Title:
パレタイズ装置
Document Type and Number:
Japanese Patent JP7227745
Kind Code:
B2
Abstract:
To provide a palletizing device which detects an entering object to a robot passage range, can guarantee its safety even when an operator approaches the robot passage range, and sets a range where the entering is restricted to be comparatively small.SOLUTION: A palletizing device 1 that performs a palletizing operation of a workpiece W between a carrying-in position Cp where the workpiece W is carried in/out by a conveyance part C and a pallet position pp1 of a pallet P1 where the workpiece W is loaded or unloaded is constituted of a robot 2, a robot control part 5 controlling an operation of the robot and a boundary sensor 11 connected to the robot control part 5, in which the boundary sensor 11 regards at least a part of a boundary between an approach prohibited space Ab1 including a passage space At1 where the robot 2 can pass during the palletizing operation and an external space Ao1 defined outside of the approach prohibited space Ab1 as a first detection zone As11 and detects an object passing through the first detection zone As11, and the robot control part 5 stops or decelerates the robot 2 when the object passing through the first detection zone As11 is detected.SELECTED DRAWING: Figure 2
Inventors:
Koichi Hadano
Shinichi Goto
Hiroki Odawara
Yasunobu Igarashi
Shinichi Goto
Hiroki Odawara
Yasunobu Igarashi
Application Number:
JP2018215963A
Publication Date:
February 22, 2023
Filing Date:
November 16, 2018
Export Citation:
Assignee:
Kao Corporation
International Classes:
B25J19/06; B25J13/08
Domestic Patent References:
| JP2017060989A1 | ||||
| JP2000006083A | ||||
| JP2017013209A |
Foreign References:
| US20150112483 |
Attorney, Agent or Firm:
Right Shunsuke