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KR100930465B1 - Pallet Positioning Device - Google Patents

Pallet Positioning Device Download PDF

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Publication number
KR100930465B1
KR100930465B1 KR1020080030035A KR20080030035A KR100930465B1 KR 100930465 B1 KR100930465 B1 KR 100930465B1 KR 1020080030035 A KR1020080030035 A KR 1020080030035A KR 20080030035 A KR20080030035 A KR 20080030035A KR 100930465 B1 KR100930465 B1 KR 100930465B1
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South Korea
Prior art keywords
pallet
positioning plate
positioning
support frame
rack members
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KR1020080030035A
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KR20090104571A (en
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김재형
유현조
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김재형
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0267—Pallets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

컨베이어에 안착되어 이송되는 팔레트를 일정위치에서 정확하게 위치될 수 있도록 팔레트의 위치를 조정시키는 팔레트 위치결정장치에 관한 것이다.

이 장치는 팔레트(30)의 위치를 결정하고자 하는 켄베이어(100)의 하부에는 지지프레임(70)과, 사각의 모서리 위치에서 각각 상기 지지프레임(70)에 승강가능하게 수직으로 지지되며 각 상단부에 위치결정판(20)이 고정지지되는 4개의 랙부재(61~64)와, 각 랙부재(61~64)에 대해 수평으로 마련되고 각 양단부에 인접하는 랙부재와 기어연결되는 피니언(51a,51b)이 결합되며 지지프레임(70)에 회전가능하게 지지되는 4개의 연결봉(51)과, 위치결정판(20)의 하부에 위치되어 위치결정판(20)을 승강시키는 승강실린더(110)(120)를 구비한다.

이와 같은 위치결정장치는 4개의 랙부재 및 4개의 연결봉에 의해서 위치결정판이 수평을 유지하면서 승강되게 되므로 팔레트의 위치결정을 정확하게 수행할 수 있게 된다.

Figure R1020080030035

팔레트, 위치결정판, 랙부재, 피니언

It relates to a pallet positioning device for adjusting the position of the pallet so that the pallet that is seated on the conveyor can be accurately positioned at a certain position.

The device is supported by the support frame 70 at the lower portion of the Kenvey 100 to determine the position of the pallet 30, and vertically supported by the support frame 70 in a rectangular corner position, respectively, and each upper end Four rack members 61 to 64 on which the positioning plates 20 are fixed to each other, and pinions 51a which are horizontally provided with respect to each rack member 61 to 64 and gear-connected to rack members adjacent to both ends thereof. 51b) are coupled to the four connecting rods 51 rotatably supported by the support frame 70, and the lifting cylinder (110, 120) for lifting the positioning plate 20 is located at the bottom of the positioning plate 20 It is provided.

Such a positioning device is able to accurately perform the positioning of the pallet because the positioning plate is raised and lowered by four rack members and four connecting rods.

Figure R1020080030035

Pallet, positioning plate, rack member, pinion

Description

팔레트 위치결정장치{pallete positioner} Pallet Positioner

본 발명은 제품을 탑재하여 이송시키는 팔레트의 위치결정장치에 관한 것으로서, 특히 컨베이어에 안착되어 이송되는 팔레트를 일정위치에서 정확하게 위치될 수 있도록 팔레트의 위치를 조정시키는 팔레트 위치결정장치에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pallet positioning device for mounting and transporting a product, and more particularly, to a pallet positioning device for adjusting a pallet position so that a pallet seated on a conveyor can be accurately positioned at a predetermined position.

일반적으로 자동화 생산라인 등에 있어서, 완성제품 또는 부품 등은 컨베이어에 탑재되는 팔레트에 안착되어 이송되며, 생산공간의 여건에 따라 컨베이어가 다양한 방향으로 설치되어 있다.In general, in an automated production line or the like, the finished product or parts are seated on a pallet mounted on the conveyor and transported, and the conveyor is installed in various directions according to the conditions of the production space.

특히 제품을 로봇 등에 의해 포장위치 또는 다른 조립공정으로 이동시킬 때 로봇에 의한 정확한 파지를 위해서는 팔레트 또는 제품의 위치가 정확하게 위치되어야 한다.In particular, when the product is moved to a packaging position or other assembly process by a robot, the position of the pallet or the product must be accurately positioned for accurate gripping by the robot.

이를 위해서 종래에는 도 1 및 도 2에 도시된 바와 같이, 제품을 탑재하여 컨베이어(미도시)에 이송되는 팔레트(30)의 하면에는 결합공(31)이 형성되어 있고, 컨베이어 하부 일정위치에는 실린더(10)에 의해서 승강되는 위치결정판(20)이 위치되어서, 위치결정판(20)의 상승시 팔레트(30)의 결합공(31)이 위치결정판(20)의 결합핀(21)에 결합되어 팔레트(30)가 소망하는 위치에 위치될 수 있도록 한다.To this end, as illustrated in FIGS. 1 and 2, a coupling hole 31 is formed on a lower surface of a pallet 30 on which a product is mounted and transferred to a conveyor (not shown). Positioning plate 20 which is lifted by (10) is positioned, the coupling hole 31 of the pallet 30 is coupled to the coupling pin 21 of the positioning plate 20 when the positioning plate 20 is raised Allow 30 to be positioned in the desired position.

그러나 상기와 같은 위치결정장치는 위치결정판(20)이 하나의 실린더로드에 지지되어 승강되게 되므로, 승강되는 동안 위치결정판(20)이 좌우로 틸팅되거나 경사지게 되어 팔레트(30)의 위치결정동작이 정확하게 이루어지기 어렵다.However, in the positioning device as described above, since the positioning plate 20 is supported by one cylinder rod to move up and down, the positioning plate 20 is tilted or tilted left and right while being lifted so that the positioning operation of the pallet 30 is accurate. It is difficult to make.

본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로서, 위치결정판의 승강동작시 수평상태를 유지하면서 승강되도록 하여 팔레트의 위치결정동작이 정확하게 이루어질 수 있도록 한 팔레트의 위치결정장치를 제공하는 데 그 목적이 있다.The present invention has been made to solve the above problems, to provide a positioning device of the pallet so that the positioning operation of the pallet can be precisely performed by maintaining the horizontal state during the lifting operation of the positioning plate. There is a purpose.

상기 목적을 달성하는 본 발명은 제품을 탑재하여 컨베이어에 이송되는 팔레트의 하면에는 결합홈이 형성되어 있고, 컨베이어 하부 일정위치에는 실린더에 의해서 승강되는 위치결정판이 위치되어서, 위치결정판의 상승시 위치결정판의 결합핀이 팔레트의 결합홈에 결합되어 팔레트의 위치를 결정하는 팔레트의 위치결정장치에 있어서,The present invention to achieve the above object is provided with a coupling groove is formed on the lower surface of the pallet transported to the conveyor by mounting the product, the positioning plate which is lifted by the cylinder is positioned at a certain position under the conveyor, the positioning plate when the positioning plate is raised In the positioning device of the pallet is coupled to the coupling groove of the pallet to determine the position of the pallet,

상기 켄베이어의 하부에 위치되어 고정설치되는 지지프레임과,A support frame which is located at the bottom of the kenvey and fixedly installed;

사각의 모서리 위치에서 각각 상기 지지프레임에 승강가능하게 수직으로 지지되며 각 상단부에 상기 위치결정판이 고정지지되는 4개의 랙부재와,Four rack members which are vertically supported at the corners of the quadrangle so as to be movable vertically to the support frame, and the positioning plates are fixed to the upper ends thereof;

상기 각 랙부재에 대해 수평으로 마련되고 각 양단부에 인접하는 랙부재와 기어연결되는 피니언이 결합되며 상기 지지프레임에 회전가능하게 지지되는 4개의 연결봉과,Four connecting rods provided horizontally with respect to each rack member and coupled with a pinion gear-connected with rack members adjacent to both ends thereof and rotatably supported by the support frame;

상기 위치결정판의 하부에 위치되어 상기 위치결정판을 승강시키는 승강실린더를 구비하여 된 것을 특징으로 한다.And a lifting cylinder positioned below the positioning plate to move the positioning plate up and down.

또한, 상기 승강실린더는 적어도 2개 이상 구비된 것을 특징으로 한다.In addition, the lifting cylinder is characterized in that provided with at least two or more.

본 발명 위치결정장치는 4개의 랙부재 및 4개의 연결봉에 의해서 위치결정판이 수평을 유지하면서 승강되게 되므로 팔레트의 위치결정을 정확하게 수행할 수 있게 된다.The positioning device of the present invention is able to accurately perform positioning of the pallet since the positioning plate is elevated while maintaining the horizontal position by four rack members and four connecting rods.

도 3 및 도 4를 참조하면, 본 발명 실시예의 팔레트 위치결정장치는 컨베이어(100)에 제품을 탑재하여 이송되는 팔레트(30)가 제품의 검사위치 또는 로봇에 의한 제품의 파지위치에 정확하게 위치될 수 있도록 팔레트의 위치를 결정하기 위한 장치이다. 3 and 4, in the pallet positioning apparatus of the embodiment of the present invention, the pallet 30 to be transported by mounting the product on the conveyor 100 is accurately positioned at the inspection position of the product or the gripping position of the product by the robot. It is a device for determining the position of pallets.

제품을 탑재하여 컨베이어(100)에 이송되는 팔레트(30)의 하면에는 결합홈(31)이 형성되어 있고, 컨베이어(100) 하부 일정위치에는 실린더(110)(120)에 의해서 승강되는 위치결정판(20)이 위치되어서, 위치결정판(20)의 상승시 위치결정판(20)의 결합핀(21)이 팔레트(30)의 결합홈(31)에 결합되어 팔레트(30)의 위치를 정확하게 위치될 수 있도록 한다.A coupling groove 31 is formed on a lower surface of the pallet 30 to mount the product and to be transported to the conveyor 100, and a positioning plate which is lifted and lifted by cylinders 110 and 120 at a predetermined position under the conveyor 100. 20 is positioned, the coupling pin 21 of the positioning plate 20 is coupled to the coupling groove 31 of the pallet 30 when the positioning plate 20 is raised, so that the position of the pallet 30 can be accurately positioned. Make sure

상기 팔레트(30)의 위치를 결정하고자 하는 켄베이어(100)의 하부에는 지지프레임(70)과, 사각의 모서리 위치에서 각각 상기 지지프레임(70)에 승강가능하게 수직으로 지지되며 각 상단부에 상기 위치결정판(20)이 고정지지되는 4개의 랙부재(61~64)와, 상기 각 랙부재(61~64)에 대해 수평으로 마련되고 각 양단부에 인접하는 랙부재와 기어연결되는 피니언(51a,51b)이 결합되며 상기 지지프레임(70)에 회전가능하게 지지되는 4개의 연결봉(51)과, 상기 위치결정판(20)의 하부에 위치되어 상기 위치결정판(20)을 승강시키는 승강실린더(110)(120)를 구비한다.A lower portion of the Kenveyer 100 to determine the position of the pallet 30 is vertically supported by the support frame 70 and the support frame 70 in a rectangular corner position so as to be able to lift and lower, respectively. Four rack members 61 to 64 on which the positioning plate 20 is fixed, and pinions 51a which are provided horizontally with respect to the rack members 61 to 64 and gear-connected to rack members adjacent to both ends thereof. 51b) are coupled to the four connecting rods 51 rotatably supported by the support frame 70, and the lifting cylinder 110 for raising and lowering the positioning plate 20 is located below the positioning plate 20 120.

상기 승강실린더(110)(120)는 2개 구비되어서 각 로드(111)(121)가 위치결정판(20)에 균형을 맞추어 연결되어 수평상태를 유지하면서 승강될 수 있도록 하였다.Two lifting cylinders 110 and 120 are provided so that each rod 111 and 121 can be lifted while maintaining a horizontal state by being connected to the positioning plate 20 in a balanced manner.

상기와 같은 구성의 위치결정장치는 다음과 같이 작동된다.The positioning device of the above configuration is operated as follows.

상기 팔레트(30)가 위치를 결정하고자 하는 켄베이어(100)의 하부에 위치되게 되면, 컨베이어(100)의 구동이 정지되고 승강실린더(110)(120)가 작동되어 위치결정판(20)이 상승되게 된다.When the pallet 30 is positioned at the lower portion of the kenveyer 100 to determine the position, the driving of the conveyor 100 is stopped and the lifting cylinders 110 and 120 are operated to raise the positioning plate 20. Will be.

이때 도 3b에서와 같이, 위치결정판(20)이 상승되면서 동시에 상기 4개의 랙부재(61~64)가 상승되게 되고, 동시에 4개의 연결봉(51~54)들이 수평회전되어서 위치결정판(20)이 수평상태를 유지하면서 상승될 수 있도록 한다.At this time, as shown in Figure 3b, as the positioning plate 20 is raised at the same time the four rack members (61 ~ 64) is raised, at the same time the four connecting rods (51 ~ 54) are rotated horizontally so that the positioning plate (20) Allow to ascend while keeping level.

이와 같이 수평상태를 유지하면서 상승되는 위치결정판(20)의 결합판(21)이 팔레트(30)의 결합홈(31)에 진입되면서 팔레트(30)의 위치가 정확하게 위치될 수 있도록 한다.As such, the coupling plate 21 of the positioning plate 20 which is raised while maintaining the horizontal state enters the coupling groove 31 of the pallet 30 so that the position of the pallet 30 can be accurately positioned.

도 1 및 도 2는 종래 위치결정장치의 동작상태를 나타낸 개략도,1 and 2 is a schematic diagram showing an operating state of a conventional positioning device,

도 3a 및 도 3b는 본 발명 위치결정장치의 동작상태를 나타낸 개략도,3A and 3B are schematic views showing an operating state of the positioning device of the present invention;

도 4는 본 발명 장치의 평면도이다.4 is a plan view of the apparatus of the present invention.

Claims (2)

제품을 탑재하여 컨베이어에 이송되는 팔레트의 하면에는 결합홈이 형성되어 있고, 컨베이어 하부 일정위치에는 실린더에 의해서 승강되는 위치결정판이 위치되어서, 위치결정판의 상승시 위치결정판의 결합핀이 팔레트의 결합홈에 결합되어 팔레트의 위치를 결정하는 팔레트의 위치결정장치에 있어서,Coupling grooves are formed on the lower surface of the pallet that carries the product and transported to the conveyor.A positioning plate that is lifted by a cylinder is located at a certain position under the conveyor. In the positioning device of the pallet is coupled to determine the position of the pallet, 상기 켄베이어(100)의 하부에 위치되어 고정설치되는 지지프레임(70)과,A support frame 70 positioned and fixed to the lower portion of the kenveyer 100, 사각의 모서리 위치에서 각각 상기 지지프레임(70)에 승강가능하게 수직으로 지지되며 각 상단부에 상기 위치결정판(20)이 고정지지되는 4개의 랙부재(61~64)와,Four rack members 61 to 64 which are vertically supported by the support frame 70 so as to be able to be lifted and lowered at the corners of the quadrangle, and to which the positioning plate 20 is fixed at each upper end. 상기 각 랙부재(61~64)에 대해 수평으로 마련되고 각 양단부에 인접하는 랙부재와 기어연결되는 피니언(51a,51b)이 결합되며 상기 지지프레임(70)에 회전가능하게 지지되는 4개의 연결봉(51)과,Four connecting rods provided horizontally with respect to each of the rack members 61 to 64 and coupled with pinions 51a and 51b geared to rack members adjacent to both ends thereof and rotatably supported by the support frame 70. 51, 상기 위치결정판(20)의 하부에 위치되어 상기 위치결정판(20)을 승강시키는 승강실린더를 구비하여 된 것을 특징으로 하는 팔레트 위치결정장치.And a lifting cylinder positioned below the positioning plate 20 to lift the positioning plate 20 up and down. 제 1 항에 있어서, 상기 승강실린더는 적어도 2개 이상 구비된 것을 특징으로 하는 팔레트 위치결정장치.The pallet positioning apparatus according to claim 1, wherein at least two lifting cylinders are provided.
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