Work loading method for automatic palletizer, work loading method, work loading apparatus and attachment replacing method thereof

• US 6,817,829 B2
• Filed: 12/09/2002
• Issued: 11/16/2004
• Est. Priority Date: 12/25/2001
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Shimizu, Kengo, Kameda, Shigetaka, Yoshida, Toshiyuki, Shiroza, Kazuhiko, Moriyasu, Takashi
• Primary Examiner(s): HESS, DOUGLAS A
• Application Number:
  US10/314,551
• Publication Number:
  US 20030118436A1
• Time in Patent Office: 708 Days
• Field of Search: 414/789.6, 414/792.9, 414/799, 414/802, 414/902, 901/7
• US Class Current: 414/789.6
• CPC Class Codes: B65G 61/00 Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
• CPC Class Codes: Y10S 414/116 including control for pattern of group

Abstract

A work loading method and a work loading apparatus with excellent productivity are provided. For this purpose, a work loading method includes the steps of: positioning the work with two centering devices (3a, 3b) every other press shot; and making pairs of two robots (4a, 4d) each, which are located diagonally from each other, out of four of the robots (4a, 4b, 4c, 4d) in total, the two robots of each pair holding the works, which are on two of the centering devices, and performing a loading operation into the pallets, each pair alternately holding the works and performing the loading operation each time two of the centering devices position the works.

Claims

1. A work loading method of an automatic palletizer for loading works, which are carried out of a press, onto a pallet by a robot, said method comprising:

positioning the works with two centering devices, a first one of said two centering devices being upstream of a second one of said two centering devices in a work transfer directions, every other press shot; and

making pairs of two robots each, which are located diagonally from each other, out of four of said robots in total, two of which are on a left side and two of which are on a right side to oppose each other in the work transfer direction with said two centering devices between them, said two robots of each pair holding the works, which are on said two centering devices, and performing a loading operation of the works onto said pallets, each pair alternately holding the works and performing the loading operation each time said two centering devices position the works.

2. The work loading method of the automatic palletizer according to claim 1, further comprising:

on performing work loading onto said pallet, outputting an interference area entry interlock signal of each said robot to an upper controller, and confirming interlock of prevention of interference between said robots via said upper controller.

3. The work loading method of the automatic palletizer according to claim 1,

wherein while a first pair of said pairs of robots is under a holding operation of the works, a second pair of said pairs of robots one of (i) perform a loading operation of the works onto said pallets, and (ii) are on standby for entry into a work holding operation position;

and

wherein while said first pair of robots are under the loading operation of the works onto said pallets, said second pair of robots one of (i) perform the holding operation, and (ii) are on standby for entry into work loading positions.

4. The work loading method of the automatic palletizer according to claim 3, further comprising:

on performing work loading onto said pallet, outputting an interference area entry interlock signal of each said robot to an upper controller, and confirming interlock of prevention of interference between said robots via said upper controller.

5. The work loading method of the automatic palletizer according to claim 1;

further comprising;

controlling a loading position of each of the works based on a number of the works already loaded onto said pallet before start of a work loading operation, and a number of works to be loaded onto said pallet by the work loading operation.

6. A work loading method, comprising:

positioning works, which are carried out of a press, with a plurality of centering devices located directly downstream of said press or a carrying-out conveyor attached to said press; and

taking up the works, which are positioned by said plurality of centering devices every plurality of press cycles, to load them onto pallets by a plurality of pairs of loading robots,

wherein each of said pairs of loading robots comprises a first loading robot located on a left side of said plurality of centering devices and a second loading robot arranged on a right side of said centering robots and diagonally to said first loading robot.

7. A work loading apparatus for loading a work, which is carried out of a press, onto a pallet, comprising:

a plurality of centering devices which are located directly downstream of said press or a carrying-out conveyor attached to said press; and

a plurality of pairs of loading robots for taking up the works positioned by said centering devices to load them onto said pallets;

wherein each of said pairs of loading robots comprises a first loading robot located on a left side of said plurality of centering devices and a second loading robot arranged on a right side of said centering robots and diagonally to said first loading robot.

8. The work loading apparatus according to claim 7, wherein said loading robots are movable in substantially a horizontal direction along substantially a work transfer direction.

9. The work loading apparatus according to claim 7, wherein said pallets are placed on both sides of said centering devices.

10. An attachment replacing method of a work loading apparatus for positioning a work, which is carried out of a press, with a centering device and loading the positioned work onto a pallet with a robot, said attachment replacing method being for replacing at least one of an attachment for said centering device and an attachment for said robot according to the work, said method comprising:

housing at least one of a used attachment for the centering device and a used attachment for the robot onto at least one of a plurality of said pallets loaded on a pallet feeder which makes said pallets movable between a work loading position within a movable range of said robot and a predetermined position outside the movable range; and

attaching at least one of an attachment for the centering device to be used next and an attachment for the robot to be used next, which is placed on one of the same pallet and a different pallet from the pallet housing said at least either one of said used attachment for the centering device and said used attachment for the robot, to a corresponding one of the centering device and the robot.

11. A work loading apparatus for

positioning a work, which is carried out of a press, with a centering device, and loading the positioned work onto a pallet with a robot, comprising:

a pallet feeder which makes a plurality of said pallets movable between a work loading position within a movable range of said robot and a predetermined position outside the movable range;

wherein at least one of said pallets loaded on said pallet feeder houses at least one of a used attachment for the centering device and a used attachment for the robot; and

wherein at least one of said pallets, which is one of the same pallet as and a different pallet from the pallet housing at least either one of said used attachment for the centering device or said used attachment for said robot, houses at least one of an attachment for the centering device to be used next and an attachment for the robot to be used next.

12. The work loading apparatus according to claim 11,

wherein said centering device includes a centering bracket; and

wherein a plurality of attachments for said centering device are attached to the same said centering bracket.