JP7533979B2 - Palletizer system and depalletizing/palletizing method - Google Patents

Description

The present invention relates to a palletizer system and a depalletizing/palletizing method.

There are various types of robot hands that can grasp objects or parts.
For example, Patent Document 1 discloses a depalletizer hand that grips and transfers loads such as bags and boxes. The depalletizer hand in Patent Document 1 is configured to descend until a vacuum suction pad comes into contact with the upper surface of the load, and when the load is sucked up and lifted to a predetermined height, the open arms close, the vacuum suction pads stop suction, and the load is dropped onto the arms.
Furthermore, Patent Document 2 discloses a technique for switching between a suction holding function using a suction tool and a gripping function using a pair of fingertips depending on the shape of a workpiece.

Japanese Utility Model Application Publication No. 5-72838 JP 2014-208387 A

Incidentally, a palletizer is known as a device for stacking containers such as cardboard boxes and plastic containers on a pallet or a cart.
Conventionally, palletizers have been designed to suit the type of container to be stacked (e.g., cardboard boxes, plastic containers with an open top and no lid, etc.) For example, there are palletizers with hands suitable for lifting and transporting cardboard boxes and placing them in a designated position, and there are palletizers with hands suitable for lifting and transporting plastic containers and placing them in a designated position.
For example, in the case of chicken eggs, even if the upstream processing such as egg washing, egg sorting, inspection, and packaging is the same, if the setting into the distribution container (outer box) is different, a palletizer suitable for that container must be prepared.

One possible solution would be to set up multiple downstream conveying lines for each type of container, with an appropriate palletizer installed on each conveying line; however, this would require equipment costs, installation space, switching conveyors, etc.
Another possible solution would be to make the palletizer's hands detachable, so that, for example, a hand for cardboard would be attached when cardboard is fed down the conveying line, and a hand for plastic containers would be attached when plastic containers are fed down the conveying line, thereby enabling multiple types of containers to be fed down a single palletizer and conveying line.
However, replacing the hands of a palletizer requires manual work using tools, which is problematic in that it requires a lot of man-hours. Therefore, there is a need to develop a technology that enables a single palletizer to stack multiple types of containers.

An object of the present invention is to provide a technique that enables a single palletizer to handle multiple types of containers.
Furthermore, while there are various means for supplying cleaned or new containers to a conveying line, it is an object of the present invention to provide a palletizer and its hand that are capable of not only palletizing but also depalletizing containers.

The palletizer hand of the present invention comprises:
A hand body connected to a palletizer;
a suction head for suctioning or detaching the first type of container from its top surface;
At least one pair of gripping portions capable of gripping an outer side of a second type of container different from the first type of container,
The suction head is connected to the hand body at a position that does not interfere with (get in the way of) the gripping operation by the at least one pair of gripping portions, and the at least one pair of gripping portions is connected to the hand body at a position that does not interfere with (get in the way of) the suction operation by the suction head.

As one embodiment of the above invention, a palletizer hand includes a first actuator that is an actuator that can extend and retract in a vertical direction of the hand body or can expand and contract a longitudinal size of the hand body, and is installed on the hand body,
The suction head may be connected to the first actuator so as to be movable relative to the hand body in a vertical direction of the hand body.
The suction head may be connected to the first actuator at a position where the suction surface does not face downward. For example, the suction head may be installed so that the suction surface faces the longitudinal direction of the hand body, or the suction surface faces the lateral direction of the hand body.
The palletizer may be operable to change the orientation of the palletizer hand so that the suction head faces downward when the suction head picks up and removes the first type of container.
The suction head may have a rotation axis that is a (horizontal) axis perpendicular to the up-down (vertical) direction of the hand body, and the suction head may be configured to wait in a position where the suction surface of the suction head does not face downward except when performing suction/detachment operations, and to rotate around the rotation axis during suction/detachment operations so that the suction surface faces vertically downward.

As one embodiment of the above invention, the palletizer hand has a second actuator that is an actuator that can expand and contract in a direction perpendicular to a vertical direction of the hand body or a longitudinal size of the hand body, and is installed on the hand body,
The at least one pair of gripping portions may be connected to the second actuator so that a gripping width thereof is expandable/contractable in a direction perpendicular to a vertical direction of the hand body.
The pair of gripping portions may be configured so that the gripping width is increased or decreased by moving only one of the gripping portions, or so that the gripping width is increased or decreased by moving both of the gripping portions.
When the at least one pair of gripping parts performs a gripping operation, the pair of gripping parts may be capable of gripping at a position lower than a bottom (suction surface) of the suction head.

The at least one pair of gripping parts may be capable of gripping the inner part of the second type of container at a position lower than the bottom of the suction head.

The at least one pair of gripping portions may have a contact portion at a portion that comes into contact with the inner portion of the second type of container, the contact portion being made of a material having a friction coefficient greater than the friction coefficient of the material constituting the at least one pair of gripping portions.
The abutment portions may be provided at outer portions different from inner portions facing each other of the pair of gripping portions.

The suction head and the pair of gripping portions may be disposed on different axes or on the same axis when viewed from the longitudinal direction of the hand body.
It is preferable that the vertical central axes of the pair of gripping parts and the suction head are parallel to each other and do not intersect.
The "longitudinal direction of the hand body" means that the distance between the first gripping portion and the second gripping portion that constitute the pair of gripping portions is parallel to the direction in which the distance expands or contracts (enlarges or contracts) during the gripping operation.

The palletizer hand or the palletizer is
The apparatus may include a pipe connected to a suction inlet of the suction head, and a suction means (e.g., a vacuum pump, a blower, etc.) connected to the pipe and configured to suck air from the suction head.
The suction head may have a head body, one opening suction portion or multiple suction holes provided at the bottom of the head body, an opening provided at the top or side (preferably other than the bottom) of the head body, a lid portion for opening and closing the opening, and a lid drive portion for opening and closing the lid.
The lid driving section operates to close the lid in a suction operation and to open the lid in a desorption operation.
In the case of a detachment operation, the vacuum state in the suction head is released by opening the lid, and the container can be detached quickly. At this time, it is preferable to turn off the suction operation by the suction means.
The lid driving unit may be composed of, for example, an actuator of an air type, an electric type, a hydraulic type, an actuator of a ball screw mechanism, an actuator of a rack and pinion mechanism, or the like.

The first and second actuators may be, for example, pneumatic, electric, or hydraulic actuators, ball screw actuators, or rack and pinion actuators.
The first and second actuators, the vacuum pump, and the lid driving unit may be controlled by a main control unit that controls suction and detachment, or may be controlled by individual control units that are provided separately.
The main control unit may be provided in the palletizer or in a management system that controls the palletizer and other devices.
The individual control units and the main control unit may be realized, for example, by a dedicated circuit, firmware, or a combination of hardware such as a processor and memory with a program that defines a control procedure.

The palletizer of the present invention is composed of a multi-axis robot, and has a base that can rotate 360° around an axis (first axis) perpendicular to the installation surface,
a lower arm connected to the base so as to be movable around an axis (second axis) parallel to the installation surface;
an upper arm connected to the lower arm so as to be movable around an axis (a third axis) parallel to the installation surface;
and a wrist arm connected to the upper arm so as to be movable around an axis (fourth axis) parallel to the installation surface.
The upper arm may be capable of rotating 360° around an upper arm central axis (fifth axis) parallel to a longitudinal direction of the upper arm.
The upper arm may have a structure (cylinder structure) that is expandable and contractable in the longitudinal direction of the upper arm.
The wrist arm may be capable of rotating 360° around a wrist arm central axis (sixth axis) parallel to the longitudinal direction of the wrist arm (direction from the connection part with the upper arm toward the tip part of the wrist arm).
The operation of the palletizer base and each arm may be controlled by the individual controls or by the main control.
The palletizer may be configured as a three-axis, four-axis, or five-axis robot other than a six-axis robot.

(Control Method)
The method for controlling palletizing and depalletizing may include the following steps: The individual control units or the main control unit may control the palletizer and the hand to realize the following steps.
1. First type of container palletizing (A1) The palletizer moves the hand to the container standby position (the position where the container is placed). The palletizer positions the hand at a predetermined height above the container.
(B1) The first actuator is driven to lower the suction head, which is in the original position (uppermost position) or the suction position (at least a position below the lower end of the gripper), until it contacts the top surface of the container.
(C1) Air is sucked from the suction head and the container is sucked onto the suction head. At least when the air is sucked, the lid of the suction head is in a closed state.
(D1) The palletizer lifts the container that has been sucked up by the suction head and transfers the container to a pallet and/or a cart.
(E1) Placing the container on a preprogrammed pallet and/or trolley position or on top of a first type container already placed on a pallet and/or trolley.
(F1) Suction is stopped, the lid is opened, and the container is detached from the suction head.
(G1) The palletizer repeats the above steps for the transfer of the next container.
In the repeating operation, the first actuator may be driven to return the suction head to the original position and the above steps (A1) and (B1) may be performed, or the suction head may be performed without returning it to the original position and the suction head already in the suction position may be brought into contact with the top surface of the container in (B1). Note that the operations (A1) and (B1) may be performed simultaneously.
In the present invention, the shape and size of the pallet and the shape and size of the dolly are not particularly limited. The dolly may be composed of a flat surface and tires (rotating bodies, rollers, etc.) provided on the bottom and/or sides of the flat surface.

2. Palletizing the second type of container (A2) The palletizer moves the hand to the container standby position (the position where the container is placed). Before the gripping operation, at least the suction head is installed in the original position (uppermost position). In addition, the distance between the pair of gripping parts is set to be at least larger than the gripping width of the container (the width of the container gripped by the pair of gripping parts).
(B2) The pair of gripping parts are moved to a side position of the container. The number of containers may be preset.
(C2) The second actuator is driven to grip the container from the outside with the pair of grippers.
(D2) The palletizer lifts the container gripped by the pair of grippers and transfers the container to a pallet and/or a cart.
(E2) Placing the container on a preprogrammed pallet and/or dolly location or on a container already placed on a pallet and/or dolly.
(F2) The second actuator is driven to release the grip of the pair of gripping parts (i.e., the distance between the pair of gripping parts is made larger than at least the gripping width of the container).
(G2) The palletizer repeats the above operations to transfer the next container.

3. Depalletizing of second-class containers (depalletizing and palletizing)
(A3) The palletizer moves the hand to an empty container placed on a pallet and/or a cart or in a predetermined position. Before the depalletizing operation, at least the suction head is placed in the original position (uppermost position). In addition, the distance between the pair of gripping parts is set to be smaller than at least the storage width of the container (the width size of the inner surface).
(B3) The pair of gripping parts are lowered and moved to a storage position inside the container.
(C3) The second actuator is driven to increase the distance between the pair of gripping parts, and the container is gripped by being pressed against the inside of the container.
(D3) The palletizer lifts the container gripped by the pair of grippers and transports the container from the pallet and/or cart to a loading section for depalletizing.
(E3) The second actuator is driven to release the grip of the pair of gripping parts (i.e., the distance between the pair of gripping parts is made smaller than at least the storage width of the container).
(F3) The palletizer repeats the above steps for the transfer of the next empty container.
(G3) The loading section sends the placed empty container to the egg container storage device.
(H3) The egg container storage device stores egg containers in an empty container and sends the container to the discharge section.
(I3) The discharge section sends the container in which the egg containers are stored to a stacking device or a container waiting position.
When the containers are sent to a stacking device, they are stacked in two or more layers.
(J3) The above steps (A2) to (G2) are carried out.
By having a single palletizer perform both palletizing and depalletizing, it is possible to reduce the installation space and costs.

The palletizer system of the present invention comprises:
an egg container storage device for storing a plurality of egg containers containing eggs in an empty first type container or an empty second type container;
a palletizer for transporting and/or stacking the first type of containers in which the egg containers are stored onto a pallet and/or a dolly or the first type of containers already placed on the pallet and/or the dolly, or for transporting and/or stacking the second type of containers in which the egg containers are stored onto a pallet and/or a dolly or the second type of containers already placed on the pallet and/or the dolly;
a loading unit for transporting the empty first type container and/or the empty second type container to the egg container storage device;
a conveying unit that conveys the first type of container or the second type of container from the egg container storage device to a container standby position of the palletizer,
The palletizer may have the above-mentioned palletizer hand.

In the above palletizer system,
a first placement unit for placing a pallet for a first type of container in a predetermined position;
It may also have a second installation section for placing the cart for the second type of container at a predetermined position.

The palletizer system of the present invention comprises:
an egg container storage device for storing a plurality of egg containers containing eggs in an empty first type container or an empty second type container;
a palletizer for transporting and/or stacking the first type of containers in which the egg containers are stored onto a pallet and/or a dolly or the first type of containers already placed on the pallet and/or the dolly, or for transporting and/or stacking the second type of containers in which the egg containers are stored onto a pallet and/or a dolly or the second type of containers already placed on the pallet and/or the dolly;
a first receiving section for transporting the empty container of the first kind to the egg container storage device;
A second receiving unit that conveys the empty second type container to the egg container storage device;
a conveying unit that conveys the first type of container or the second type of container from the egg container storage device to a container standby position of the palletizer,
the palletizer has the above-mentioned palletizer hand,
The empty second type containers placed on the pallet or cart may be transported to a predetermined position in the second loading section.

The above palletizer system is
The egg container storage device further includes a stacking device for stacking the second type of containers in which the egg containers are stored in a plurality of layers,
The palletizer may transport and/or stack multiple second type containers stacked by the stacking device onto the pallet and/or the cart, or onto second type containers already placed on the pallet and/or the cart.

The depalletizing method of the present invention comprises the steps of:
A depalletizing method performed by an egg container storage device, a palletizer having a palletizer hand, an input section for empty containers, and an output section, comprising:
a depalletizing process in which the palletizer transports empty second-type containers placed on pallets and/or carts to a predetermined position in the loading section;
the carrying unit carrying the empty second type container to the egg container storage device;
a step of storing a plurality of egg containers containing eggs in the empty second type container by the egg container storage device;
a step of the discharge unit discharging the second type container in which the egg containers are stored by the egg container storage device from the egg container storage device to a container standby position of the palletizer;
the palletizer transporting and/or stacking the second type of containers containing the egg containers in a predetermined position on a pallet and/or a dolly;
Includes.
the depalletizing/palletizing method is further configured to be capable of palletizing a first type of container that is different from a second type of container,
When palletizing the above-mentioned type of container,
transporting the empty first container to the egg container storage device;
a step of the egg container storage device storing a plurality of egg containers containing eggs in an empty container of the first kind;
a step of the discharge unit discharging the first type of container in which the egg containers are stored by the egg container storage device from the egg container storage device to a container standby position of the palletizer;
The palletizer transports and/or stacks the first type of container containing the egg containers to a predetermined position on a pallet and/or cart.

According to the present invention, a technique can be realized that enables handling of multiple types of containers with one hand.
Furthermore, according to the present invention, a palletizer can be realized that is capable of not only palletizing but also depalletizing containers.

FIG. 1 is a schematic diagram showing a palletizer system according to one embodiment. FIG. 2 is a schematic diagram showing a palletizer hand. FIG. 2 is a schematic diagram showing a palletizer hand. FIG. 13 is a schematic diagram showing a manner in which a palletizer hand sucks a cardboard box. FIG. 13 is a schematic diagram showing a manner in which a palletizer hand grips a plastic container in which egg containers are stored. FIG. 13 is a schematic diagram showing a manner in which a palletizer hand grips a plastic container in which egg containers are stored. FIG. 13 is a schematic diagram showing a manner in which a palletizer hand grips an empty plastic container. FIG. 1 is a schematic diagram showing a palletizer system according to one embodiment. FIG. 1 is a schematic diagram showing a palletizer system according to one embodiment. FIG. 13 is a schematic diagram showing a palletizer system according to another embodiment. FIG. 13 is a schematic diagram showing a palletizer system according to another embodiment. FIG. 13 is a schematic diagram showing a palletizer system according to another embodiment. FIG. 13 is a schematic diagram showing a palletizer hand according to another embodiment.

(Palletizer system overview)
An overview of a palletizer system according to an embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a schematic diagram showing a palletizer system according to an embodiment. As shown in Fig. 1, the palletizer system 1 includes a palletizer 10, a palletizer hand 100, an egg container storage device 12, a carry-in unit 13, a carry-out unit 15, and a cart 17.

The loading section 13 includes a conveyor and loads empty containers into the egg container storage device 12. The egg container storage device 12 includes a conveyor 18, an egg container transport section 19, and a storage robot 20. The conveyor 18 transports the empty containers loaded from the loading section 13 to a container loading position on the storage robot 20 side. The egg container transport section 19 transports egg containers containing eggs to a transfer waiting position on the storage robot 20 side. The storage robot 20 sequentially stores the egg containers at the transfer waiting position transported by the egg container transport section 19 in the empty containers at the container loading position transported by the conveyor 18. The conveyor 18 transports the container containing multiple egg containers to the unloading section 15. The unloading section 15 includes a conveyor and transports the containers from the egg container storage device 12 to a container waiting position on the palletizer 10 side. The palletizer 10 lifts and transports the containers that are in the container waiting position and that have been transported by the delivery section 15, and stacks them on the cart 17 or on top of containers already stacked on the cart.

In this embodiment, the palletizer 10 has a base 101, a lower arm 102, an upper arm 103, and a wrist arm 104. The palletizer hand 100 is connected to the wrist arm 104 of the palletizer 10.
The base 101 can rotate 360° around an axis (first axis) perpendicular to the installation surface (xy plane).
The lower arm 102 is connected to the base 101 so as to be movable around an axis (second axis) parallel to the installation surface (xy plane).
The upper arm 103 is connected to the lower arm 102 so as to be movable around an axis (third axis) parallel to the installation surface (xy plane).
The wrist arm 104 is connected to the upper arm 103 so as to be movable around an axis (fourth axis) parallel to the installation surface (xy plane).
The upper arm 103 can rotate 360° around an upper arm central axis (fifth axis) that is parallel to the longitudinal direction of the upper arm 103 .
The upper arm 103 has a structure (cylinder structure) that is expandable and contractable in the longitudinal direction of the upper arm 103 .
The wrist arm 104 can rotate 360° around a wrist arm central axis (sixth axis) parallel to the longitudinal direction of the wrist arm 104 (the direction from the connection with the upper arm 103 toward the tip portion of the wrist arm 104).
The operations of the base 101 of the palletizer 10, the arms 102, 103, 104, and the palletizer hand 100 are controlled by a main control unit (not shown).

(Palletizer hand)
Next, the palletizer hand 100 will be described with reference to Fig. 2. Fig. 2 is a schematic diagram showing the palletizer hand 100.
The palletizer hand 100 includes a hand body 110, a hand connecting portion 111, a first actuator 112, a suction head 114, a second actuator 116, a first gripping portion 118, and a second gripping portion 119. The first gripping portion 118 and the second gripping portion 119 correspond to a "pair of gripping portions."

The hand body 110 is a body extending in the xy plane in FIG. 2, and has a first actuator 112 and a second actuator 116 attached thereto, which will be described later.
The hand connector 111 is attached to a connector (not shown) of the wrist arm 104 .

The first actuator 112 is composed of an air cylinder that expands and contracts in the vertical direction (z direction) of the hand body 110, a vacuum pump (not shown), a regulator (not shown), and the like.
The first actuator 112 is controlled by a main control unit (not shown).
In this embodiment, the main control unit also controls the operation of the palletizer 10.

The suction head 114 has a top surface connected to the cylinder of the first actuator 112, and moves up and down (z direction) by the up and down movement of the cylinder of the first actuator 112. The suction head 114 comes into contact with a first type of container having a top surface, such as a cardboard box, and functions to adsorb and detach.

The suction head 114 may be connected to the first actuator 112 in a position where the suction surface does not face downward (z direction). For example, as shown in Fig. 9, the suction head 114 may be installed so that the suction surface faces the short side direction (y direction) of the hand body 110. Although not shown, the suction head 114 may be installed so that the suction surface faces the longitudinal direction (x direction) of the hand body 110.
The palletizer 10 may change the orientation of the palletizer hand 100 so that the suction head 114 faces downward when the suction head 114 performs the suction and detachment operation for the first type of container.
In addition, the suction head 114 may have a (horizontal) axis perpendicular to the vertical direction (z direction) of the hand body 110 as a rotation axis, and the suction head may be configured to wait in a position where the suction surface of the suction head 114 does not face downward except when performing suction/detachment operations, and to rotate around the rotation axis and face the suction surface downward during suction/detachment operations.

The suction head 114 will be further described with reference to Fig. 3. Fig. 3 is a schematic diagram showing a palletizer hand. For the sake of convenience, the hand body 110 and the hand connector 111 are not shown.
The suction head 114 has a head body 130, an opening suction section 131, an opening 132, a lid section 133, a lid driving section 134, and a suction inlet 135 connected to a pipe (not shown).

The opening suction unit 131 is provided at the bottom of the head body 130 and sucks and detaches the top surface of a first type of container such as a cardboard box. The opening 132 is provided at the top of the head body 130 on the side opposite to the opening suction unit 131. The lid unit 133 moves in the vertical direction (z direction) by the linear motion of the lid drive unit 134. The opening 132 is opened and closed by the vertical movement of the lid unit 133. The lid drive unit 134 operates the lid unit 133 to close the opening 132 in the suction operation and to open the opening 132 in the detachment operation. The suction inlet 135 is provided at the top of the head body 130 and is connected to a vacuum pump (not shown) that sucks air from the suction head 114. The vacuum pump (not shown) sucks air from the suction head 114 in the suction operation and turns off the suction of air in the detachment operation. During the attachment/detachment operation, the vacuum pump (not shown) stops sucking air and the lid 133 opens the opening 132, releasing the vacuum in the suction head 114 and allowing the container to be quickly attached or detached. The operation of the vacuum pump is controlled by the main control unit.

The opening 132 is not limited to being located at the top of the head body 130, but may be located at a location other than the bottom of the head body 130, such as the side of the head body 130. Also, instead of the opening suction unit 131, multiple suction holes may be provided on the bottom surface of the head body 130. The lid drive unit 134 may be composed of, for example, an air-type, electric-type, or hydraulic-type actuator, a ball screw mechanism actuator, or a rack and pinion mechanism actuator. In this embodiment, the lid drive unit 134 is an electric cylinder and is controlled by a main control unit (not shown). The suction inlet 135 is not limited to being located at the top of the head body 130, but may be located anywhere.

Next, the second actuator 116 will be described with reference to FIG. 3. The second actuator 116 operates to increase or decrease the gripping width of the pair of gripping portions 118, 119. In this embodiment, the second actuator 116 is configured as an actuator for a rack and pinion mechanism.

The second actuator 116 is
Two guide rails (a first guide rail 141 and a second guide rail 142) are fixed to the hand body 110 so as to be parallel to each other in the longitudinal direction (x direction, the direction in which the pair of gripping parts move) of the hand body 110;
first and second racks 145 and 146 that are sandwiched between the first and second guide rails 141 and 142 and disposed parallel to the first and second guide rails 141 and 142;
A motor 147; and
The first and second racks 145, 146 are engaged with a pinion 148.
The pinion 148 is connected to the motor 147 and rotates on an axis perpendicular to the rotation axis of the motor 147. The rotation of the pinion 148 causes the first and second racks 145, 146 to move in opposite directions.
The second actuator 116 has a first nut bracket 149 fixed to one end of the first rack 145, first and second sliding bases 151, 152 fixed to the first nut bracket 149 and sliding on the first and second guide rails 141, 142, and a first connecting portion 153 fixed to the first and second sliding bases 151, 152. The first gripper 118 is fixed to the first connecting portion 153.
The second actuator 116 has a second nut bracket 154 fixed to one end of the second rack 146, third and fourth sliding pedestals 155, 156 fixed to the second nut bracket 154 and sliding on the first and second guide rails 141, 142, and a second connecting portion 157 fixed to the third and fourth sliding pedestals 155, 156. The second gripper 119 is fixed to the second connecting portion 157.

The rotational motion of the motor 147 is converted into linear motion by the pinion 148, and the first and second racks 145, 146 move in opposite directions parallel to the longitudinal direction (x direction) of the hand body 110. The first nut bracket 149, the first and second sliding pedestals 151, 152, the first connecting part 153, and the first gripping part 118 move together with the first rack 145. Similarly, the second nut bracket 154, the third and fourth sliding pedestals 155, 156, the second connecting part 157, and the second gripping part 119 move together with the second rack 146.

In another embodiment, the second actuator may be configured as an actuator having a ball screw structure.
In this case, the second actuator may have first and second ball screw shafts instead of the first and second racks 145 and 146. Also, instead of the pinion 148, a connecting gear may be provided that converts the rotational motion of the motor 147 so as to rotate the first and second ball screw shafts in opposite directions in cooperation with the motor 147. By rotating the first and second ball screw shafts in opposite directions, the first nut bracket, the first and second sliding bases, the first connecting portion, and the first gripping portion are movable along the first and second guide rails, and the second nut bracket, the third and fourth sliding bases, the second connecting portion, and the second gripping portion are movable along the first and second guide rails, and move in opposite directions in a direction parallel to the longitudinal direction (x direction) of the hand body 110.

The first gripping part 118 and the second gripping part 119 are attached to the first connecting part 153 and the second connecting part 157 of the second actuator 116, and are moved by the second actuator 116 in a direction (any direction within the x-y plane) perpendicular to the up-down direction (z direction). The first gripping part 118 and the second gripping part 119 grip the outer and inner parts of a second type of container that does not have a top surface, such as a plastic container, for example.

As shown in Figures 2 and 3, the first gripping portion 118 and the second gripping portion 119 and the suction head 114 are not coaxial when viewed from the x direction, but are positioned on different axes. That is, the central axes of the pair of gripping portions 118, 119 and the suction head 114 in the vertical direction are parallel to each other and do not intersect. In other words, the position coordinates of the first gripping portion 118 and the second gripping portion 119 and the suction head 114 in the y direction are different.

Returning to FIG. 2, the first gripping portion 118 and the second gripping portion 119 will be described further. The first gripping portion 118 and the second gripping portion 119 have claw portions 120, 121 that extend in a direction in which the first gripping portion 118 and the second gripping portion 119 face each other (e.g., at a right angle). The claw portions 120, 121 abut against or engage with a recess or a hook portion provided on the outer portion of the second type of container (e.g., an outer portion such as a side surface or bottom surface). Note that the claw portions 120, 121 may be provided so as to be inclined inward (e.g., inclined at an acute angle or inclined at an obtuse angle).

The first gripping portion 118 and the second gripping portion 119 have first rubber sheets 122, 123 at the portions that come into contact with the outer side of the second type of container.
Although details will be described later, when the palletizer hand 100 transfers an empty second-type container, the outer sides of the first gripping portion 118 and the second gripping portion 119 come into contact with the inner sides of the second-type container. The first gripping portion 118 and the second gripping portion 119 have second rubber sheets 124, 125 at the locations that come into contact with the inner sides of the second-type container.
In FIG. 2, the second rubber sheet 124 provided on the first gripping portion 118 is shown with diagonal lines on the right, and the first rubber sheet 123 provided on the second gripping portion 119 is shown with diagonal lines on the left.
The first and second rubber sheets 122 to 125 are not limited to being sheet-shaped (flat surface), but may have a concave or convex shape formed on the flat surface, or may be a combined sheet made up of a plurality of sheets.
The material is not limited to rubber, and may be a material (e.g., resin, silicon, etc.) having a larger coefficient of friction than the coefficient of friction of the material (e.g., metal such as stainless steel, hard plastic, etc.) constituting first gripping portion 118 and second gripping portion 119. Note that second rubber sheets 124, 125 correspond to the "contact portion." First gripping portion 118 and second gripping portion 119 may be configured without first rubber sheets 122, 123 and/or second rubber sheets 124, 125.

Next, the manner in which the palletizer hand 100 transfers the first type containers and the second type containers will be described in detail with reference to FIG. 4 and FIGS. 5A to 5C.
Fig. 4 is a schematic diagram showing a form in which the palletizer hand 100 sucks a cardboard box 300, which is an example of a first type of container. As shown in Fig. 4, the suction head 114 sucks the top surface of the first type of container in which contents are stored. In this embodiment, as an example, the cardboard box 300 stores egg containers 202 containing eggs in three rows and two columns. Note that the positions of the first gripping portion 118 and the second gripping portion 119 in the x direction are not limited to those shown in Fig. 4 and may be any positions.

As shown in FIG. 4, when the suction head 114 picks up a first type of container, the first actuator 112 lowers the suction head 114 to a position where the bottom (lowest point) of the suction head 114 is lower than the lower ends of the first gripper 118 and the second gripper 119. This prevents the palletizer 10 from being obstructed by the first gripper 118 and the second gripper 119 when stacking the first type of containers picked up by the suction head 114. In addition, as shown in FIG. 4, it is also possible to transport and stack first type containers having a width greater than the width in the x direction from the first gripper 118 to the second gripper 119.

Figures 5A to 5C are schematic diagrams showing how the palletizer hand 100 grips a plastic container 200, which is an example of a second type of container.

As shown in Figures 5A and 5B, the first gripping portion 118 and the second gripping portion 119 grip the outer portion of the second type of container containing the contents. In this embodiment, as an example, egg containers 202 are stored in two rows and two columns in a plastic container 200. Also, Figure 5A shows a state in which one row of plastic containers 200 is gripped, and Figure 5B shows a state in which two rows of plastic containers 200 stacked up are gripped. The plastic container 200 has a recess 204 on the outer portion. The first gripping portion 118 and the second gripping portion 119 hook the claw portions 120, 121 into the recess 204 of the plastic container 200. It is noted that the second type of container does not have to have a recess on the outer portion. In this case, the first gripping portion 118 and the second gripping portion 119 may hook the claws 120, 121 onto the bottom surface of the second type of container, or the claws 120, 121 may be removed and the plastic container 200 may be gripped by pressing against the outer side from both sides.

Figure 5C shows an empty plastic container 200 in a gripped state. As shown in Figure 5C, the first gripping portion 118 and the second gripping portion 119 grip the inner portion of the empty second type container. The first gripping portion 118 and the second gripping portion 119 bring the second rubber sheets 124, 125 on the outer portions into contact with the inner portion of the plastic container 200. Note that a recess may be formed in the inner portion of the plastic container 200. In this case, the first gripping portion 118 and the second gripping portion 119 may have a protrusion or claw portion that fits into the recess instead of the second rubber sheets 124, 125.

5A to 5C, in this embodiment, when the first gripping unit 118 and the second gripping unit 119 grip the outer or inner part of the second type container, the suction head 114 is installed in the original position (uppermost position). More generally, the first gripping unit 118 and the second gripping unit 119 grip the plastic container 200 at a position lower than the bottom (lowest point) of the suction head 114. This makes it possible to prevent the gripped second type container from coming into contact with the suction head 114, and makes it possible to transport the second type container safely and accurately.
When the first gripping part 118 and the second gripping part 119 grip the outer part or the inner part of the second type container, the suction head 114 is not limited to the original position (uppermost position), and may be located at a position higher than the upper end of the gripped second type container, or may be located at a position higher than the upper end of the contents (egg containers) stored in the plastic container 200. Even if the egg containers are stored above the upper end of the plastic container 200, the egg containers can be prevented from coming into contact with the suction head 114, and the second type containers can be transferred safely and accurately.

(Details of the palletizer system)
An embodiment of a palletizer system using a palletizer 10 will be described in detail with reference to Figures 6A and 6B. Figures 6A and 6B are schematic diagrams showing a palletizer system of an embodiment. First, with reference to Figure 6A, a case where a cardboard box, which is an example of a first type of container, is handled will be described. Note that the conveying path of the cardboard box is indicated by arrows.

The palletizer system 400 includes a palletizer 10, a box-making machine 401, a first loading section 402, a second loading section 404, a connecting orthogonal conveyor 406, an egg container storage device 12, a curved conveyor 408, a box-sealing machine 410, a conveyor 412, a switching table 414, a carrying-out section 416, a first installation section (420a, 420b), and a second installation section (422a, 422b). The egg container storage device 12 is the same as that described in FIG. 1, so details are omitted. For convenience of illustration, the palletizer hand 100 is not shown in the palletizer 10.

The palletizer system 400 includes two first installation units (420a, 420b). Each of the first installation units (420a, 420b) incorporates a second installation unit (422a, 422b). The first installation units (420a, 420b) position the pallets, and the second installation units (422a, 422b) position the dollies. In this embodiment, the pallets are used to stack cardboard boxes, and the dollies are used to stack plastic containers, but this is not limited to this. As shown in FIG. 6A, when the first installation unit 420a positions the pallet 418, the second installation unit 422a is stored on the first installation unit 420a. In FIG. 6A, as an example, the pallet 418 is installed in the first installation unit 420a close to the unloading unit 416, and two dollies 419b are installed in the second installation unit 422b close to the second loading unit 404.

The box former 401 assembles cardboard into a box shape and glues the bottom surface with tape, hot melt, staples, etc. The first loading section 402 includes a conveyor and carries the cardboard boxes assembled by the box former 401 into the connecting orthogonal conveyor 406. The connecting orthogonal conveyor 406 transports the cardboard boxes carried in from the first loading section 402 to the egg container storage device 12. The egg container storage device 12 stores multiple egg containers in the empty cardboard box that has been carried in, and transports it to the curved conveyor 408. The curved conveyor 408 transports the cardboard box containing the egg containers to the box sealing machine 410. The box sealing machine 410 glues the top surface of the cardboard box that has been carried in with tape, hot melt, staples, etc., and transports it to the discharge section 416. The discharge section 416 discharges the cardboard box to the container waiting position of the palletizer 10 (as an example, a position where the palletizer 10 and the cardboard box face each other). The palletizer 10 stacks the discharged cardboard boxes on a pallet 418 installed in the first installation section 420a.

Specifically, the palletizer 10 executes the following steps (A1) to (G1).
(A1) The palletizer 10 positions the palletizer hand 100 at a predetermined height above a cardboard box that is in the container standby position.
(B1) The first actuator 112 lowers the suction head 114, which is in the original position (uppermost position) or the suction position (at least a position lower than the lower end of the gripper), until it contacts the top surface of the cardboard box.
(C1) The suction head 114 adheres to the top surface of the cardboard box 114.
(D1) The palletizer 10 lifts the cardboard box that has been adsorbed by the suction head 114 and transfers it to the pallet 418.
(E1) The palletizer 10 places the attracted cardboard box at a preprogrammed position on the pallet 418 or on top of a cardboard box already placed on the pallet 418.
(F1) The suction head 114 stops suctioning the cardboard box 114, and the cardboard box is detached.
(G1) The palletizer 10 repeats the above steps to transport the next cardboard box.
In the repeating operation, the palletizer 10 may drive the first actuator 112 to return the suction head to the original position and perform the above steps (A1) and (B1), or may perform (A1) without returning it to the original position and then bring the suction head, which is already at the suction position, into contact with the top surface of the container in (B1). Note that the operations (A1) and (B1) may be performed simultaneously.
In addition, a pallet may also be placed on the other first placement section 420b, and the palletizer 10 may also be configured to stack cardboard boxes on that pallet.

Next, referring to Fig. 6B, a case where a plastic container, which is an example of the second type of container, is handled will be described, focusing on differences from Fig. 6A. As in Fig. 6A, the conveying path of the plastic container is indicated by arrows.
In palletizer system 400, case sealing machine 410 is switched to conveyor 412 by switching table 414. Also, carts (419a, 419b) are installed in second installation sections (422a, 422b). As an example, plastic containers storing egg containers are stacked by palletizer 10 on cart 419a installed in second installation section 422a. As an example, empty plastic containers (not shown) are stacked on cart 419b installed in second installation section 422b.

The palletizer 10 lifts the empty plastic containers stacked on the dolly 419b one by one and transports them (i.e., depalletizes them) to a predetermined position above the second carry-in section 404. Specifically, the palletizer 10 executes the following steps (A3) to (F3).
(A3) The palletizer 10 moves the palletizer hand 100 to a predetermined height above an empty plastic container placed on the cart 419b. The suction head 114 is installed in the original position (uppermost position). The distance between the pair of gripping parts 118, 119 is set to be smaller than at least the storage width (the width size of the inner surface) of the plastic container.
(B3) The palletizer 10 lowers the pair of grippers 118, 119 and moves them to a storage position inside the plastic container.
(C3) The second actuator 116 increases the distance between the pair of gripping portions 118, 119, and the pair of gripping portions 118, 119 press against the plastic container from the inside to grip it.
(D3) The palletizer 10 lifts the plastic container gripped by the pair of grippers 118, 119, and transfers the container from the cart 419b to the second loading section 404.
(E3) The second actuator 116 reduces the distance between the pair of gripping portions 118, 119 to at least less than the storage width of the plastic container, and releases the grip. (F3) The palletizer 10 repeats the above steps to transport the next empty plastic container.

The second loading section 404 includes a conveyor and carries empty plastic containers into the connecting orthogonal conveyor 406. The connecting orthogonal conveyor 406 transports the plastic container carried in from the second loading section 404 to the egg container storage device 12. The egg container storage device 12 stores multiple egg containers in the transported empty plastic container and transports it to the curved conveyor 408. The curved conveyor 408 transports the plastic container in which the egg containers are stored to the conveyor 412, which transports the plastic container to the unloading section 416. The unloading section 416 is equipped with a stacking device 417. The stacking device 417 operates when a plastic container is transported and does not operate when a cardboard box is transported. When a plastic container is transported from the conveyor 412, the stacking device 417 lifts the plastic container (first stage) in the direction perpendicular to the paper surface (z direction). Next, when the conveyor 412 transports the next plastic container (second tier) to the discharge section 416, the stacking device 417 lowers the lifted plastic container (first tier) and places it on the transported plastic container (second tier). When the stacking of the plastic containers 417 is completed, the stacking device 417 is stored inside the discharge section 416. The discharge section 416 transports the stacked plastic containers to the container standby position of the palletizer 10 (as an example, a position where the palletizer 10 and the plastic containers face each other). The position where the plastic containers are stacked by the stacking device 417 may be the same as the container standby position of the palletizer 10 (that is, the stacked plastic containers may be gripped at the stacked position). The palletizer 10 stacks the plastic containers at the container standby position on the cart 419a. The discharge section 416 may be configured not to include the stacking device 417. In this case, the palletizer 10 may stack the plastic containers one level at a time. Also, the stacking device 417 may stack the plastic containers in multiple levels, such as three or more levels.

Specifically, the palletizer 10 executes the following steps (A2) to (G2).
(A2) The palletizer 10 places the palletizer hand 100 at a predetermined height above a plastic container at the container standby position. The suction head 114 is installed in the original position (uppermost position). The distance between the pair of gripping parts 118, 119 is set to be at least larger than the gripping width of the plastic container (the width of the plastic container gripped by the pair of gripping parts 118, 119).
(B2) The palletizer 10 moves the pair of grippers 118, 119 to the side position of the plastic container.
(C2) The second actuator 116 grips the plastic container from the outside with a pair of gripping portions 118, 119.
(D2) The palletizer 10 lifts the plastic container gripped by the pair of grippers 118, 119, and transfers the container to the cart 419a.
(E2) The palletizer 10 places the gripped plastic container at a preprogrammed position on the cart 419a or on top of a plastic container already placed on the cart 419a.
(F2) The second actuator 116 increases the distance between the pair of gripping portions 118, 119 to at least be greater than the gripping width of the plastic container, and releases the gripping of the pair of gripping portions 118, 119.
(G2) The palletizer 10 repeats the above operations to transfer the next plastic container.

In this embodiment, an example has been described in which nothing is placed on the trolley 419a installed in the second installation section 422a in the initial state, and empty plastic containers (not shown) are stacked on the trolley 419b installed in the second installation section 422b, but this is not limited to the above. For example, empty plastic containers may also be stacked on the trolley 419a installed in the second installation section 422a in the initial state, and depalletized by the palletizer 10. In addition, the palletizer 10 may palletize plastic containers not only on the trolley 419a installed in the second installation section 422a, but also on the trolley 419b installed in the second installation section 422b. In addition, the palletizer 10 may palletize plastic containers containing egg containers after depalletizing the empty plastic containers is completed, or may palletize before depalletizing all empty plastic containers is completed. In other words, depalletizing and palletizing can be done simultaneously.

The palletizer system 400 shown in Figures 6A and 6B allows multiple types of containers, such as cardboard boxes and plastic containers, to be palletized using a common palletizer system. Furthermore, for plastic containers, not only palletizing but also depalletizing can be achieved.

Next, referring to Figures 7A and 7B, another embodiment of a palletizer system using a palletizer 10 will be described, focusing on differences from Figures 6A and 6B. Figures 7A and 7B are schematic diagrams showing a palletizer system of another embodiment. The same components as those in Figures 6A and 6B are given the same reference numerals and will not be described. Figure 7A shows a case where cardboard boxes are handled, and Figure 7B shows a case where plastic containers are handled.

The palletizer system 500 includes a palletizer 10, an inlet section 501, a connecting orthogonal conveyor 406, an egg container storage device 12, a curved conveyor 408, a box sealer 410, a conveyor 412, a switching table 414, an outlet section 416, a first installation section 420a, and a second installation section 422a. As shown in FIG. 7A, the inlet section 501 conveys empty cardboard boxes conveyed from upstream to the connecting orthogonal conveyor 406. As shown in FIG. 7B, the inlet section 501 conveys empty plastic containers conveyed from upstream to the connecting orthogonal conveyor 406. As shown in FIG. 7B, in the palletizer system 500, the palletizer 10 does not depalletize the plastic containers. According to the palletizer system 500 shown in FIG. 7A and FIG. 7B, multiple types of containers can be fed to the same inlet section 501, and the configuration of the palletizer system can be simplified.

Next, referring to FIG. 8, another embodiment of a palletizer system using a palletizer 10 will be described, focusing on differences from FIG. 6A to FIG. 7B. FIG. 8 is a schematic diagram showing a palletizer system of another embodiment. The same components as those in FIG. 6A to FIG. 7B are given the same reference numerals, and descriptions thereof will be omitted. The palletizer system 600 is a system dedicated to second-class containers such as plastic containers. The palletizer system 600 does not handle cardboard boxes.

The palletizer system 600 includes a palletizer 10, an inlet section 601, a connecting orthogonal conveyor 406, an egg container storage device 12, a curved conveyor 408, a conveyor 412, an outlet section 416, a first installation section (420a, 420b), and a second installation section (422a, 422b). The palletizer system 600 does not include a box former, a box sealer, or a switching table. Carts (419a, 419b) are installed in the second installation section (422a, 422b). As an example, empty plastic containers (not shown) are stacked on the cart 419b installed in the second installation section 422b. The palletizer 10 depalletizes the empty plastic containers and transports them to a predetermined position on the inlet section 601. The inlet section 601 transports the empty plastic containers to the connecting orthogonal conveyor 406. The palletizer 10 stacks plastic containers storing egg containers on the cart 419a installed in the second installation section 422a.
According to the palletizer system 600 shown in FIG. 7, a system dedicated to the second type of containers that performs both depalletizing and palletizing can be realized.

In addition, empty plastic containers may also be stacked on the cart 419a installed in the second installation section 422a in the initial state, and the containers may be depalletized by the palletizer 10. Furthermore, the palletizer 10 is not limited to the cart 419a installed in the second installation section 422a, and may also stack plastic containers containing multiple egg containers on the cart 419b installed in the second installation section 422b.

(Action and Effect)
The effects of this embodiment will be described below. The palletizer 10 of this embodiment can handle first-type containers and second-type containers. This eliminates the need to build a dedicated palletizer system for each type of container. It also eliminates the need to design a palletizer hand for each type of container. Furthermore, there is no need to take the time to replace the palletizer hand depending on the container being transported. This embodiment can reduce the space required for the palletizer system and manufacturing costs.
Furthermore, the palletizer 10 of the present embodiment can perform both depalletizing and palletizing of second-class containers such as plastic containers, which eliminates the need to provide a separate depalletizer and simplifies the palletizer system.

According to the palletizer 10 of this embodiment, the first gripping portion 118 and the second gripping portion 119 have claw portions 120, 121, first rubber sheets 122, 123, and second rubber sheets 124, 125. This allows the outer and inner parts of the plastic container to be securely gripped, resulting in a highly reliable palletizer 10.

According to the palletizer 10 of this embodiment, the first gripping portion 118 and the second gripping portion 119 and the suction head 114 are not coaxial when viewed from the x direction, but are positioned on different axes. This allows the first gripping portion 118 and the second gripping portion 119 to grip even a second type of container whose width is narrower than the length of the suction head 114 in the x direction.

LIST OF SYMBOLS 1 Palletizer system 10 Palletizer 12 Egg container storage device 13 Carry-in section 15 Carry-out section 17 Cart 100 Palletizer hand 101 Base section 102 Lower arm 103 Upper arm 104 Wrist arm 110 Hand body 111 Hand connecting section 112 First actuator 114 Suction head 116 Second actuator 118 First gripping section 119 Second gripping section 120, 121 Claw section 122, 123 First rubber sheet 124, 125 Second rubber sheet 200 Plastic container 202 Egg container 204 Recess 300 Cardboard box 400 Palletizer system 401 Box former 402 First carrying-in section 404 Second carrying-in section 406 Connecting orthogonal conveyor 408 Curved conveyor 410 Sealing machine 412 Conveyor 414 Switching table 416 Discharge section 417 Stacking device 418 Pallet 419a, 419b Cart 420a, 420b First installation section 422a, 422b Second installation section 500 Palletizer system 501 Carry-in section 600 Palletizer system 601 Carry-in section

Claims (4)

an egg container storage device for storing a plurality of egg containers containing eggs in each of an empty first type container and an empty second type container;
a palletizer for transporting and stacking the first type of containers containing the egg containers onto a pallet and/or a dolly, or transporting and stacking them on top of the first type of containers already placed on the pallet and/or the dolly, and for transporting and stacking the second type of containers containing the egg containers onto a pallet and/or a dolly, or transporting and stacking them on top of the second type of containers already placed on the pallet and/or the dolly;
a conveying unit that conveys the first type of container and the second type of container from the egg container storage device to a container standby position of the palletizer;
A switching table is provided for switching between a sealing machine for sealing the first type of container and a conveyor for sending the second type of container without sealing it by moving the switching table in the discharge section,
the one palletizer uses a means for handling the first type of container of a palletizer hand when transferring and stacking the first type of container, and uses a means for handling the second type of container of the palletizer hand when transferring and stacking the second type of container;
Palletizer system. A loading section is provided for transporting the empty first type containers and the empty second type containers to the egg container storage device; or
a first receiving unit for transporting empty containers of the first type to the egg container storage device and a second receiving unit for transporting empty containers of the second type to the egg container storage device;
The palletizer system of claim 1 . The palletizer system according to claim 1, wherein the one palletizer has a palletizer hand, the palletizer hand having a hand body connected to the palletizer, a suction head for suctioning or detaching a first type of container from its top surface, and at least a pair of gripping parts capable of gripping the outer side of a second type of container different from the first type of container. A depalletizing method carried out by an egg container storage device, a palletizer, an input section for empty containers, an output section and a switching table, comprising:
a depalletizing process in which the palletizer transports empty second-type containers placed on pallets and/or carts to a predetermined position in the loading section;
the carrying unit carrying the empty second type container to the egg container storage device;
a step of storing a plurality of egg containers containing eggs in the empty second type container by the egg container storage device;
a step of the discharge unit discharging the second type container in which the egg containers are stored by the egg container storage device from the egg container storage device to a container standby position of the palletizer;
the palletizer transporting and stacking the second type of containers containing the egg containers to predetermined positions on pallets and/or dollies;
a switching step of switching, at the discharge section, between a sealing machine for sealing a first type of container different from the second type of container and a conveyor for transporting the second type of container;
configured to be capable of palletizing containers of a first type that are different from containers of a second type,
When palletizing the above-mentioned type of container,
transporting the empty first container to the egg container storage device;
a step of the egg container storage device storing a plurality of egg containers containing eggs in an empty container of the first kind;
a step of the discharge unit discharging the first type of container in which the egg containers are stored by the egg container storage device from the egg container storage device to a container standby position of the palletizer;
the palletizer transporting and stacking the first type of container containing the egg containers to a predetermined position on a pallet and/or a dolly;
The depalletizing method includes the steps of:

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