheels 7. Being small and equipped with wheels 7, the palletizing device 1 can be moved by an operator to the location where palletizing work is required. As described above, the location where palletizing work is required is a location along the position where packages are stacked on a production line or a delivery line.

[0065] Additionally, the palletizing device 1 is equipped with an elastic member 61. The palletizing device 1 can be fixed in place after being moved to the palletizing work position by the wheels 7. Since it is fixed to the floor surface, the palletizing work can be carried out at that location.

[0066] On the other hand, if the palletizing operation position changes or if a need arises for another palletizing operation position, the palletizing device 1 can be moved to that location and palletizing operation can be performed at the new location.

[0067] In some cases, large-scale production lines are installed in fixed locations over long periods of time in factories, distribution centers, etc. Palletizing in such large-scale production lines that are fixed over long periods of time can also be performed using a large-scale palletizing device that is installed in the same location as described in the prior art.

[0068] Meanwhile, small- and medium-sized production lines are also used in factories and distribution centers. Furthermore, the layout and location of these small- and medium-sized production lines change depending on changes in the products and delivery packages, as well as changes in the process. Therefore, the palletizing position where packages are loaded onto pallets may also change. In such cases, conventional large, fixed-installed palletizing devices are not suitable. This makes it difficult to load and unload packages on small- and medium-sized production lines. Furthermore, the built-in palletizing device requires work such as relocation. In other words, conventional palletizing devices, which are inflexible, are often unsuitable for factories, distribution centers, and other such situations.

[0069] This is because the large palletizing devices of the prior art are not only large in size but also fixedly constructed by being driven into the floor, making them difficult to move in the first place.

[0070] In contrast, as described above, the palletizing device 1 of the present invention can be moved and fixed at the destination, making it highly maneuverable. This allows it to perform palletizing work that is suitable for small- to medium-sized production lines and palletizing work that adapts to position changes. In this way, the palletizing device 1 of the present invention is suitable for small- to medium-sized production lines, and is easily movable, allowing it to perform palletizing work in different locations.

[0071] The palletizing device 1 includes a gripping unit 2, a robot arm 3, a pallet installation member 4, a control unit 5, and a main body 6. It also includes wheels 7 and an expandable member 61. The control unit 5 may also include a display unit 51 that corresponds to control operations by an operator.

[0072] The gripping unit 2 grips the cargo. The cargo is a box containing items that flows down a production line or a delivery line. In many cases, the cargo is a cardboard box, and the palletizing device 1 stacks (loads) the cardboard boxes onto a pallet 41. Incidentally, cargo is often called a "work" in the field of palletizing and the like.

[0073] As shown in Fig. 1, the gripper 2 has a pair of claws 21 (plates) for clamping, and the distance between the pair of claws 21 can be expanded or contracted to clamp or release the load. This allows the gripper 2 to grip the load. Together with the robot arm 3 (described later), the gripper 2 performs the operation of gripping the load using normal robot functions.

[0074] The robot arm 3 is an element that includes a gripper 2. The gripper 2 that grips the load is provided at the tip of the robot arm 3. Of course, it does not have to be at the tip depending on the configuration. The robot arm 3 moves to bring the gripper 2 closer to the load being transported on a production line, etc. The gripper 2 grips the load. After the gripper 2 has gripped the load, the robot arm 3 performs an operation such as rotation to move the load from the production line towards the pallet 41. When the load reaches the designated position on the pallet 41, the robot arm 3 opens the gripper 2 and loads the load onto the pallet 41.

[0075] The robot arm 3, together with the gripper 2, moves the cargo from a production line or the like onto the pallet 41 and loads it. The robot arm 3 is capable of performing these operations by having general robot functions. The operation of the robot arm 3 is controlled by the control unit 5, which will be described later. At this time, the operation of the robot arm 3, together with that of the gripper 2, is controlled by the control unit 5.

[0076] The control unit 5 controls the gripper 2 and the robot arm 3. The control unit 5 includes a microprocessor, memory, software, etc., and controls the operation of the robot arm 3, etc. Therefore, the control unit 5 may be an element stored inside the main body 6.

[0077] The control unit 5 may also control a robot arm or the like while receiving an operation command input from a worker. In this case, the control unit 5 performs operation control while interactively responding to the command input. In response to receiving this operation command input, the control unit 5 may be provided with a display unit 51. The display unit 51 also functions as a touch panel, and operation commands can be input via this touch panel.

[0078] Under the control of the control unit 5, the robot arm 3 and the gripper 2 grip the cargo and move it from the production line or the like to the pallet 41. As a result of the movement, the cargo is loaded (stacked) onto the pallet 41. FIG. 3 is a photograph showing this gripping and movement of the cargo. The robot arm 3 and the gripper 2 operate together to grip the cargo 200. Following this gripping, the cargo 200 is moved and loaded onto the pallet 41 installed on the pallet installation member 4.

[0079] The cargo 200 is a cardboard box or the like containing articles, as shown in FIG. 3. This box-like shape allows a large number of cargoes to be loaded onto a pallet 41. The palletizing device 1 grips and moves the cargo 200 through the integrated operation of the robot arm 3 and gripper 2. As a result of the movement, the cargo 200 is loaded onto the pallet 41. By repeating these operations, the palletizing operation of loading the cargo 200 onto the pallet 41 is performed.

[0080] The main body 6 is an element that forms the overall outer shape of the palletizing device 1. It is a main body element that supports the robot arm 3 (including the gripper 2) and the pallet installation member 4. The main body 6 roughly determines the outer shape and size of the palletizing device 1.

[0081] Here, the main body 6 is small. It is maneuverable, easy to move, and can be easily installed next to a small to medium-sized manufacturing line. For example, it is about the same size as the range of motion of the robot arm 3 or smaller. This size makes it easy to move and install next to a manufacturing line.

[0082] It is also preferable that the main body 6 is provided with wheels 7, which allows the palletizing device 1 to be easily moved.

[0083] The pallet installation member 4 installs a pallet 41 on which cargo is loaded. As shown in Figs. 1 and 2, it may be a frame-like member that corresponds to the pallet 41. Alternatively, it may be a flat plate-like member that corresponds to the pallet 41. If it is a flat plate-like member, the pallet 41 is placed on top of it.

[0084] The pallet installation member 4 is an element for installing a pallet, and also serves as an element for increasing the installation stability of the palletizing device 1 by expanding the installation area of ​​the main body 6, as will be described later.

[0085] The pallet installation member 4 is openable and closable. Figure 4 is a perspective view showing the open and closed states of the pallet installation member of the palletizing device according to the first embodiment of the present invention.

[0086] As described above, the pallet installation member 4 is an element that installs the pallet 41. In the palletizing device 1, the operation is to load a plurality of cargoes 200 onto the pallet 41. Once the required cargoes 200 have been loaded, the pallet 41 is removed from the pallet installation member 41 and handed over to the next process. The pallet installation member 41 mounts the pallets 41 required for loading such cargoes.

[0087] At this time, as shown in Figure 4, the pallet installation member 4 can be opened and closed. The pallet installation member 4 in Figure 4 is an element with a frame structure, and when raised, it is folded. In other words, it is in a closed state. The palletizing device 1 is easily movable because it is equipped with wheels 7 and is small in size. For example, it is moved inside a factory or a distribution center. When moving, the pallet installation member 4 is closed to increase ease of movement. The left side of Figure 4 shows this closed state.

[0088] The provision of the pallet installation member 4 and the fact that it can be opened and closed realizes the first advantage, "ease of movement."

[0089] When the palletizing device 1 moves to a location where palletizing is to be performed, it is set up at this location. A "loading operation period" is entered, during which the robot arm 3 loads the cargo 200, and the pallet installation member 4 opens. At this time, the pallet installation member 4 opens as shown on the right side of FIG. 4. That is, when the cargo 200 is picked by the robot arm 3 and the gripper 2 and loaded onto the pallet 41 as shown in FIG. 3, the pallet installation member 4 opens.

[0090] In Figure 4, the pallet installation member 4 has a frame structure, and this frame is shown in an open state. Opening the pallet installation member 4 makes it possible to attach a pallet 41. Also, attaching the pallet 41 to the pallet installation member 4 specifies the relative position of the pallet 41 within the palletizing device 1. In other words, the relative position with respect to the robot arm 3 is specified, or is always fixed.

[0091] This allows the control unit 5 to perform accurate position control during loading control.

[0092] In this way, by opening the pallet installation member 4, which was closed when performing the palletizing operation, it is possible to install the pallet 41 with a fixed relative position. As a result, the cargo is loaded in an accurate position. The control load on the control unit 5 is also reduced.

[0093] The provision of the openable and closable pallet installation member 4 realizes the second advantage, "the pallet carrying the cargo can be installed in the correct position."

[0094] Furthermore, as shown on the right side of Figure 4, when the pallet installation members 4 are opened, they spread out and make contact with the floor. As a result, the contact area of ​​the main body 6 (i.e., the palletizing device 1) with the floor can be increased. The right side of Figure 4 shows this state. In this way, the contact area of ​​the entire palletizing device 1 is larger than when only the main body 2 is present (the left side of Figure 4).

[0095] The larger the contact area, the greater the stability of the palletizing device 1. In particular, when the robot arm 3 performs a rotational movement, the balance of the center of gravity of the palletizing device 1 changes significantly. There is a concern that this change in the center of gravity may impair the stability of the palletizing device 1. In response to this, by installing the pallet installation member 4 on the floor in an open position, the contact area increases and the device is more responsive to changes in the center of gravity. This is because the device remains highly stable relative to the floor even if the center of gravity changes. This increases installation stability and operational stability, and improves the reliability of palletizing operations.

[0096] In this way, by providing the openable and closable pallet installation member 4, the third benefit, "the contact area is increased, improving installation stability and operational stability," is realized.

[0097] As explained in the prior art, in order to realize a "small palletizing device that is easy to move and install," installation stability during palletizing operations must be sacrificed. This is because the rotation and other movements of the robot arm 3 affect the balance of the main body 6, compromising the installation stability of the main body 6.

[0098] In the palletizing device 1 of the present invention, the openable and closable pallet installation member 4 enables installation of pallets 41 and improves installation stability by expanding the installation area of ​​the main body 6. This makes it possible to achieve both the conflicting performances of ease of movement and installation stability.

[0099] The pallet installation member 4, which is opened and installed on the floor during the loading operation, can achieve both the function of installing the pallet 41 and the stabilizing function of increasing the installation stability of the main body 2 (palletizing device 1).

[0100] Next, details of each part will be explained.

[0101] (Main body) As described above, the main body 6 forms the outer shape of the palletizing device 1. It also includes the robot arm 3 and the like.

[0102] The main body 6 is provided with wheels 7 for making it movable as shown in Fig. 1. These wheels 7 are one of the driving parts that enable the main body 6 (= palletizing device 1) to move. By providing the driving parts with wheels 7, the palletizing device 1 can be moved by human power or the like.

[0103] Furthermore, the drive unit may have a drive function such as a motor in addition to the wheels 7. This allows the palletizing device 1 to be moved automatically.

[0104] The main body 6 is also preferably provided with an elastic member 61. Fig. 1 shows the main body 6 equipped with this elastic member 61. The main body 6 can move using wheels 7 or the like. However, when performing a palletizing operation, it is preferable that the main body 6 be fixed in position.

[0105] The elastic member 61 allows the main body 6 to be fixed to the floor surface because the end face of the elastic member 61 is pressed against the floor surface while the wheels 7 are lifted. This allows the main body 6 to be installed in a fixed position.

[0106] Here, it is also preferable that the main body 6 has a center of gravity located below the center in the height direction. Because the main body 6 is a structural member, the center of gravity can be set by its material and structure. In this regard, it is preferable to use a material and structure that has a center of gravity located at a lower position. Having such a center of gravity increases the installation stability of the main body 6 even if it is small. Even if the balance is shifted due to the rotation of the robot arm 3, the installation stability (i.e., fixation stability at the installation position) is maintained accordingly. In combination with the pallet installation member 4 described below, the installation stability can be improved.

[0107] (Robot arm and gripper) The robot arm 3 and the gripper 2 operate integrally. As shown in FIG. 3, the gripper 2 is provided at the tip of the robot arm 3. The control unit 5 operates the robot arm 3 and the gripper 2 integrally. The control unit 5 stores, as position coordinates, the position of the cargo 200 coming down the production line or the like and the position of the pallet 41 placed on the pallet placement member 4. The control unit 5 also stores the position coordinates of where on the pallet 41 the next cargo 200 will be loaded.

[0108] Based on this position stored in the control unit 5, the robot arm 3 first rotates to the position of the load 200 on the production line or the like. Then, the gripper 2 is aligned with the position of the load 200, and the gripper 2 grips the load 200.

[0109] When the gripper 2 grips the cargo 200, the robot arm 3 rotates to move the cargo 200 from the gripped position to the position of the pallet 41. Furthermore, when the cargo 200 is aligned with a predetermined position on the pallet 41, the gripper 2 opens and loads the cargo 200 at the predetermined position on the pallet 41.

[0110] In this way, the control unit 5 performs the palletizing operation by operating the robot arm 3 and the gripper 2 together. At this time, the control unit 5 may operate according to an operation program stored in advance. Alternatively, a fixed operation program may be stored, and the palletizing operation may be performed in accordance with the input of necessary items by the operator.

[0111] (Pallet installation material) As described above, the pallet installation member 4 provides various advantages due to the opening and closing mechanism.

[0112] Here, the pallet installation member 4 may be a frame-shaped member as shown in Fig. 4, etc. Alternatively, it may be a flat plate-shaped member. In either case, it is sufficient that it can be opened and closed and that the contact area can be enlarged when opened.

[0113] The pallet installation member 4 may be rotatable up and down. Figure 4 shows this rotatable up and down. By rotating it upward, the pallet installation member 4 is in a closed state. This state is shown on the left side of Figure 4.

[0114] On the other hand, by rotating downward, the pallet installation member 4 is in an open state. This state is shown on the right side of Figure 4. When opened, the pallet installation member 4 comes into contact with the floor surface, thereby increasing the contact area of ​​the entire main body 6.

[0115] The pallet installation member 4 has a grounding member 41 that contacts the floor surface when it is open. The grounding member 41 has elasticity that allows it to stretch relative to the floor surface to more securely contact the floor surface, or contract to remove it from the floor surface. This is shown in Figure 4. The grounding member 41 contacts the floor surface. Here, the pallet installation member 4 is subjected to the weight of the pallet 41 and the cargo 200 loaded on the pallet 41. The weight of the pallet 41 and the cargo 200 is applied to the grounding member 41.

[0116] This load increases the ground contact pressure of the pallet installation member 4, thereby increasing the stability of the main body 2.

[0117] As shown in FIG. 4, the pallet installation member 4 may also preferably comprise a first pallet installation member 4A provided on one side of the main body 6 and a second pallet installation member 4B provided on the other side. A pallet installation member 4 provided with a pair of pallet installation members on both sides can achieve highly stable balance during palletizing operations. In addition, the pallet installation member 4 can be properly stored (closed state) when moving, making it easier to move. This also makes it easier to set up at the installation position for palletizing operations.

[0118] 5 is a plan view of the palletizing device according to the first embodiment of the present invention, seen from above. For convenience of illustration, of the pallet installation members 4, the first pallet installation member 4A is shown as the center, and only a portion of the second pallet installation member 4B is shown.

[0119] The pallet installation member 4 opens and touches the floor surface during the loading operation. This expands the overall contact area of ​​the main body 2. At this time, as shown in FIG. 5, it is preferable that the expanded area resulting from the opening of the pallet installation member 4 corresponds to the range of motion of the robot arm 3. When the pallet installation member 4 opens, a pallet 41 is attached and the member becomes flat. Of course, the pallet installation member 4 may also be in the form of a flat plate. This creates an expanded area due to the flat shape.

[0120] The portion corresponding to this expanded area corresponds to the movable range of the robot arm 3. For example, it is preferable that the area is equal to, close to, or larger than the movable range. By making the contact area expanded by opening the pallet installation member 4 correspond to the movable range of the robot arm 3 in this way, installation stability can be reliably ensured with respect to the rotational movement of the robot arm.

[0121] The pallet installation member 4 having such characteristics can further improve installation stability during the loading operation.

[0122] Of course, it is also preferable that the area expanded when the pallet installation member 4 is opened is wider than the movable range of the robot arm 3. This wide area allows installation stability to be maintained even when the robot arm 3 is actively operating.

[0123] Furthermore, the pallet installation member 4 may be opened and closed by rotating up and down as shown in FIG. 4, or it may be opened and closed by protruding laterally from the main body 6 or being retracted. This type of opening and closing also allows for both retraction during transportation and an increase in the contact area during loading operations. Of course, the pallet installation member 4 may be opened and closed with other configurations or functions. The pallet installation member 4 may also be in the form of a flat plate.

[0124] As described above, the palletizing device 1 in the first embodiment can achieve a good balance between ease of movement, flexibility in the location of use, compactness, and installation stability at the time of installation. As a result, palletizing processing in small and medium-sized production lines, which has been difficult to use until now, can be performed automatically instead of manually. This enables labor savings and the response to labor shortages.

[0125] (Embodiment 2)

[0126] Next, a second embodiment will be described. In the second embodiment, further variations will be described.

[0127] (Initial position of the robot arm) The robot arm 3 picks up the cargo 200 by rotating or other operations, and then moves and loads it onto the pallet 41. In this way, the robot arm 3 performs active operations. By such operations, the cargo 200 is loaded onto the pallet 41.

[0128] During this operation, nearby workers must be careful not to collide with the robot arm 3. However, unexpected power outages can occur in factories and other places. If the robot arm 3 stops in an operating position during a power outage, there is a concern that an error may occur when the robot arm 3 resumes operation after the power outage is lifted. There is also a danger to nearby workers if the robot arm 3 suddenly starts moving.

[0129] For this reason, it is preferable that the robot arm 3 return to its initial position in the event of a power outage. By returning to its initial position, the robot arm 3 resumes operation from the beginning, preventing operational errors. This also reduces the risk to surrounding workers, as the operation resumes as expected.

[0130] The palletizing device 1 is equipped with a power supply 9 for use in case of a power outage. This allows the robot arm 3 to return to its initial position in the event of a power outage. Figure 6 is a perspective view of a palletizing device according to a second embodiment of the present invention, showing the robot arm 3 returned to its initial position.

[0131] The main body 6 is equipped with a power supply 9 for use in the event of a power outage. Even if a power outage occurs, power can be supplied for a predetermined period of time. In the event of a power outage, the robot arm 3 returns to its initial position as shown in Figure 6. Even if the robot arm 3 is rotating as shown in Figure 5, it returns to its initial position.

[0132] This prevents operational errors and reduces the risk to workers.

[0133] (position correction) Once the palletizing device 1 is moved to the location where the palletizing work will be performed, it is fixed in place (fixed here does not mean semi-permanently fixed with anchor bolts or the like, but rather left in that position during the palletizing work). The expandable members 61 contact the floor surface, raising the wheels 7, and the main body 2 is fixed in place. The expandable members 61 are stretchable, and by stretching they can extend relative to the floor surface, lifting the main body 2 (lifting the wheels 7). Conversely, when the palletizing device 1 is to be moved, they are retracted, allowing the wheels 7 to run on the floor surface.

[0134] In combination with the grounding members 41 provided on the pallet installation members 4, the entire palletizing apparatus 1 can be firmly grounded and fixed to the floor surface. The elastic members 61 may be any element having a structure similar to that of a so-called adjuster.

[0135] At this time, the control unit 5 controls the palletizing operation based on the relative position with respect to the production line, etc. Therefore, it is desirable that the main body unit 2 is installed at an appropriate position in terms of the relative positional relationship with respect to the production line, etc.

[0136] Here, it is also preferable to further include an imaging unit that captures an image of the installation position of the main body unit 6, and a position adjustment unit that adjusts the position of the main body unit 6 based on the captured image.

[0137] The imaging unit captures an image of the installation position of the main body unit 6. The captured image is obtained. The position adjustment unit adjusts the relative position between the floor surface and at least one of the production line and the delivery line based on the captured image. The relative position is determined by the production line, the cargo 200, the type of palletizing operation, etc. The position adjustment unit adjusts the main body unit 6 to this determined position.

[0138] Based on this adjustment, the main body 2 is placed in an optimal position. The position adjustment unit may automatically move and adjust the main body 6, or may assist manual movement and adjustment.

[0139] (Response by load detection) It is also preferable to further include an extension portion that can protrude from the pallet installation member 4. Fig. 7 is a perspective view of a palletizing device according to a second embodiment of the present invention. The extension portion 45 is shown. A load distribution detection unit 8 is also provided.

[0140] The load distribution detection unit 8 detects the load distribution of the main body 6. For example, the load may be biased toward the outside of the main body 6 or toward the upper part. Such a biased load distribution may occur. This depends on the operation of the robot arm 3 and the characteristics of the installation location.

[0141] In this way, the load distribution may become abnormal. Although not abnormal, it may be undesirable. In such a case, there is a concern that the pallet mounting member 4 alone may not be sufficient for installation stability. While it may not be sufficient, it may result in a situation where the margin of stability is insufficient.

[0142] When the load distribution detection unit 8 detects such an abnormality in the load distribution, the extension portion 45 protrudes. Figure 7 shows the state after protrusion. By protruding, the pallet installation member 4 becomes longer by the extension portion 45. This lengthening increases the contact area. This increase further improves installation stability.

[0143] Even if there is an abnormality in the load distribution, the extension 45 protrudes and the contact area can be enlarged, thereby further improving the installation stability and the stability during the palletizing operation.

[0144] As described above, the palletizing apparatus 1 in the second embodiment can further improve stability and operational accuracy.

[0145] The palletizing devices described in the first and second embodiments are merely examples for explaining the gist of the present invention, and include modifications and alterations within the scope of the present invention. [Explanation of symbols]

[0146] 1 Palletizing device 2 Grip part 3. Robotic Arm 4 Pallet installation materials 41 palettes 5. Control section 6 Main body 61 Elastic member 7 wheels 8 Load distribution detection unit 9 Power supply during power outage 200 luggage

Claims

1. A palletizing device that is located near at least one of a manufacturing line and a delivery line and loads cargoes that are transported along the manufacturing line and the delivery line onto pallets, a gripping unit that grips the luggage; a robot arm including the gripping unit and capable of moving the gripped load; a pallet installation member for installing a pallet on which the cargo is loaded; a control unit that controls the gripping unit and the robot arm; a main body that configures the robot arm and the pallet installation member, the robot arm moves the load held by the gripper onto the pallet and loads it thereon; The pallet installation member is openable and closable, The pallet installation member is closed when the main body moves, The pallet installation member opens when the robot arm loads an object (hereinafter referred to as the "loading operation period"). When the pallet installation member is open, the pallet installation member spreads out and comes into contact with the floor surface, thereby increasing the contact area of ​​the main body with the floor surface.

2. The pallet installation member that opens and contacts the floor surface during the loading operation period is 2. The palletizing device according to claim 1, which can achieve both a function of installing the pallet and a stabilizing function of increasing the installation stability of the main body.

3. a drive unit that can move the main body unit is further provided, The palletizing device of claim 1 , wherein the palletizing device is movable.

4. The pallet installation member is rotatable up and down, By rotating upward, the pallet installation member is in a closed state, 2. The palletizing device according to claim 1, wherein the pallet setting member is in an open state by being rotated downward.

5. The pallet installation member has a grounding member that is in contact with the floor surface when the pallet installation member is open, 2. The palletizing device according to claim 1, wherein the pallets and the goods loaded on the pallets apply a load to the pallet installation members, thereby increasing the contact pressure at the contact members.

6. 2. The palletizing device according to claim 1, wherein the pallet installation members include a first pallet installation member provided on one side surface of the main body portion and a second pallet installation member provided on the other side surface of the main body portion.

7. an extension portion that can protrude from the pallet installation member; a load distribution detection unit that detects a load distribution of the main body unit; 2. The palletizing device according to claim 1, wherein when the load distribution detection unit detects an abnormality in the load distribution, the extension unit projects to increase the contact area of ​​the pallet installation member.

8. 2. The palletizing device according to claim 1, wherein an area of ​​the pallet setting member when opened is larger than a movable range of the robot arm.

9. The palletizing device according to claim 1 , wherein the robot arm returns to its initial position in the event of a power outage.

10. an imaging unit that images an installation position of the main body unit; 2. The palletizing device according to claim 1, further comprising a position adjustment unit that adjusts the relative position between the floor surface and at least one of the manufacturing line and the delivery line based on the image captured by the imaging unit.

11. The palletizing device according to claim 1 , wherein the main body has a center of gravity located below the center in the height direction.

12. The palletizing device according to claim 1 , further comprising an elastic member that enables the main body to be fixedly installed on the floor surface.

Images