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

• US 20030118436A1
• Filed: 12/09/2002
• Published: 06/26/2003
• Est. Priority Date: 12/25/2001
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Shimizu, Kengo, Yoshida, Toshiyuki, Shiroza, Kazuhiko, Moriyasu, Takashi, Kameda, Shigetaka
• Granted Patent: US 6,817,829 B2
• Time in Patent Office: Days
• US Class Current: 414/799
• 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 a work, which is carried out of a press, into a pallet by a robot, comprising the steps of:

positioning the works with two centering devices at an upstream side and a downstream side in a work transfer direction 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 and two of which are on a right to oppose each other in the work transfer direction with two of said centering devices between them, said two robots of each pair holding the works, which are on two of said centering devices, and performing a loading operation of the works into said pallets, each pair alternately holding the works and performing the loading operation each time two of said centering devices position the works.

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

on performing work loading into said pallet, outputting an interference area entry interlock signal of said each 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 said pair of robots are under a holding operation of the works, the other pair of robots perform a loading operation of the works into said pallets, or are on standby for entry into said work holding operation position;

and

wherein while said pair of robots are under the loading operation of the works into said pallets, the other pair of robots perform the holding operation, or are on standby for entry into said work loading positions.

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

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

5. A work loading method of an automatic palletizer for loading a work, which is carried out of a press, into a pallet by a robot;

comprising the step of;

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

6. A work loading method, comprising the steps of:

positioning works, which are carried out of a press, with a plurality of centering devices located directly under a 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 into pallets by a plurality of pairs of loading robots.

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

a plurality of centering devices which are located directly under a 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 into said pallets.

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 into a pallet with a robot, said attachment replacing method being of replacing at least either one of an attachment for said centering device or an attachment for said robot according to the work, comprising:

a first step of housing at least either one of a used attachment for the centering device or a used attachment for the robot into at lease any one 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

a second step of attaching at least either one of the attachment for the centering device to be used next or the attachment for the robot to be used next, which is placed on the same pallet as or a different pallet from the pallet housing at least either one of said used attachment for the centering device or said used attachment for the robot, to the centering device itself, or 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 into a pallet with a robot, comprising:

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;

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

wherein the pallet, which is the same as or a different 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 either one of the attachment for the centering device to be used next or the 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;

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