Transfer machine including automatic box cover opening unit

Abstract

The present invention relates to a transfer machine including an automatic box cover opening unit: a bar code reader that reads a bar code attached to a box that contains a bobbin and has a cover; a conveyor unit on which the box is placed; a centering unit that adjusts the position of the box in the X-axis and Y-axis directions; a fork unit that chucks the cover of the box in the X-axis direction and is equipped with a box cover cylinder for moving in the X-axis direction when chucking the cover, a box detection sensor that detects the cover, and a distance sensor that detects the distance from the cover; a travel drive unit that raises and lowers the fork unit in the Z-axis direction and moves it in the Y-axis direction; and a control unit that automatically controls the opening of the cover by controlling the Z-axis centering of the fork unit through linkage with the bar code reader and the distance sensor, the X-axis centering of the fork unit through linkage with the box detection sensor, and the Z-axis raising and lowering and Y-axis movement of the fork unit.

Description

[Technical field]

[0001] The present invention relates to a transfer device, in particular to a transfer device including an automatic box cover opening unit. [Background technology]

[0002] Lifting the cover of a box loaded with raw materials such as foil requires manual lifting by two workers on each side. Summary of the Invention [Problem to be solved by the invention]

[0003] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide a transfer machine which automatically opens the cover by adding an automatic box cover opening unit to the transfer machine equipment. [Means for solving the problem]

[0004] In order to achieve the above-mentioned object, the present invention provides a box having a cover and a bobbin loaded with raw materials, comprising: a bar code reader for reading a bar code attached to the box; a conveyor unit for placing the box; a centering unit installed outside the conveyor unit for adjusting the position of the box in the X-axis direction corresponding to the width or side direction and in the Y-axis direction corresponding to the length or running direction; a box cover cylinder for moving the box in the X-axis direction when the cover is chucked, a box detection sensor for detecting the cover, and a box detection unit for detecting the cover. and a fork unit having a distance sensor that detects the distance from the cover; a travel drive unit that is connected to the fork unit at the top of the fork unit and raises and lowers the fork unit in the Z-axis direction corresponding to the height direction or lifting direction and moves it in the Y-axis direction; and a control unit that automatically controls the opening of the cover by controlling Z-axis centering of the fork unit through linkage with a bar code reader and the distance sensor, X-axis centering of the fork unit through linkage with a box detection sensor, and Z-axis lifting and Y-axis movement of the fork unit.

[0005] In the present invention, the conveyor unit may include: a free roller lane for moving a box in the Y-axis direction; a box stopper installed at the rear end of the Y-axis of the free roller lane for centering the box on the Y-axis; a cargo alignment sensor arranged adjacent to the box stopper to check whether the box is positioned to contact the box stopper; an entry guide block installed at the front end of the Y-axis of the free roller lane to guide the entry path of the transport vehicle; and a transport vehicle end stopper arranged adjacent to the box stopper to prevent collision of the transport vehicle.

[0006] In the present invention, the centering unit may include: a box pusher that comes into contact with the box to center the box; an X-axis cylinder connected to the box pusher to move the box pusher in the X-axis direction; a moving plate on which the X-axis cylinder is installed; a Y-axis cylinder connected to the moving plate to move the box pusher in the Y-axis direction; an LM (linear motion) guide connected to the moving plate to guide movement in each axial direction; a centering unit frame on which the Y-axis cylinder is installed; and a size check sensor installed on the top of the centering unit frame to check the box size.

[0007] In the present invention, the fork unit may include: a fork unit frame having a plate-like structure; an orthogonal robot equipped with a motor and installed at the bottom of the fork unit frame to be movable in the X-axis direction; a fork arm installed at the bottom of the orthogonal robot; a fork installed inside the lower end of the fork arm to chuck the bobbin; a box cover cylinder having a cylinder rod installed outside the fork arm, a cover pusher installed inside the fork arm, and a connecting member connecting the cylinder rod and the cover pusher; a box detection sensor installed at the connecting member of the box cover cylinder; a distance sensor installed at the bottom of the orthogonal robot inside the fork arm; a chucking sensor installed at the bottom of the fork arm; a lift guide shaft installed at the top of the fork unit frame; a sensor support installed on the upper side of the fork unit frame; and a lift position sensor and a lift limit sensor installed on the sensor support.

[0008] In the present invention, the traveling drive unit may include: a traveling drive unit frame having a plate-like structure; a traveling motor for movement in the Y-axis direction installed on the top of the traveling drive unit frame; a lift motor for movement in the Z-axis direction installed on the top of the traveling drive unit frame; a rack jack installed in the Z-axis direction on the traveling drive unit frame so that it can be raised and lowered, and which converts the rotation of the lift motor into linear motion and is connected to the fork unit to raise and lower the fork unit; a lift guide bush installed on the traveling drive unit frame and into which the lift guide shaft of the fork unit is inserted; a sensor support base installed on the traveling drive unit frame in the Z-axis direction; and a lift fixed position sensor and a lift limit sensor installed on the sensor support base.

[0009] The transfer machine according to the present invention may further include a main frame unit, which may include: a three-dimensional main frame; a light curtain sensor installed on the side of the main frame and linked during maintenance of the lower part; a cableveyor installed on the upper part of the main frame to guide the cable; an LM guide installed on the upper part of the main frame and connected to the traveling drive unit frame to guide the traveling direction of the traveling drive unit frame; and a traveling fixed position sensor and a traveling limit sensor installed on the upper part of the main frame.

[0010] The transfer machine according to the present invention may further include a bobbin stacking platform installed on the rear end side of the Y-axis of the main frame unit to place the bobbins thereon, and the bobbin stacking platform may include: a three-dimensional stacking platform frame; a guide block installed on the upper part of the stacking platform frame to prevent the bobbins from being pushed in the axial direction; a cargo detection sensor installed on the upper part of the stacking platform frame to determine the presence or absence of bobbins on the stacking platform; a bobbin detection sensor installed on the guide block to determine the presence or absence of bobbins on the guide block; and a transport vehicle end stopper installed on the rear end side of the Y-axis of the stacking platform frame to prevent collision between the transport vehicle and the stacking platform.

[0011] The transfer machine according to the present invention may further include a cover assembly installed on the top and sides of the main frame unit, and the cover assembly may include: a three-dimensional cover assembly frame; a ladder installed on the side of the cover assembly frame to provide a movement path during maintenance of the top; and a safety door installed on the side of the cover assembly frame.

[0012] The transfer machine according to the present invention may further include an entry guide installed at the entrance side of the main frame unit to guide the path of the transport vehicle when inserting a box, and the entry guide may include: an entry guide frame with a three-dimensional structure; a roller installed in the Z-axis direction inside the entry guide frame to prevent friction between the transport vehicle and the entry guide; and a pad installed at the front end side of the entry guide frame to prevent damage to the transport vehicle and the entry guide.

[0013] The transfer machine according to the present invention may further include a maintenance frame installed on the upper part of the main frame unit for supporting the motor during maintenance.

[0014] The transfer machine according to the present invention may further include a box cover stacking stand installed on the rear end side of the Y-axis of the conveyor unit, and the box cover stacking stand may include: a stacking stand frame having a plate-shaped structure; centering cylinders installed on both ends of the stacking stand frame in the X-axis direction to center the cover in the Y-axis direction; end brackets installed on the rear end of the stacking stand frame in the Y-axis direction and used for centering the cover in the Y-axis direction; and installation detection sensors installed on both ends of the stacking stand frame in the X-axis direction to confirm the fixed position of the cover. Effect of the Invention

[0015] By automating the opening of the box cover using the transfer machine according to the present invention, the number of workers can be reduced. In the process in which the box cover was opened manually and then the bobbin was transferred, the process from opening the box cover to transferring the bobbin can be automated. [Brief description of the drawings]

[0016] [Figure 1a] 1 shows the overall configuration of a transfer machine according to the present invention. [Figure 1b] 1 shows the overall configuration of a transfer machine according to the present invention. [Figure 2a] 2 shows a configuration of a main frame unit of a transfer machine according to the present invention. [Figure 2b] 2 shows a configuration of a main frame unit of a transfer machine according to the present invention. [Figure 3a] 2 shows a configuration of a traveling drive unit of a transfer machine according to the present invention. [Figure 3b] 2 shows a configuration of a traveling drive unit of a transfer machine according to the present invention. [Figure 3c] 2 shows a configuration of a traveling drive unit of a transfer machine according to the present invention. [Figure 3d] 2 shows a configuration of a traveling drive unit of a transfer machine according to the present invention. [Figure 4a] 1 shows a configuration of a fork unit of a transfer machine according to the present invention. [Figure 4b] 1 shows a configuration of a fork unit of a transfer machine according to the present invention. [Figure 4c] 1 shows a configuration of a fork unit of a transfer machine according to the present invention. [Figure 5a] 2 shows a configuration of a centering unit of a transfer machine according to the present invention. [Figure 5b] 2 shows a configuration of a centering unit of a transfer machine according to the present invention. [Figure 5c]2 shows a configuration of a centering unit of a transfer machine according to the present invention. [Figure 6] 1 shows a configuration of a conveyor unit of a transfer machine according to the present invention. [Figure 7a] 1 shows a configuration of a bobbin stacking table of a transfer machine according to the present invention. [Figure 7b] 1 shows a configuration of a bobbin stacking table of a transfer machine according to the present invention. [Figure 8] 1 shows a configuration of a cover assembly of a transfer machine according to the present invention. [Figure 9] 1 shows a configuration of an approach guide for a transfer machine according to the present invention. [Figure 10] 1 shows the configuration of a box cover stacking table of a transfer machine according to the present invention. [Figure 11] 1 shows a configuration of a maintenance frame for a transfer machine according to the present invention. [Figure 12a] The foil, bobbin and box are shown. [Figure 12b] The foil, bobbin and box are shown. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The present invention will now be described in detail with reference to the accompanying drawings.

[0018] Referring to Figures 1a and 1b, the transfer machine of the present invention can be broadly divided into a main frame unit 10, a traveling drive unit 20, a fork unit 30, a centering unit 40, a conveyor unit 50, a bobbin stacking table 60, a cover assembly 70, an entry guide 80, a box cover stacking table 90, a maintenance frame 100, a bar code reader, a control unit, etc.

[0019] The transfer machine according to the present invention can be used to transfer raw materials. The raw materials can be, for example, foils, films, etc. made of metal, plastic, etc., such as metal foils, plastic films, etc. The foils can be, for example, foils used in batteries (for automobiles, etc.), specifically, foils used as substrates (current collectors) for electrodes (positive and negative electrodes), more specifically, copper (Cu) foil (negative electrode) and aluminum (Al) foil (positive electrode), etc.

[0020] 12a, the foil 2 may be transferred to the bobbin 1 in a rolled state. A film may also be transferred to the bobbin 1 in a rolled state. The bobbin 1 may have a cylindrical hollow structure with an open interior, and both ends of the bobbin 1 may be open hollow ends 1a, and the fork unit 30 may chuck the bobbin 1 by inserting the forks 33b of the fork unit 30 into the hollow ends 1a.

[0021] The bobbin 1 on which the foil 2 is wound can be stored (loaded) in a box 3. The box 3 can be, for example, a wooden box made of wood, or can be made of metal, plastic, paper, or other materials.

[0022] Referring to Fig. 12b, the box 3 may be composed of a lower box body 3a and an upper box cover 3b. The box body 3a may have an internal space and a hexahedral structure with an open top, and the box cover 3b may have an internal space and a hexahedral structure with an open bottom. A groove in which the bobbin 1 is placed may be formed at the top end of the box body 3a. After the bobbin 1 wound with the foil 2 is placed in the box body 3a, the box body 3a may be covered with the box cover 3b, and the bobbin may be transported in this state of a packaging box.

[0023] In the drawings, the X-axis may be the width direction or side direction of the transfer machine. The Y-axis may be the length direction or travel direction of the transfer machine. The Z-axis may be the height direction or lift direction of the transfer machine. The front end of the Y-axis indicates the front side (front) in FIG. 1a, and the rear end of the Y-axis indicates the rear side (rear). Conversely, in FIG. 1b, the front side indicates the rear end of the Y-axis. The size of the transfer machine is not particularly limited and may be set appropriately, and in particular, the length of the transfer machine may be very long different from the drawings as necessary.

[0024] 2a and 2b, the mainframe unit 10 may be composed of a mainframe 11, a light curtain sensor 12, a cable bearer (registered trademark) 13, an LM guide 14, a travel position sensor 15, travel limit sensors 16 and 17, and the like.

[0025] The main frame 11 forms the basic framework and may have a three-dimensional structure in the form of a hexahedron, and may have a size approximately equal to the size of the entire transporter.

[0026] The light curtain sensors 12 are installed on the side of the main frame 11 and can be linked during maintenance of the lower part. The light curtain sensors 12 can be installed at five locations on the side of the main frame 11, for example as shown in Fig. 2b (side view), namely, one in the Z-axis direction at the front end, one in the Y-axis direction at the lower end of the front end, one in the Y-axis direction at the center, one in the Y-axis direction at the lower end of the rear end, and one in the Z-axis direction at the rear end. The light curtain sensors 12 are a type of safety sensor, and when a worker or the like is detected by this sensor, the operation of the transfer machine can be temporarily stopped.

[0027] The Cableveyor 13 may be installed on the upper part of the main frame 11 to guide the cables. The Cableveyor 13 may be installed on both sides of the upper part of the main frame 11 in the Y-axis direction.

[0028] The LM guide 14 is installed on the upper part of the main frame 11 and connected to the traveling drive unit frame 21 to guide the traveling direction of the traveling drive unit 20. The LM guide 14 may be installed in the Y-axis direction on the outer sides of both sides of the Cableveyor® 13 and connected to the lower part of the traveling drive unit frame 21.

[0029] The home position sensor (or home position sensor) 15 is installed on the upper part of the main frame 11 and can confirm the home operation or the completion of the operation of the traveling drive unit 20. The home position sensor 15 may be installed on the rear end side of the support base located in the center on the upper part of the main frame 11. The home position sensor 15 may be a horseshoe-shaped sensor.

[0030] The travel limit sensors 16, 17 are installed on the upper part of the main frame 11 and can stop the traveling drive unit 20 while generating an alarm when the limit is exceeded. The travel limit sensors 16, 17 can be composed of a reverse travel limit sensor 16 and a forward travel limit sensor 17, which can be installed on the rear end side and the front end side of a support base located in the center at the upper part of the main frame 11, respectively. The travel limit sensors 16, 17 can be limit switch sensors.

[0031] 3a, 3b, 3c, and 3d, the traveling drive unit 20 may be composed of a traveling drive unit frame 21, a traveling motor 22, a lifting motor 23, a rack jack 24, a lifting guide bush 25, a sensor support base 26, a lifting position sensor 27, lifting limit sensors 28, 29, etc.

[0032] The traveling drive unit 20 itself can move in the Y-axis direction, and is connected to the fork unit 30 at the upper part of the fork unit 30, so that the fork unit 30 can be raised and lowered in the Z-axis direction and moved back and forth in the Y-axis direction.

[0033] The traveling drive unit frame 21 forms the basic framework and may be made of a rectangular plate-like structure, with its lower part connected to the LM guide 14 of the main frame unit 10 so as to be capable of reciprocating in the Y-axis direction.

[0034] The traveling motor 22 may be a traveling motor for moving in the Y-axis direction, which is installed on the upper part of the traveling drive unit frame 21. Although not shown in the drawings, the rotating shaft of the traveling motor 22 may be connected to one of a pair of pulleys (or gears) through an appropriate power transmission mechanism, and a belt (or chain) may be wound around the pair of pulleys to rotate, and the belt may be directly or indirectly connected to the traveling drive unit frame 21. The pair of pulleys may be disposed at the front and rear ends of the Y-axis, respectively, and may be fixed to the main frame unit 10, etc. The belt may be disposed long in the Y-axis direction. The traveling drive unit frame 21 may reciprocate in the Y-axis direction by the forward and reverse rotation of the pulleys and the belt. In addition to the pulley and belt mechanism, other driving mechanisms, such as a cylinder and piston (or rod) mechanism, a rack and pinion mechanism, etc. may be used.

[0035] The lift motor 23 may be a lift motor for moving in the Z-axis direction that is installed on the upper part of the traveling drive unit frame. Referring to Fig. 3a, the rotating shaft of the lift motor 23 may be connected to the rack jack 24 through an appropriate power transmission mechanism (belt / chain, pulley / gear, rotating shaft, reduction gear, pinion gear, etc.).

[0036] The rack jack 24 is installed in the Z-axis direction on the travel drive unit frame 21 so as to be movable up and down, and is connected to the fork unit 30 by switching the rotation of the lifting motor 23 to linear motion, thereby lifting and lowering the fork unit 30. The rack jack 24 is a rack gear, and can move linearly in the Z-axis direction by meshing with a pinion gear. The rack jack 24 may be configured as a pair on each side in the X-axis direction, for a total of four rack jacks 24, and the upper parts of the pair of rack jacks 24 may be connected via a connecting member. The lower end of the rack jack 24 may be connected to the upper end of the fork unit frame 31 of the fork unit 30. In FIG. 3, the rack jack 24 is shown raised to its maximum height.

[0037] The lift guide bush 25 is installed on the traveling drive unit frame 21, and the lift guide shaft 38 of the fork unit 30 can be inserted into this lift guide bush 25. The lift guide bush 25 may be made up of a total of four bushes arranged adjacent to each other on the inner side in the X-axis direction of each rack jack 24.

[0038] The sensor support base 26 is installed in the Z-axis direction on the traveling drive unit frame 21, and a lifting / lowering fixed position sensor 27 and lifting / lowering limit sensors 28, 29 can be attached to this sensor support base 26.

[0039] The lifting / lowering fixed position sensor (or lifting / lowering origin sensor) 27 is installed on the upper end side of the sensor support base 26 and can confirm the origin operation or the completion of the operation of the fork unit 30. The lifting / lowering fixed position sensor 27 can be a horseshoe-shaped sensor.

[0040] The lifting / lowering limit sensors 28, 29 are installed on the upper and lower end sides of the sensor support base 26 and can stop the fork unit 30 while generating an alarm when the fork unit 30 exceeds its limit. The lifting / lowering limit sensors 28, 29 can be composed of a lifting / lowering upper limit sensor 28 and a lifting / lowering lowering limit sensor 29. The lifting / lowering limit sensors 28, 29 can be limit switch sensors.

[0041] 4a, 4b, and 4c, the fork unit 30 may be composed of a fork unit frame 31, an Cartesian robot 32, a fork arm 33a, a fork 33b, a box cover cylinder 34a, a box detection sensor 35, a distance sensor 36, a chucking sensor 37, a lifting guide shaft 38, a sensor support base 39a, a lifting origin sensor 39b, a lifting limit sensor 39c, and the like.

[0042] The fork unit 30 is installed below the traveling drive unit 20 and above the conveyor unit 50, and can chuck the cover 3b of the positioned box 3 in the X-axis direction, and can also chuck the bobbins 1 loaded in the box 3 in the X-axis direction.

[0043] The fork unit frame 31 forms the basic skeleton and may be made of a rectangular plate-like structure, with its upper end connected to the lower end of the rack jack 24 of the traveling drive unit 20 so that it can move up and down in the Z-axis direction.

[0044] The Cartesian robot 32 is for linearly reciprocating the chucking member in the X-axis direction, and may be installed movably in the X-axis direction at the bottom of the fork unit frame 31. The Cartesian robot 32 may be equipped with a motor for moving in the X-axis direction when chucking the bobbin 1. The Cartesian robot 32 may be composed of two robots, which are arranged at both ends of the fork unit frame 31 in the X-axis direction.

[0045] The fork arms 33a are installed in the Z-axis direction below the Cartesian robots 32 on both sides and can support the forks 33b and the box cover cylinders 34a, etc. The fork arms 33a can move linearly back and forth along the Cartesian robot 32 in the X-axis direction.

[0046] The forks 33b are installed in the X-axis direction on the inside of the lower ends of the fork arms 33a on both sides, respectively, to chuck the bobbin 1. The forks 33b can chuck the bobbin 1 by being inserted into the open hollow ends 1a at both ends of the bobbin 1, and can move linearly back and forth in the X-axis direction along the fork arms 33a.

[0047] The box cover cylinder 34a is a cylinder for moving in the X-axis direction when chucking the box cover 3b, and is installed in the middle of the fork arms 33a on both sides in the X-axis direction to chuck the box cover 3b. The box cover cylinder 34a may include a cylinder rod 34b arranged on the outside of the fork arms 33a, a cover pusher 34c arranged on the inside of the fork arms 33a, and a connecting member 34d that connects the cylinder rod 34b and the cover pusher 34c. The box cover cylinder 34a may be an air cylinder.

[0048] The cylinder rod 34b moves linearly back and forth in the X-axis direction outside the fork arm 33a, and the cover pusher 34c connected to the cylinder rod 34b via the connecting member 34d can move linearly back and forth in the X-axis direction inside the fork arm 33a. Therefore, the cover pusher 34c can independently move linearly back and forth in the X-axis direction regardless of the movement of the fork arm 33a.

[0049] FIG. 4 shows the state in which the cover pusher 34c has advanced the furthest toward the inside of the fork arm 33a, i.e., the state in which the box cover 3b is being chucked. When chucking the bobbin 1, the cover pusher 34c can be moved backward so as to come into close contact with the fork arm 33a so as not to interfere with the chucking of the bobbin 1 by the fork 33b.

[0050] The box detection sensor 35 is installed on the inner side of the fork arm 33a of the connecting member 34d of the box cover cylinders 34a on both sides to detect the box cover 3b. The box detection sensor 35 is necessary for X-axis centering of the fork unit 30 when chucking the box cover 3b. The box detection sensor 35 may be a photoelectric sensor.

[0051] The distance sensors 36 are installed inside the fork arms 33a on both sides and at the bottom of the Cartesian robots 32 on both sides to detect the distance (height) between the bobbin 1 and the box cover 3b and to determine whether there is an error in the lifting height. The distance sensors 36 are necessary for Z-axis centering of the fork unit 30 through linkage with the bar code reader when chucking the box cover 3b and chucking the bobbin 1. The distance sensors 36 may be ultrasonic sensors.

[0052] The chucking sensors 37 are installed at the lower ends of the fork arms 33a on both sides to detect the chucking of the bobbin 1. The chucking sensors 37 are necessary for centering the fork unit 30 on the X-axis when chucking the bobbin 1. The chucking sensors 37 may be proximity sensors.

[0053] The lift guide shaft 38 is installed in the Z-axis direction on the upper part of the fork unit frame 31 and serves as a guide when the fork unit 30 is lifted or lowered. The four lift guide shafts 38 can be inserted into the four lift guide bushes 25 of the traveling drive unit 20, respectively.

[0054] A sensor support (lifting / lowering DOG unit) 39a is installed in the Z-axis direction on the upper part of the fork unit frame 31, and a lifting / lowering fixed position sensor 39b and a lifting / lowering limit sensor 39c can be attached to the sensor support 39a.

[0055] The lifting / lowering fixed position sensor (or lifting / lowering origin sensor) 39b is installed on the upper end side of the sensor support base 39a and can confirm the origin operation or the completion of the operation of the fork unit 30. The lifting / lowering fixed position sensor 39b can be a horseshoe-shaped sensor.

[0056] The lift limit sensor 39c is installed on the upper end side and the lower end side of the sensor support base 39a, respectively, and can stop the fork unit 30 while generating an alarm when the fork unit 30 exceeds its limit. The lift limit sensor 39c can be composed of a lift upper limit sensor and a lift lower limit sensor. The lift limit sensor 39c can be a limit switch sensor.

[0057] The sensor support base 39a, the lifting / lowering fixed position sensor 39b, and the lifting / lowering limit sensor 39c can be omitted when the sensor support base 26, the lifting / lowering fixed position sensor 27, and the lifting / lowering limit sensors 28, 29 are installed in the traveling drive unit 20. In other words, the sensor support base, the lifting / lowering fixed position sensor, and the lifting / lowering limit sensor can be installed in only one of the traveling drive unit 20 and the fork unit 30, or can be installed in both of the units on both sides.

[0058] 5a, 5b, and 5c, the centering unit 40 may be composed of a centering unit frame 41, a Y-axis cylinder 42, a moving plate 43, an X-axis cylinder 44, a box pusher 45, an LM guide 46, a size check sensor 47, and the like.

[0059] The centering unit 40 is installed outside the X-axis direction of the conveyor unit 50 and can adjust (center, align) the position of the box 3 in the X-axis direction and the Y-axis direction. In relation to the order of centering, the X-axis centering can be performed first, and then the Y-axis centering can be performed.

[0060] The centering unit frames 41 form a basic framework and may be formed of a substantially rectangular plate-like structure, and may be installed on both outer sides of the conveyor unit 50 in the X-axis direction.

[0061] The Y-axis cylinder 42 is installed in the Y-axis direction on both sides of the centering unit frame 41 to reciprocate the box pusher 45 in the Y-axis direction. The rod of the Y-axis cylinder 42 may be connected to the lower part of the moving plate 43. The Y-axis cylinder 42 may be an air cylinder.

[0062] The movable plate 43 is connected to the rods of the Y-axis cylinders 42 on both sides and can reciprocate in the Y-axis direction. The movable plate 43 may have a rectangular plate-like structure and may be connected to the ends of the rods of the Y-axis cylinders 42. The X-axis cylinder 44 may be installed on the upper part of the movable plate 43.

[0063] The X-axis cylinder 44 is installed in the X-axis direction on the upper part of the moving plates 43 on both sides, and can reciprocate in the Y-axis direction together with the moving plates 43. The rod of the X-axis cylinder 44 is connected to the box pusher 45, and can move the box pusher 45 in the X-axis direction. The X-axis cylinder 44 can be an air cylinder.

[0064] The box pusher 45 can come into contact with the box 3 to center the box 3 by reciprocating in the Y-axis and X-axis directions, respectively, by the Y-axis cylinder 42 and the X-axis cylinder 44. The box pusher 45 may be disposed long in the X-axis direction, its outer end in the X-axis direction may be connected to the LM guide 46 installed on the moving plate 43, the Y-axis front end of the inner end in the X-axis direction may be connected to the rod end of the X-axis cylinder 44, and a pad may be attached to the Y-axis rear end of the inner end in the X-axis direction. In FIG. 5, the box pusher 45 is in the most advanced state in the Y-axis and X-axis directions, respectively.

[0065] The LM guide 46 is installed on both sides of the centering unit frame 41 and the moving plate 43, respectively, to guide the movement in each axial direction. The LM guide 46 may be installed on the centering unit frame 41 in the Y-axis direction and connected to the lower part of the moving plate 43. Also, the LM guide 46 may be installed on the moving plate 43 in the X-axis direction and connected to the upper part of the moving plate 43 and the lower part of the box pusher 45, respectively.

[0066] The size check sensor 47 is installed on the upper part of the centering unit frame 41 to check the size of the box 3. The size check sensor 47 may be configured in a plurality of units, for example, five units as illustrated, and the intervals between the sensors may become gradually narrower toward the rear end of the Y axis. The size check sensor 47 may be a light emitting / receiving sensor. The size check sensor 47 may be supported on the centering unit frame 41 by an appropriate support means (bracket, support stand, etc.).

[0067] Referring to FIG. 6, a conveyor unit 50 may be comprised of a free roller lane 51, a box stopper 52, a cargo alignment sensor 53, an entrance guide block 54, a transport vehicle end stopper 55, and the like.

[0068] The conveyor unit 50 is a conveyor used when adjusting the position of the box 3, and is installed at the front end of the transfer machine where the box 3 is first positioned and where transfer begins.

[0069] The free roller lane 51 is for moving the box 3 in the Y-axis direction, and the free rollers are not driven independently but can rotate freely by an external force. The free roller lane 51 may be composed of a plurality of lanes arranged in the Y-axis direction, for example, three lanes as shown in the figure. Specifically, main roller lanes may be arranged at both ends in the X-axis direction, and an auxiliary roller lane narrower than the main roller lane may be arranged in the middle. The space between the main roller lane and the auxiliary roller lane may be a space for a transport vehicle (lift truck, dolly, etc.) to enter. Each lane 51 may be equipped with a plurality of free rollers, for example, eight as shown in the figure.

[0070] The box stopper 52 is for centering the box 3 along the Y axis, and may be installed at the rear ends of the Y axis of the main roller lanes on both sides of the free roller lane 51. The box stopper 52 may be a substantially plate-shaped structure disposed in the Z axis direction. The box disposed on the free roller lane 51 may be pushed in the Y axis direction by the centering unit 40 to come into close contact with the box stopper 52, thereby performing Y axis centering.

[0071] The cargo alignment sensor (or box end sensor) 53 may be disposed adjacent to the box stopper 52 at the rear end of the Y axis of the main roller lanes on both sides of the free roller lane 51, and may confirm whether the box 3 is positioned so as to contact the box stopper 52, i.e., whether the loaded cargo (box) is aligned or not. The cargo alignment sensor 53 may be a direct reflection sensor.

[0072] The entry guide block 54 is installed at the front end of the Y axis of the auxiliary roller lane of the free roller lane 51, and can guide the entry path of a transport vehicle (such as a dolly).

[0073] The transport vehicle end stoppers 55 are disposed adjacent to the box stoppers 52 to prevent a collision between the transport vehicle (such as a lift truck) and the box cover stacking platform 90. The transport vehicle end stoppers 55 may be plate-shaped structures disposed in the Z-axis direction, and may be disposed on the same line as the box stoppers 52 inside the box stoppers 52 on both sides.

[0074] 7a and 7b, the bobbin stacker 60 may be comprised of a stacker frame 61, a guide block 62, a cargo detection sensor 63, a bobbin detection sensor 64, a transport vehicle end stopper 65, and the like.

[0075] The bobbin placement table 60 is a place for placing the bobbins 1, and can be installed on the rear end side of the Y axis of the main frame unit 10.

[0076] The loading platform frame 61 forms a basic skeleton and may be a three-dimensional structure in the form of a hexahedron.

[0077] The guide block 62 is installed on the upper part of the loading frame 61 to prevent the bobbin 1 from being pushed in the axial direction. The guide block 62 may be disposed in the Y-axis direction at both ends of the upper end of the loading frame 61 in the X-axis direction, and may include two inclined surfaces facing each other in the center.

[0078] The cargo detection sensor 63 is installed on the upper part of the loading platform frame 61 and can determine the presence or absence of cargo (bobbins) loaded on the loading platform 60. The cargo detection sensor 63 may be disposed diagonally across both ends in the X-axis direction on the upper end of the loading platform frame 61. The cargo detection sensor 63 may be a light emitting / receiving sensor.

[0079] The bobbin detection sensor 64 is installed in the guide block 62 and can determine the presence or absence of the bobbin 1 in the guide block 62. The bobbin detection sensor 64 may be installed at both ends in the Y-axis direction of the guide block 62. The bobbin detection sensor 64 may be a photoelectric sensor.

[0080] The transport vehicle end stopper 65 is installed on the Y-axis rear end side of the loading platform frame 61 to prevent a collision between the transport vehicle (lift truck, dolly, etc.) and the bobbin loading platform 60. The transport vehicle end stopper 65 may be a substantially plate-shaped structure arranged in the Z-axis direction, and for example, two of them may be installed.

[0081] Referring to FIG. 8, the cover assembly 70 may be comprised of a cover assembly frame 71, a ladder 72, a safety door 73, and the like.

[0082] The cover assembly 70 is installed on the top and sides of the main frame unit 10 and collectively refers to the upper parapet, ladder and safety door of the loader equipment.

[0083] The cover assembly frame 71 forms a basic skeleton and may be a three-dimensional structure in the form of a hexahedron.

[0084] The ladder 72 is installed on the side of the cover assembly frame 71 to provide a path for access during upper maintenance, i.e., a passageway for climbing to the top of the transfer machine equipment during maintenance.

[0085] The safety door 73 may be installed on the side of the cover assembly frame 71 and at the bottom of the ladder 72. When the safety door 73 is opened, the operation of the loading and unloading machine equipment may be stopped in conjunction with the opening of the safety door 73.

[0086] Referring to FIG. 9, the entry guide 80 may be composed of an entry guide frame 81, rollers 82, pads 83, and the like.

[0087] The entrance guide 80 is installed on the entrance side of the main frame unit 10 and can guide the path of a transport vehicle (such as a dolly) when inserting the box 3.

[0088] The entry guide frame 81 forms a basic framework and may have a three-dimensional structure. The entry guide frame 81 may be disposed on the front end side of the centering units 40 on both sides in the Y-axis direction, and may include a plate-like structure disposed in the Z-axis direction and a support stand that supports the plate-like structure.

[0089] The rollers 82 are installed in the Z-axis direction inside the entry guide frame 81 to prevent friction between the transport vehicle (such as a dolly) and the entry guide 80. The rollers 82 may be configured in multiple pieces, for example, three pieces as shown in the drawing.

[0090] The pad 83 is installed on the front end side of the entrance guide frame 81 to prevent damage to the transport vehicle (such as a dolly) and the entrance guide 80. The pad 83 may be made of stainless steel (SUS).

[0091] Referring to FIG. 10, the box cover loading platform 90 may be composed of a loading platform frame 91, a centering cylinder 92, an end bracket 93, a mounting detection sensor 94, and the like.

[0092] The box cover stacking table 90 is a place for placing the box covers 3 b , and can be installed at an intermediate position of the transfer machine, for example, between the conveyor unit 50 and the bobbin stacking table 60 .

[0093] The stacking platform frame 91 forms a basic framework and may be made of a plate-like structure.

[0094] The centering cylinder 92 is a cylinder for Y-axis centering of the box cover 3b, and may be installed on both ends in the X-axis direction of the stacking table frame 91. The end of the rod of the centering cylinder 92 may be connected to a cover pusher arranged in the X-axis direction, and the cover pusher may be reciprocated in the Y-axis direction by the centering cylinder 92. The centering cylinder 92 may be an air cylinder.

[0095] The end bracket 93 is a stopper for centering the box cover 3b in the Y-axis direction, and may be installed at the rear end of the stacking platform frame 91 in the Y-axis direction, and two end brackets may be installed in the X-axis direction. The end bracket 93 may be a plate-like structure arranged in the Z-axis direction. The box cover 3b may be pressed by the cover pusher of the centering cylinder 92 to come into close contact with the end bracket 93, thereby performing Y-axis centering.

[0096] The mounting detection sensors 94 are installed on both ends of the stacking table frame 91 in the X-axis direction to confirm the fixed position of the box cover 3b.

[0097] 11, the maintenance frame 100 is for placing the motor during maintenance, and can be installed on the upper part of the main frame unit 10. The maintenance frame 100 can have a three-dimensional structure and can be disposed on the upper part of the motors 22, 23.

[0098] The barcode reader is a device that reads the barcode attached to the box 3 in which the bobbins 1 are loaded, and the barcode may store various information about the bobbins 1 and the box 3. Although not shown in the drawings, the barcode reader may be installed at an appropriate position among the mainframe unit 10, the traveling drive unit 20, the fork unit 30, the centering unit 40, the conveyor unit 50, and the entry guide 80.

[0099] The control unit can automatically control the lifting of the bobbin 1 by controlling the Z-axis centering of the fork unit 30 through linkage with the bar code reader and distance sensor 36, the X-axis centering of the fork unit 30 through linkage with the chucking sensor 37, and the Z-axis lifting and Y-axis movement of the fork unit 30.

[0100] In addition, the control unit can automatically control the opening of the box cover 3b by controlling the Z-axis centering of the fork unit 30 through linkage with the bar code reader and distance sensor 36, the X-axis centering of the fork unit 30 through linkage with the box detection sensor 35, and the Z-axis lifting and Y-axis movement of the fork unit 30.

[0101] Although not shown in the drawings, the control unit may be installed in an appropriate location such as the mainframe unit 10, and may be connected to each sensor, motor, cylinder, etc. The control unit may also include a calculation / processing unit (CPU, MPU, etc.), a storage unit (memory, drive, etc.), an input unit (keyboard, mouse, button, switch, etc.), an output unit (display, touch screen, etc.), a communication unit (LAN, modem, WiFi, Bluetooth (registered trademark), etc.), a circuit board (main board, graphic card, etc.), etc.

[0102] The operation of the transfer machine according to the present invention will now be described.

[0103] The first step is to open the box cover 3b, and the second step is to remove the primary packaging. The first step can be performed automatically by a transfer machine, and the second step can be performed manually by an operator.

[0104] First, the barcode attached to the box 3 is read by a barcode reader (BCR), and then the box 3 is inserted into the conveyor unit 50 .

[0105] Next, the box 3 is automatically centered using the centering unit 40, and at this time, the control unit performs X-axis centering and Y-axis centering of the box 3 in conjunction with the BCR reading and the box size check sensor 47.

[0106] Next, the box cover 3b is automatically opened using the box cover cylinder 34a of the fork unit 30, the box detection sensor 35, and the distance sensor 36. At this time, the control unit performs Z-axis centering of the fork unit 30 in conjunction with the BCR reading and the distance sensor 36, and also performs X-axis centering in conjunction with the box detection sensor 35. The cover pushers 34c of the box cover cylinders 34a on both sides advance inward on the X-axis to chuck the box cover 3b.

[0107] Next, through the traveling drive unit 20, the fork unit 30 rises on the Z axis with the box cover 3b chucked, moves backward on the Y axis, and then descends from the box cover stacking table 90 to release the chucking and load the box cover 3b onto the box cover stacking table 90. The control unit can also be linked to the distance sensor 36 and the box detection sensor 35 when the box cover 3b is moved and released from the chucking.

[0108] Next, the box cover 3b is centered on the Y axis on the box cover stacking table 90 using the centering cylinder 92.

[0109] The third step is a step of chucking and transferring the bobbin 1, and the fourth step is a step of transferring the bobbin by an operator. The third step can be performed automatically by a transfer machine, and the fourth step can be performed manually by an operator.

[0110] First, the travel drive unit 20 and the fork unit 30, which are the transfer members, move to the conveyor unit 50 position, which is the origin.

[0111] Next, the bobbin 1 is automatically chucked and lifted using the Cartesian robot 32, forks 33b, distance sensor 36 and chucking sensor 37 of the fork unit 30, and at this time, the control unit performs Z-axis centering of the fork unit 30 in conjunction with the BCR reading and distance sensor 36, and also performs X-axis centering in conjunction with the chucking sensor 37. The forks 33b on both sides of the fork unit 30 advance inward on the X-axis and are inserted into the hollow end 1a of the bobbin 1 to chuck the bobbin 1.

[0112] Next, through the traveling drive unit 20, the fork unit 30 rises up the Z-axis with the bobbin 1 chucked thereon and moves backwards up the Y-axis, and then descends from the bobbin stacking table 60 to release the chucking and load the bobbin 1 onto the bobbin stacking table 60. The control unit can also work in conjunction with the distance sensor 36 and the chucking sensor 37 when the bobbin 1 is moved and released from the chucking.

[0113] Next, the fork unit 30 moves to the box cover stacking table 90 position, which is the standby position.

[0114] Next, an operator transfers the bobbins 1 loaded on the bobbin loading table 60 using a transport vehicle.

[0115] The fifth step is a step of returning the box cover 3b, and the sixth step is a step of recovering the empty boxes. The fifth step can be performed automatically by the transfer machine, and the sixth step can be performed manually by an operator.

[0116] First, the fork unit 30 moves to the box cover position, which is the intermediate position of the transfer machine.

[0117] Next, the fork unit 30 chucks the box cover 3b, which has been centered on the box cover stacking table 90 along the Y axis via the centering cylinder 92, through Z-axis centering and X-axis centering in the same manner as described above.

[0118] Next, through the traveling drive unit 20, the fork unit 30 rises up the Z-axis while chucking the box cover 3b and moves forward on the Y-axis, and then descends from the conveyor unit 50 to release the chucking and reassemble the box cover 3b with the empty box body 3a without the bobbin 1.

[0119] Next, the fork unit 30 moves to the box cover stacking table 90 position, which is the standby position.

[0120] Finally, a worker uses a transport vehicle to transfer and collect the reassembled empty boxes 3 on the conveyor unit 50. [Explanation of symbols]

[0121] 1: Bobbin 1a:Hollow end 2: Foil 3: Box 3a: Box body 3b: Box cover 10: Mainframe unit 11: Mainframe 12: Light curtain sensor 13: Cablebear (registered trademark) 14:LM guide 15: Travel position sensor 16: Reverse limit sensor 17: Travel forward limit sensor 20: Travel drive unit 21: Travel drive unit frame 22: Driving motor 23: Lifting motor 24: Rack jack 25: Lift guide bush 26: Sensor support stand 27: Lift / lower position sensor 28:Lift limit sensor 29:Lift / Down Limit Sensor 30: Fork unit 31: Fork unit frame 32: Cartesian robot 33a: Fork arm 33b:Fork 34a: Box cover cylinder 34b: Cylinder rod 34c: Cover pusher 34d: Connecting member 35: Box detection sensor 36: Distance sensor 37: Chucking sensor 38: Lift guide shaft 39a: Sensor support stand 39b: Lift origin sensor 39c:Lift limit sensor 40: Centering unit 41: Centering unit frame 42: Y-axis cylinder 43: Moving board 44: X-axis cylinder 45: Box Pusher 46:LM guide 47: Size check sensor 50: Conveyor unit 51: Free Roller Lane 52: Box Stopper 53: Cargo alignment sensor 54: Entry guide block 55: Transport vehicle end stopper 60: Bobbin stacking stand 61: Loading platform frame 62: Guide block 63: Cargo detection sensor 64: Bobbin sensor 65: Transport vehicle end stopper 70: Cover assembly 71: Cover assembly frame 72: Ladder 73: Safety door 80: Approach Guide 81: Approach guide frame 82: Laura 83: Pad 90: Box cover stacking stand 91: Loading platform frame 92: Centering cylinder 93: End bracket 94: Wearing detection sensor 100: Maintenance frame

Claims

1. a bar code reader for reading a bar code attached to a box having a cover and containing bobbins loaded with raw materials; a conveyor unit on which the boxes are placed; a centering unit that is installed outside the conveyor unit and adjusts the position of the box in an X-axis direction corresponding to the width direction or side direction and in a Y-axis direction corresponding to the length direction or running direction; a fork unit that is installed on an upper portion of the conveyor unit, chucks a box cover in an X-axis direction, and includes a box cover cylinder for moving the cover in the X-axis direction when chucking the cover, a box detection sensor that detects the cover, and a distance sensor that detects the distance to the cover; a travel drive unit connected to the fork unit at an upper portion of the fork unit and configured to raise and lower the fork unit in a Z-axis direction corresponding to a height direction or lifting direction and move the fork unit in a Y-axis direction; and The transfer machine includes a control unit that automatically controls the opening of a cover by controlling Z-axis centering of the fork unit through linkage with a bar code reader and a distance sensor, X-axis centering of the fork unit through linkage with a box detection sensor, and Z-axis lifting and Y-axis movement of the fork unit.

2. 2. The transfer machine of claim 1, wherein the conveyor unit includes: a free roller lane for moving the box in the Y-axis direction; a box stopper installed at the rear end of the Y-axis of the free roller lane for centering the box in the Y-axis; a cargo alignment sensor arranged adjacent to the box stopper to check whether the box is positioned to contact the box stopper; an entry guide block installed at the front end of the Y-axis of the free roller lane to guide the entry path of the transport vehicle; and a transport vehicle end stopper arranged adjacent to the box stopper to prevent collision of the transport vehicle.

3. 2. The transfer machine of claim 1, wherein the centering unit includes: a box pusher that contacts the box to center the box; an X-axis cylinder connected to the box pusher to move the box pusher in the X-axis direction; a moving plate on which the X-axis cylinder is installed; a Y-axis cylinder connected to the moving plate to move the box pusher in the Y-axis direction; an LM guide connected to the moving plate to guide movement in each axial direction; a centering unit frame on which the Y-axis cylinder is installed; and a size check sensor installed on an upper portion of the centering unit frame to check the box size.

4. 4. The transfer machine according to claim 1, wherein the fork unit includes: a fork unit frame having a plate-like structure; an orthogonal robot equipped with a motor and installed movably in the X-axis direction at the bottom of the fork unit frame; a fork arm installed at the bottom of the orthogonal robot; a fork installed inside the lower end of the fork arm to chuck the bobbin; a box cover cylinder including a cylinder rod installed outside the fork arm, a cover pusher installed inside the fork arm, and a connecting member connecting the cylinder rod and the cover pusher; a box detection sensor installed on the connecting member of the box cover cylinder; a distance sensor installed at the bottom of the orthogonal robot inside the fork arm; a chucking sensor installed at the bottom end of the fork arm; a lifting guide shaft installed at the top of the fork unit frame; a sensor support base installed on the upper side of the fork unit frame; and a lifting fixed position sensor and a lifting limit sensor installed on the sensor support base.

5. 5. The transfer machine according to claim 4, wherein the traveling drive unit includes: a traveling drive unit frame having a plate-like structure; a traveling motor for movement in the Y-axis direction installed on an upper part of the traveling drive unit frame; a lifting motor for movement in the Z-axis direction installed on an upper part of the traveling drive unit frame; a rack jack installed in the Z-axis direction on the traveling drive unit frame so as to be able to rise and fall, converting rotation of the lifting motor into linear motion, and being connected to the fork unit to lift and lower the fork unit; a lifting guide bush installed on the traveling drive unit frame and into which a lifting guide shaft of the fork unit is inserted; a sensor support base installed on the traveling drive unit frame in the Z-axis direction; and a lifting fixed position sensor and a lifting limit sensor installed on the sensor support base.

6. Further comprising a mainframe unit; The transfer machine according to claim 5, wherein the mainframe unit includes: a three-dimensional mainframe; a light curtain sensor installed on a side of the mainframe and linked during maintenance of the lower part; a Cableveyor (registered trademark) installed on the upper part of the mainframe for guiding a cable; an LM guide installed on the upper part of the mainframe, connected to the traveling drive unit frame and guiding the traveling direction of the traveling drive unit frame; and a traveling fixed position sensor and a traveling limit sensor installed on the upper part of the mainframe.

7. The bobbin stacking table is further provided on the rear end side of the Y-axis of the main frame unit and on which the bobbin is placed; The bobbin stacking platform of claim 6 includes: a three-dimensional stacking platform frame; a guide block installed on the upper part of the stacking platform frame to prevent the bobbin from being pushed in the axial direction; a cargo detection sensor installed on the upper part of the stacking platform frame to determine the presence or absence of a bobbin on the stacking platform; a bobbin detection sensor installed on the guide block to determine the presence or absence of a bobbin in the guide block; and a transport vehicle end stopper installed on the rear end side of the Y-axis of the stacking platform frame to prevent collision between the transport vehicle and the stacking platform.

8. Further including a cover assembly mounted on the top and sides of the mainframe unit; 7. The transfer machine of claim 6, wherein the cover assembly includes: a three-dimensional cover assembly frame; a ladder installed on a side of the cover assembly frame to provide a path for movement during maintenance of the upper portion; and a safety door installed on a side of the cover assembly frame.

9. Further comprising an entrance guide installed at the entrance side of the main frame unit to guide the path of the transport vehicle when the box is inserted; 7. The transfer machine of claim 6, wherein the entry guide includes: an entry guide frame having a three-dimensional structure; a roller installed inside the entry guide frame in the Z-axis direction to prevent friction between the transport vehicle and the entry guide; and a pad installed on the front end side of the entry guide frame to prevent damage to the transport vehicle and the entry guide.

10. 7. The transfer machine according to claim 6, further comprising a maintenance frame installed on an upper portion of the main frame unit for supporting the motor during maintenance.

11. Further including a box cover stacking table installed on the Y-axis rear end side of the conveyor unit; The box cover loading platform of claim 1 includes: a loading platform frame having a plate-like structure; centering cylinders installed on both ends of the loading platform frame in the X-axis direction to center the cover in the Y-axis direction; end brackets installed on the rear end of the loading platform frame in the Y-axis direction and used for centering the cover in the Y-axis direction; and mounting detection sensors installed on both ends of the loading platform frame in the X-axis direction to confirm the fixed position of the cover.

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