IL38445A - Automatic palletizer method and apparatus - Google Patents

Description

384452 AUTOMATIC PALLETIZE?. METHOD ASP APPARATUS AUTOMATIC PALLE !ZER METHOD AND APPARATUS Abstract of the Invention • An improved method and apparatus for automatically loading a pallet including placing an empty pallet into loading position, loading items onto the pallet in a preselected arrangement, and removing the loaded pallet. The apparatus includes a conveyor system for delivering items to the load— , ing means; the loading means may move laterally, vertically -and rotatably. The entire operation may be hydraulic, and may be controlled by a program, such as by the use of a program tape, program cards, or by a conventional relay control panel.

In the fields of package and material handling, especially^ in the area of palletizing, the majority of the prior art devices operate in a fashion known as top loading. Top loaders utilize a forming platform level some ten to twelve feet above the floor level; thus, the items to be loaded, which are often one hundred pound bags, must be elevated to this platform level. In , addition, walkways and stairways are usually necessary to gain:.... access to the working parts of these machines. ....'.· In add ition ,. some of these machines invariably include a vertically movable and/or rotata le pallet platform or turntable to raise the empty pallet from floor level to about ten to twelve' feet above' the floor (the platform level) and to rotate and . lower · the pallet to" permit interlocked loading. The mechanism fo accomplishing this motion is sometimes located in a pit belo the.' floor level under the palle.t and platform. ' ··-- · The problems which develop in gaining access to these machines are apparent from their size alone. Furthermore, if the vertical motion of .the pallet and/or the rotation. of the pallet are not within predetermined limits of the synchronization with regard to the release of items from the dispensing or loading portion of these machines, the pallets will not be loaded - ·" · properly and usually the entire load on the pallet will have to be rearranged even though portions may have been loaded properly prior to the loss of the synchronizat on.

With the prior art problems in mind, the present invention provides a new and improved method and apparatus for loading a pallet. .. ·.__. The present invention provides an automatic pal.let.izer system including means for delivering an empty pallet to a loading area, and means for stacking articles on the pallet in is also provided means for removing the loaded pallet. ' > The invention provides a method and' apparatus for laod- ·■'.' -ing a pallet which permits reasonably easy access to all working ; parts, and a method and apparatus for stacking or loading a' pallet in a staggered or interlocked manner without moving the pallet.- . " ■ ■" ' ' :'"· -V . , - ''··" : The invention also; provides a method and apparatus for load- . ing a pallet utiltizing hydraulic power exclusively,, and a pallet loading method and an apparatus which are automatically controlled such as by a program tape or program cards. ;,· '''·■''■'■'.■■/:' ·' '.?::··.'7:'" ■' • The method Includes loading items onto the pallet in interlocking form by vertically, laterally and rotatably moving the >·■ loading' apparatus . The apparatus includes means for moving the loading apparatus vertically, means for moving the loading* apparatus laterally, means for* rotationally moving the loading, apparatus, and means for releasing items from the loading apparatus .

The invention may also include conveyor means for feeding items into the loading apparatus, means for supplying empty pallets to the- loading area, and means for removing fully loaded .. pallets from the loading area.

... All the functions described may be performed hydraulically and may be performed automatically, such as under the control of a program tape or similar machine control devices.

In the drawings, where like numerals identify corresponding parts : Figures 1 and 2 are top views of a partially loaded pallet illustrating alternate layers in an interlocking loading scheme; Figure 3 is a partially diagrammatic front elevation view of an automatic palletizer embodying the principles of the pre- ', Figure 2 illustrates the second layer of bags. It is im- ' portant to remember that the pallet has not been moved; thus, : the layer illustrated in Figure 2 is actually above the layer . illustrated in Figure 1.' Bag B-5 is placed in the upper left-hand corner but parallel to bag B-l. Bag B-6 is' rotated ninety, degrees and placed in the upper right-hand corner. Bag B-7 is : parallel to B-5 but is in the lower right-hand corner/ and bag B-8 is rotated ninety degrees and placed in the lower left-hand corner. Thus, the second layer may be thought of as being one-half turn out of phase with the first layer. In this manner the layers' "lock" as they are stacked. This is sometimes re-. ... ferred . to as" "lockstacking the load." If all the layer's were "· the. same, for example, if all the layers were similar to Figure 1, it may be appreciated that there would be four unrelated vertical stacks of bags on the pallet. Any bag loaded improperly ■ on any one stack could cause that entire . stack to topple . . - ·■ . .. · Referring to Figure 3 the general operation of the automatic palletizer will be explained. Figure 3 is a diagrammatic front elevation view of the automatic palletizer 10. The - , palletizer 10 may include an empty pallet magazine; 12. which may include vertical support members 14 and 16 and a floor or lower support member 18. Illustrated in Figure 3 are a plurality of empty; pallets 20a ...20i and two front pivoted . lifting arms 22. Figure 3A also shows two back pivoted lifting arms 24 which are >■ .·■ similar to the front pivoted lifting arms 22. A separate lifting'. wedge 23 is attached to each of the lifting arms 22 and 24.. As viewed in Figure 3A, the two left lifting arms 22 and 24 are pivoted to a horizontal adjustable frame support member 25 (see ; -\ also Figure 3B) . The two right lifting arms 22 and 24 are pivoted to another horizontal adjustable support frame member 27.

Each lifting arm 22 is associated with and. connected, to separate adjustable connector 29. The adjustable connector 29 is pinned to its associated lifting arm 22. Each back lifting arm 24 is associated with and pinned to a separate hydraulic cylinder 31. When the hydraulic cylinders 31 extend, all the pivoted lifting arms 22 and 24 rotate towards the center of the magazine. The lifting wedges 23 will engage the second, pallet from the bottom, and lift vertically along the load of the empty pallets. The pallet on the bottom may then be dispensed by a conveyor 26 or by other suitable mechanical means. The hydrauli cylinders 31 are then retracted causing the pivoted lifting arms 22 and 24 to pivot outwardly relative to the center of the magazine in order to release the load of empty, pallets. The.liftin arms 22 and 24 may then be rotated toward the center of the magazine to engage the second pallet from the bottom when another pallet is needed. Figure 3 also illustrates a pallet 28. which has been dispensed from the empty pallet magazine 12 just prior to entering ...the load area '3 ..

Either one or both of the horizontal support members 25 and/or 27 may be made adjustable to move toward the right or left as depicted in Figure 3A in order to adjust the spacing therebetween.

· " ·. The loading or stacking area 30 is that area where items such as bags are loaded onto the pallet. Loading area 30 is illustrated in Figure 3 with a pallet 32 which has been loaded, for example, with five layers of bags 34. The .alternate of interlocking placement of the bags, as explained herein above with reference to Figures 1 and 2 may also be seen in Figure 3. The loading or stacking means 36 is depicted diagrammatically in Figure 3 above the layers of bags 34 for the purpose of On the opposite side of the loading area 30 from the empty pallet dispensing means 12, there may be provided a pallet re-moval area 38. Conveyor 26 may be extended to carry the fully loaded pallet to the removal area 38, and another conveyor apparatus (not Shown) may be used to remove a pallet 40, fully loaded with layers of bags 34, from the removal area 38 to a storage or shipping area.

The empty pallet magazine 12 and the pallet removal via the conveyor 26 are not essential to the invention. Empty pallets may be placed into the loading area 30 by hand or by -suitable mechanical means, such as a fork-lift truck, and may ■ be removed when fully loaded by a fork lift.

As the various layers are formed in the loading area the stack gets higher thus, either the stacking means or loading means 36 must be elevated or the partially loaded pallet lowered. Since one problem with the prior art palletizers was , the need for locating equipment in a pit below the loading area, the solution according to this invention is to provide loading means 36 which may be moved vertically as needed. Elimination of equipment below the floor level precludes the use of a turntable or rotatable pallet platform. Loading means 36 should be capable of lateral movement to form the layers of bags 34 as explained with reference to Figures 1 and 2.

In most situations the packages or bags 34 that are to be palletized are usually carried by a conveyor from the last ste in the manufacturing and packaging process. The conveyor conventionally terminates at a fixed place; thus, the conveyor means of. the invention must be able to deliver a package or bag 34 from a fixed point or area to the stacking or loading means 26 regardless of the position, vertical and/or lateral, of the load of the invention is the telescopic infeed conveyor means 46.

Referring to Figures 4 and 5, the telescopic infeed conveyor means 46 may increase or decrease in length, swivel to the left, or right of center and rotate vertically in an arc while" still providing a conveyor path from the fixed point where packages ' or bags 34 are initially received to the stacking means 36 above "the stacking area 30.

The package at the receiving area 42 travels along the telescopic infeed conveyor 46 to the transport conveyor 56.

The left or far end support frame 52 of the telescopic infeed conveyor 46 is mounted on a pivot bearing 43 fixed to the floor. The center of this pivot bearing 43 is directly below the center of the extended shaft 45 which supports the tail pulley' 7 of theouter section of the telescopic infeed conveyor 46. Shaft 45 serves two functions. It carries the tail pulley 47 of the telescopic infeed conveyor 46 and also serves as a pivot point (via two bearings attached to frame 52) through which the .tele-..', scopic infeed conveyor 46 can rotate in a vertical plane. A" ' yoke arrangement 54 is connected through a pivot bearing 49 to frame 64 which is a part of transport frame 58. Yoke 54 is attached to the extended shaft 51 of the head pulley 53 of the telescoping section 55 of the telescopic infeed conveyor 46 through the use of ' two flange bearings.

The transport conveyor 5¾ and the stacking means 36 are carried by the transport frame 58. Transport frame 58 may be supported by a hoist frame 60. A hydraulic cylinder (not- shown)' provides the force to move the transport frame 58 forward or reverse (into or out of the loading area 30, or left or right as illustrated in Figure 4). A pair of hydraulic cylinders (not r.hown) are attached to the side transport frame 62 to move the " y ;. As hoist frame 60 is moved vertically upwards, frame 64, which is part of transport frame 58, lifts the near end of the conveyor path. The near end of the telescopic infeed conveyor 46 through pivot points 49 and 51, and the conveyor's telescoping or extneding capability will follow the movement of the transport frame 58. Packages 34 from the receiving point 42 will be delivered to the appropriate elevation. Similarly, because of the swivel points 43 and 45 and the telescoping or , .··'■. extending capability of the telescopic infeed conveyor 46, : ■'' lateral movement of transport frame 58 (Figure 5) will not break the conveyor path from the receiving area 42 to the transport conveyor 56.

Hydraulic cylinders and hydraulic piping have been omitted clarity. It is known that hydraulic apparatus may be used, ··' in conventional manner to provide the several types of motion described.

Referring to Figure 5, the partial plan view of the apparatu just described illustrates the track base 66 which permits, lateral or side-to-side movement of the transport frame 58.

Because of the structural support from frame 58 via frame 64 and pivot points 49 and 51 conveyor 46 pivots about its near and far ends at frame 52 and yoke 54, and the yoke 54 follows the transport frame 58. The conveyor system follows vertical,- lateral, and/or front and rear motion of the transport frame 58 to provide a conveyor path from the fixed area 42 to the loading means 36.

With reference to Figure 4, the loading or stacking means'-36 includes a swivel or pivot 68 suspended from transport frame 58, and a stacking head 70 mounted to the bottom portion of the FIW I firt . Tho i i r o ri n n F |-.h L FS . IW I. v<: .1 c o n n n c !;. t o n f,P, Is to pe rm i arc of 90 degrees clockwise or counter-clockwise to the longitudinal axis of the palletizer is an important feature of the invention. It is also within the ambit of the invention to provi for a 180 degree, 270 degree, and/or 360 degree rotation of the stacking head 70, if desired.

Considering Figures 1, 2 and 4, packages or bags 34 to be stacked are delivered along the conveyor paths 46 and 56. The package or bag 34 leaves conveyor 5Ί& and its trajectory causes it to move into stacking head 70. Stacking head 70 includes an interior pocket 72 which has an excapement bottom 74.

Referring to Figure 6, the stacking head with the escapement bottom will now- e described. In Figure 6 the solid lines indicate the escapement in a closed, position', and the dotted lines indicate the escapement in an open position. A package or bag 34 will rest upon escapement panels 78, 80, which are part of horizontal escapement members 82, 84 respectively..

When the · substantially vertical members 86 and 88 are hydraul-ically brought together, the horizontal escapement members 82 and 84 and the, escapement panels 78 and 80 move horizontally apart. This provides an opening through which the package ' or .. bag 34 may drop into the pallet.

In light of the present-day technology it may be desirable to fully automate this procedure. Many processes are computer controlled or controlled by a program tape or program cards.

Basically, a punched tape or punched cards may be used along with a device to feed the cards or tape and sense the position of the various holes. The particular location of the punched holes may be electrically sensed to open or shut relays and thereby cause particular motors to be started or stopped or particular pumps to be started or stopped. The distance between various groups ■permit one with ordinary skill in the technology of tape controlled machinery to automate the palletizer of the invention and will not be illustrated or explained in detail since each aspect of motion and each step in the process has already been set forth as part of the explanation of the invention.

Claims (2)

1. 2 MAI IS CLAIMED IS : 1. A method of automatically loading articles on a .■ pallet comprising the steps of; - delivering an empty pallet from a vertical storage area into a loading area; - stacking articles onto said pallet in successive interlocking layers without moving said pallet; and - removing a loaded pallet.

2. The method of claim 1 wherein said steps of delivering includes the steps of; - raising all pallets in said vertical storage area except a bottom pallet; - releasing the bottom pallet for delivery; and - lowering all remaining pallets after said bottom pallet has been delivered. 3· An automatic palletizer system comprising ; - means for delivering an empty pallet to a lo&ding area; - means for stacking articles on said pallet in successive interlocking layers without moving said pallet; and - means for removing a loaded pallet . 4. A system according to claim 3» wherein said delivering means includes; - a frame for vertically storing at least one empty pallet ; and - means for moving pallets above a predetermined pallet for permitting said predetermined pallet to be delivered from said frame to said loading area. 5. For use in practising the method claimed in claims 1 and 2 and being part of or associated with the system claimed in claims or 4; - a conveyor system for delivering articles from a fixed area to a variable position loading device comprising: - means for conveying articles from said fixed area to said loadin device; - means for horizontally moving said conveying means in response to lateral motion of said loading device; - means for elevating said conveying means in response to vertical motion of said loading device; and - means for linearly extending said conveying means as said loading device is linearly moved away from said fixed area. 6. In a system as claimed in claims 3 or 4f an apparatus for stacking articles in successive interlocking layers upon a stationary pallet comprising ; - a transport frame; - a loading head rotatably connected to said transport frame ; - means for moving said transport frame along a first axis for selectively loading portions of said pallet; - means for moving said transport frame along a second axis perpendicular to said first axis for selectively loading portions of said pallet; - means for rotating said loading head for stacking, in conjunction with each of said moving means, a first layer of articles on said pallet; and - means for vertically raising said transport frame and said loading head for stacking successive layers on 7.. In. the method claimed in claim 1 , and employing the apparatus Of claim 6, the steps of ; - moving said loading device along a second axis perpendicular to said first axis for selectively loading articles on portions of said pallet ; - rotating said loading device for stacking, in conjunction with each of said steps of moving, a first layer of articles on said pallet; and - raising said loading device for stacking successive layers on said pallet. 8. The conveyor system claimed in claim 5» characterised thereby that it includes a telescopic infeed conveyor which is connected to the floor through a fixed pivot conveyor to rotate in a substantially horizontal plane; - third means for permitting said telescopic infeed confyeyor to rotate in a substantially vertical plane; - a fixed pivot through which said telescopic infeed conveyor is attached to the floor ; and - said fixed .pivot being disposed in the immediate vicinity of said substantially fixed article receiving area. 38 k 10. The automatic palletizer system claimed in claims 5 and 4, and including a "bag- urning palletizer, which comprises; pallet-supporting structure disposed at a bag-stacking station, and a bag stacker disposed adjacent said pallet-supporting structure at said bag-stacking station and including ; - a base structure mounted for movement laterally of said pallet support structure; - an elevator mounted on said base structure for upward and downward movement relatively to said base structure; - a stacker carriage mounted on said elevator for longitudinal movement thereon toward and away from said pallet-supporting structure; - a bag-transfer conveyor mounted on said carriage for longitudinal movement therewith; -.a bag turner rotatably mounted on said carriage adjacent said transfer conveyor for longitudinal movement with said carriage and rotatable between a longitudinal position aligned with said transfer conveyor and a lateral position transverse to said transfer conveyor; said bag turner having a bag discharge outlet and a closure movably mounted thereon for travel into and out of closing relationship with said bag outlet, - power-operated means for moving said base structure laterally of said pallet-supporting structure; - power-operated means for moving said elevator upward and downward relatively to said base structure; ¾8 - power-operated means for moving said carriage longitudinally of said elevator; and - power-operated means for actuating said transfer conveyor, and - power-operated means for ro&ating said bag turner between said longitudinal and transverse position thereof. 11. A method of automatically loading articles on a pallet substantially as herein described with reference to and as illustrated in the accompanying drawings. 12. An automatic palletizer system substantially, as herein described with reference to and as illustrated in the aoocmpanying drawings. P.O.Box 33116,Tel-Aviv Attorneys for Applicant