KR101329870B1 - Auto loading apparatus and method - Google Patents

Abstract

The present invention relates to a device and a method for automatically loading roll products, such as fabrics, in a vertical transfer step of vertically transferring a pallet for loading a roll product, and transferring the roll product lifted by a jig to a pallet for loading through a jig transfer means. In the dimension checking step to check the diameter of the product, the diameter of the roll product identified is compared with the previous diameter values of the loading layer so that the roll product is placed at the edge of the pallet if the diameter of the roll product to be loaded is the maximum value. The operation of the jig and the jig transfer means is controlled, and if there is another roll product on the edge, the alignment step of moving the pre-arranged roll product inwardly using the alignment means and arranging it on the edge, of the roll product on the pallet The lowering step of lowering the pallet by the diameter of the rolled product of the corresponding layer when the first stage alignment is completed, the dimension checking step The present invention relates to a roll product automatic loading device and method for repeating a system, an alignment step and a descending step to load a roll product.

Description

Automatic loading device of roll products, automatic loading method of roll products, and automatic sorting and loading method of roll products through density or color measurement {auto loading apparatus and method}

The present invention relates to a roll product automatic loading device and method, such as fabric, and more particularly, to automatically load the roll product by adjusting the alignment position according to the diameter of the roll so that no manpower is required for the roll product loading And a method for automatically sorting and loading roll products through density or color measurement.

Typically, fabrics, vinyl, paper, etc. are rolled in a tube at a production plant to produce rolls, and the rolled products are sequentially arranged in alternating rows so that the rolled products of each layer are positioned vertically for storage and movement. Is loaded.

In this loading process, a person usually grabs the diameter of the roll by hand, and as the diameter is larger, the layers are stacked at the edges, thereby causing a lot of manpower and time to load the roll product.

In addition, there is a risk of safety accidents because a person must work up to a certain height in this loading process, there is a problem that the loading operation is not easy because it is not easy to raise the roll product to the corresponding loading height.

In addition, when the roll products are to be classified and loaded by type, the roll products must be classified according to the human's perspective, thereby reducing the work speed and causing a classification error in the loading process.

The present invention is to solve the above problems, by measuring the diameter of the roll product by automatically calculating the placement position and loading does not require manpower to load the roll product while the rolled product is tilted or collapsed due to poor loading The goal is to prevent losing.

Then, the pallet is lowered according to the diameter of the rolled product to be loaded after lifting the pallet for loading the rolled product to reduce the moving distance of the jig for loading the rolled product, thereby reducing the loading time.

In addition, when it is necessary to distinguish the roll products in the loading process, there is another purpose to automatically classify and load the product through the barcode recognition.

A feature of the present invention for achieving the above object is a vertical conveyance step of vertically conveying a pallet for loading a roll product, the diameter of the roll product while transferring the roll product lifted by the jig to a pallet for loading through a jig conveying means. Dimension checking step to check, compare the diameter of the roll product to the previous diameter value of the loading layer, and if the diameter of the roll product to be loaded is the maximum value, the jig and jig transfer so that the roll product is placed on the edge of the pallet The operation of the means is controlled, and if there is another roll product at the edge, the alignment step of moving the pre-arranged roll product inwardly using the alignment means and placing it at the edge, the first stage alignment of the roll product on the pallet When the pallet is lowered, the descending step of lowering the diameter of the roll product of the corresponding layer loaded, the dimension checking step, the alignment step, and the lowering step It is a method for automatically loading a roll product, characterized in that the roll product is loaded by repeating the steel step.

Meanwhile, the roll product may be loaded by repeating the alignment and descending steps after performing the vertical transfer step, or the roll product may be loaded by repeating the dimension checking and alignment steps.

The roll product automatic loading method loads the roll products such that the roll products are alternately arranged vertically in every layer when the roll products are loaded. If the jig is moved to the position where it is in contact with the roll product, it can be used either by measuring the movement amount and calculating it.

In addition, when loading the roll product, it is also possible to read a bar code provided in the roll product and load only the preset roll target roll product on the pallet.

Another feature of the present invention relates to a loading apparatus for achieving the above loading method, comprising a frame jig 400 for supporting the edge or bottom of the roll product loading pallet 100 and constituting the apparatus ( A pallet transfer means 700 provided at an upper portion of the 200 to move the pallet 100 up and down; Dimension checking means for confirming the diameter of the roll product 300; Jig 400 for lifting and lowering roll products; Jig conveying means (500) for transporting the jig (400) so that the roll product is disposed on the pallet (100); Aligning means 600 for adjusting the position by pushing or lifting the roll product disposed on the pallet 100; Compare the diameter of the rolled product 300 identified through the dimension checking means with the previous diameter values of the corresponding stacking layer, and if the diameter of the rolled product to be loaded is the maximum value, the jig so that the rolled product is placed at the edge of the pallet. 400) and the operation of the jig conveying means 500 is controlled, and if there is another roll product at the edge, the rolled product is moved to the inner side by using the alignment means 600, and then placed at the edge. After aligning, when the first stage alignment of the roll product 300 is completed on the pallet 100, the operation of the pallet transfer means 700 is controlled to lower the pallet 100 by the roll product diameter of the corresponding layer. Control unit; There is a roll product automatic loading device is configured to include.

On the other hand, the dimension check means is a bar code recognition means for recognizing a bar code attached to the roll product is provided in the jig, or any one of a pair of frames for gripping the roll product in a position provided in the jig contacting the roll product or The movement amount of all is detected, or it selects and uses from the sensor which measures the space | interval between a pair of frames which comprise a jig | tool.

The alignment means 600 includes a pusher 610 for pushing the side of the rolled product 300, a pusher transfer means 620 or a jig and jig for lifting the rolled product. It is alternatively comprised of a conveying means.

The jig 400 is rotated 90 degrees by the jig rotating means 430.

In addition, the pallet transfer means 700 is to raise and lower the lifting jig 710 for the pallet supporting the side or bottom of the pallet 100 by lifting the lifting rope 720 to the driving roller 740, the driving roller 740 is a plurality of winding grooves 742 are formed so that the lifting rope 720 is wound in a row, the plurality of lifting rope 720 is wound on one drive roller 740.

On the other hand, the automatic loading device may not use the pallet transfer means 700 or may not use the dimension checking means in some cases.

According to the present invention having the configuration as described above, it is possible to automatically load a plurality of layers of the roll product on the pallet without human intervention, so that manpower and labor costs for the loading of the roll product is not required, There is no risk of safety accidents by lifting, and work efficiency is improved.

In addition, since the roll product having the largest diameter is disposed at the edge by measuring the diameter during the alignment process for each layer, the loaded layer is not tilted and collapsed.

And, since it is directly loaded on the pallet there is an effect that can easily transport the loaded product using a forklift or the like.

1 is a perspective view showing an automatic roll product loading device according to the present invention
2 is an exploded perspective view showing the jig and the jig transfer unit of FIG.
Figure 3 is a side view showing the jig of Figure 1
4 is a plan view showing the jig rotation structure of FIG.
5 is a plan view showing an example of a jig transfer;
6 is a side view showing an alignment example of a roll product;
Figure 7 is a side view showing an example of alignment and pallet lifting of the roll product
8 shows the structure of a driving roller;
9 and 10 are views showing another embodiment of the jig rotation structure of the present invention

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

The roll product automatic loading apparatus according to the present invention has a diameter of the rectangular main frame 200 and the roll product 300 which are arranged vertically in a dimension such that the pallet 100 can be moved as shown in FIGS. 1 to 7. Dimension checking means for confirming, the jig 400 for holding the roll product, provided on the upper portion of the main frame 200 to convey the jig 400 so that the roll product is placed on the pallet 100 Jig transfer means 500, the alignment means 600, which is provided on the upper portion of the main body frame 200 and placed on the pallet 100 to push or lift the roll product to move the position, to the main frame 200 Pallet conveying means 700 is installed to convey the pallet 100 up and down and the jig 400 so that the roll product of the largest diameter on the basis of the diameter of the roll product confirmed from the dimension checking means is disposed on the edge of the pallet ) And jig teeth The pallet transport means 700 controls the operation of the means 500 and the alignment means 600, and lifts the pallet 100 during initial loading and then loads the pallet up to the maximum diameter of the rolled product of each layer when the rolled product of each layer is loaded. It is configured to include a control unit (not shown) for controlling the operation to be lowered by).

2 and 3, the jig 400 has a jig frame 410 coupled to the jig conveying means 500 and a pair of fingers installed on the jig frame 410 to grip the roll product. The frame comprises a first finger frame 422 formed to be rotatable and installed in a 'b' shape, and a second finger frame having a 'ㅣ' type fixed to the jig frame 410. 424).

In the above, the first finger frame 422 is rotated by the driving means 423 such as a motor, a cylinder.

In addition, since the jig 400 has to alternately stack the roll products 300 every layer, the main frame 200 is further provided with a jig rotation means 430 for rotating the jig 400 at right angles. .

In the jig rotation means 430 is a rotating shaft 432 which is installed via a bearing or the like to enable a rotational movement on the jig frame 410, a support 434 integrally connected to the rotating shaft 432, the support 434 It is configured to include a plurality of cylinders (436) are connected to both sides of the movement in opposite directions, respectively.

Then, the dimension checking means (not shown) is the interval after the roll product holding the plurality of finger frame 422, 424 to obtain the diameter of the roll product from the interval between the first and second finger frame 422, 424 By using a sensor installed at any position of the jig to measure the, or by installing the encoder on the first finger frame to calculate the diameter of the roll product by detecting the rotation angle of the rotating first finger frame 422, Since a person skilled in the art can select the means for confirming dimensions in various ways, such as attaching a bar code indicated by a diameter and attaching a bar code recognition means to the jig during the winding and packing of the roll product, the description of the further embodiment will be omitted.

Meanwhile, as shown in FIG. 1, the jig transfer means 500 includes a first guide frame 510 horizontally installed at both sides of the main frame 200 so as to extend to a grip position of the roll product 300, and the first guide frame. A plurality of pairs of the first caster 520 moving along the 510, the connecting shaft 522 connecting the pair of first casters 520 in a symmetrical position, the motor and gear for rotating the first caster 520 A second guide frame 550 connecting the first driving means 530 including the chain, the symmetrical support frame 540 on which the first caster 520 is installed, and the jig frame 410 to the second guide; It comprises a second driving means 560 to move along the frame 550.

The first driving means 530 is a drive shaft 532 for connecting a plurality of symmetrical support frame 540, the motor 536 is connected via the drive shaft 532 and the gear 534 to rotate the drive shaft, The sprocket 538 is installed at both ends of the drive shaft 532 to rotate along the first guide frame 510 to drive the plurality of first casters 520.

The second driving means 560 connects the driving motor 562 fixedly installed to the jig frame 410, and connects the driving motor 562 and the second guide frame 550 to the rotation of the driving motor 562. It is configured to include a sprocket 564 for moving the jig frame 410 along.

1, 6 and 7, the alignment means 600 is composed of a pusher 610 for pushing the side of the roll product, and a pusher conveying means 620 for transferring the pusher 610. .

In the case of using the pusher 610 and the pusher conveying means 620, the pusher 610 is provided at each corner of the main frame 200, the pusher conveying means 620 is the main frame 200 Two pairs of two pairs are installed in the vertical direction along the jig conveying direction of the vertical direction, so that the pusher guide frame 622 for guiding the movement of the pusher 610 and the pusher 610 move along the pusher guide frame 622. It is configured to include a pusher driving means.

The pusher driving means is installed in the pusher guide frame 622 and the slide block 624 connected to both ends of the pusher 610, the chain 625 is connected to the slide block 624, the chain 625 It is configured to include a drive motor 627 to rotate), it is also possible to use a cylinder in addition to the drive motor.

1, 6, 7, and 8, the pallet conveying means 700 is a lifting chain or rope provided with a pallet jig 710 supporting the side or bottom of the pallet 100 at its end. In the following embodiment, a rope will be described as an example: 720), a guide roller 730 installed at the upper corner of the main frame 200 to guide the movement of the lifting rope 720, and the lifting rope ( A plurality of drive rollers 740 installed and interlocked on both sides of the main body frame 200 so that the end of the pallet jig 710 opposite to the pallet jig 710 is wound or unwound, and a drive roller drive for rotating the plurality of drive rollers 740 described above. And means 750.

As shown in FIG. 8, the driving roller 740 sets the width of the winding groove 742 in which the lifting rope is wound so that the lifting rope 720 is wound in a line, and then moves to one driving roller 740. A plurality of winding grooves 742 are formed to simultaneously winding the plurality of lifting ropes 720.

In addition, the driving roller driving means 750 is a connecting shaft 752 for connecting the plurality of driving rollers 740, the driving motor 754 and the chain 746 for rotating the connecting shaft 752, gears And 758, including power transmission means.

The pallet conveying means in addition to the use of a rope, in addition to the use of a chain, may be achieved by using a screw, LM guide, and the like, this configuration can be easily selected by those skilled in the art and will not be described.

On the other hand, the bottom of the main body frame 200 may be further provided with a trolley for transporting the pallet loaded with the roll product and a guide rail for guiding the trolley.

A method of automatically loading a roll product using a roll product automatic loading apparatus having the above configuration will be described below with reference to FIGS. 6 and 7.

The control unit lifts and loads the initial pallet 100 by using the pallet transfer means 700, and then transfers the rolled product 300 to the pallet 100 by using the jig 400 through the jig transfer means 500. .

At this time, the roll product 300 to be initially loaded is alternately arranged from side to side from the edge of the pallet 100 as shown in FIG. 6, and the roll product 300 to be transferred thereafter is in accordance with the diameter confirmed from the dimension checking means. Compared to the diameters of the roll products 300 conveyed and disposed at the position (left or right), the rolled product is disposed inside the roll products which have been previously disposed and is smaller than the diameter of the roll products conveyed previously. In the case of a roll product having a diameter larger than the diameter of the product, it is arranged at the edge. When another roll product 300 is already arranged at the edge, as shown in FIG. After moving inward by the corresponding roll product is placed.

When one layer of roll product is loaded on the pallet through this process, as shown in FIG. 7, the control unit lowers the pallet by the dimension having the maximum diameter in the rolled product layer, and then the roll product is loaded on the roll. The jig 400 is rotated 90 degrees by the rotating means 430 as shown in FIG. 4 and alternately positioned vertically on the product layer. The rolled product is placed on the pallet while moving in the vertical direction.

When the loading of the rolled product is completed by repeating this process, the pallet is lowered to the bottom, and thus, the pallet loaded with the rolled product is transported from the loading device by using a mobile truck to be transported by a forklift truck. The pallet with the pallet lowered is restored to its original position so that a new rolled product can be transferred to the pallet.

On the other hand, during the loading process as described above, all the barcodes are attached to the roll product so that the color, fabric type, order number, diameter, etc. of the barcode can be confirmed by the control unit through the barcode recognition means, and the preset color or fabric type. For example, the type of fabric to be loaded on a specific pallet may be set in advance, and only a roll product of the set type may be loaded on the pallet.

In the above-described embodiment, a device and a method for simultaneously loading and loading the pallet down and down by the roll product diameter, and measuring the diameter so that the product having the maximum diameter is arranged at the edge have been described. The jig conveying means may be loaded while raising and lowering, or the roll product may be aligned at any position on the pallet regardless of the maximum diameter.

In addition, as said rotation means, a commercially available rotating cylinder (operating angle 90 degree | times) can also be used as shown in FIG.

On the other hand, in using the roll product automatic loading method as described above, before loading the roll product, the image obtained by photographing the surface of the roll product with a camera is subjected to data processing to determine the density or color of the roll product. To this end, a camera is installed to photograph the surface of the rolled product at the location where it is loaded or transported after the rolled product is packaged. A gripping means is installed to separate to a separate separation position without being transferred to the device. Image processing from the camera is performed to determine whether the product is defective or not the same color group as the color to be loaded. A control device for determining and outputting an operation control signal to the beacon or gripping device is further provided.

Looking at the defect determination process using the density in more detail, first, the step of constructing a template image database in the control device by synchronizing the image collected by the fabric density, the density value of the image; Extracting a target image of the fabric to be measured under the same conditions as the step of collecting the fabric image; Searching for the template image having the same or similar pattern by comparing the template image and the target image in a pattern matching method; And outputting a density value input to the retrieved template image as a density value of a target image. And determining whether the output density value is a range of density values of the genuine product.

Looking at the database construction step in more detail above, the collected image is taken at a set size (eg, width * 1 inch), or edited to a set size after shooting, the density measuring sphere including a density ruler, Glasses Calculate the density (number of yarns within 1 inch of width * length), and the calculated density value is synchronized with the collected image to build a database with template images.

At this time, the template image is stored to be classified by the type of the fabric, and in the step of searching for the template image by setting the detailed items for each type of the target image, pattern matching is performed only for the template image data that satisfies the set details.

That is, the collected image is synchronized with the density, and stored as a template image, the type and state value including the color and material, texture, and tension of the fabric are stored together. By specifying the basic type and state value of the target image in advance, pattern matching is performed on a template image satisfying the basic type and state value input by the user in the step of searching for a template image to be described later. There is an advantage that the processing speed and the search precision of matching are improved.

In detail, the object image extraction step, the target image is the same as the conditions for collecting the fabric image, that is, shooting conditions including illumination, resolution, ISO, aperture value, shutter speed as well as lighting, camera, lens Photograph the fabric to be measured under the conditions.

In addition, since most of the fabric to be measured should be photographed while being transported, it is preferable to set the shutter speed of the camera to 1/200 or more in order to prevent shaking of the target image during photographing.

In the template image retrieval step, the pattern matching is stored by calculating a repeating tissue of the fabric as a pattern value, matching the pattern value with each other to retrieve a template image of the same or similar range as the target image.

And, in order to speed up pattern matching, the calculation threads are divided and prepared. For example, as shown in FIG. 4, the computing threads of the PC are divided into four parts, and the data of the database is divided into four parts. Therefore, the processing speed is improved.

In addition, in the process of recognizing the organization of the target image and the template image as a pattern value, it is preferable to normalize the image by the luminance component so as not to be sensitive to changes in other ambient conditions including illumination.

If a template image having the same or similar pattern is not searched in the template image search step, the method further includes storing the target image and its density value in a database. In this case, the range value for the similar pattern is preset by the user, and when there is no template image matching the set similar range, the density value of the target image is measured and newly registered in the database as the template image.

After the searching of the template image, the method further checks whether the found template image is similar by comparing the template image corresponding to the upper and lower density values with the target image based on the density value of the template image found in the similar pattern.

For example, if the template image is stored in the order of density values such as A, B, C, and D, and the target image is retrieved in a pattern similar to the C template image in the template image search step, the target image is B, which is the upper and lower values of the C template image. In contrast to the D template image, the accuracy of the similarity with the C template image is checked.

In the density value display step, the density value input to the searched template image is output as the density value of the target image. When a template image having the same or similar pattern is found through pattern matching, the density value of the target image is calculated by outputting a density value synchronized to the template image.

100: pallet 200: body frame
300: roll product 400: jig
500: jig transfer means 600: alignment means
700: pallet transfer means

Claims (15)

delete Dimensional checking step of judging the diameter of the roll product while transferring the roll product to the loading pallet side through the jig transfer means,
When the diameter of the rolled product to be loaded is the maximum value compared to the previous diameter values of the corresponding stacking layer, the operation of the jig and the jig feeder is controlled so that the rolled product is placed at the edge of the pallet. In this case, if there is another roll product on the edge, the alignment step of moving the pre-arranged roll product inward by using the alignment means and placing it on the edge,
Roll product loading method, characterized in that for loading the roll product by repeating the dimension check step and the alignment step. Vertical transfer step of vertically transferring the pallet for loading the roll product,
Dimension checking step to check the diameter of the rolled product while transferring the rolled product lifted by the jig to the pallet for loading through the jig transfer means,
When the diameter of the rolled product to be loaded is the maximum value compared to the previous diameter values of the corresponding stacking layer, the operation of the jig and the jig feeder is controlled so that the rolled product is placed at the edge of the pallet. In this case, if there is another roll product on the edge, the alignment step of moving the pre-arranged roll product inward by using the alignment means and placing it on the edge,
A lowering step of lowering the pallet by the diameter of the rolled product of the corresponding layer loaded when the first stage alignment of the rolled product is completed on the pallet;
Roll product loading method, characterized in that for loading the roll product by repeating the dimension check step, the alignment step and the descending step. 4. The method for automatically loading roll products according to claim 2 or 3, wherein the roll product automatic loading method loads the roll products so that the roll products are alternately arranged every layer when the roll products are loaded. According to claim 2 or 3, wherein the roll product dimension check is the diameter measured in the winding or packaging step of the roll product is confirmed by barcode recognition by barcode printing, or when the jig moves to the position in contact with the roll product A method for automatically loading a rolled product, characterized in that it is used alternatively from the calculation of the amount of movement thereof to be calculated. The method for automatically loading roll products according to claim 2 or 3, wherein only a predetermined roll object to be loaded is loaded into a pallet by reading a barcode provided in the roll product when the roll product is loaded. delete Dimension checking means for confirming the diameter of the roll product 300;
Jig 400 for lifting and lowering roll products;
Jig conveying means 500 for transporting the jig 400 so that the roll product 300 is disposed on the pallet 100;
Aligning means 600 for adjusting the position by pushing or lifting the roll product 300 disposed on the pallet 100;
When the diameter of the rolled product to be loaded is the maximum value by comparing the diameter of the rolled product 300 identified through the dimension checking means with the previous diameter values of the corresponding stacking layer, the rolled product is placed at the edge of the pallet 100. The operation of the jig 400 and the jig conveying means 500 is controlled so that, if there is another roll product 300 at the edge, the rolled product placed in advance by using the alignment means 600 is moved to the edge A control unit for arranging the rolled product by arranging the rolled product;
Roll product automatic loading device, characterized in that configured to include. Pallet conveying means provided with a pallet jig 400 for supporting the edge or bottom of the pallet for loading the roll product and provided on the upper portion of the main frame 200 constituting the device to raise and lower the pallet 100 ( 700);
Dimension checking means for confirming the diameter of the roll product 300;
Jig 400 for lifting and lowering roll products;
Jig conveying means (500) for transporting the jig (400) so that the roll product is disposed on the pallet (100);
Aligning means 600 for adjusting the position by pushing or lifting the roll product disposed on the pallet 100;
Compare the diameter of the rolled product 300 identified through the dimension checking means with the previous diameter values of the corresponding stacking layer, and if the diameter of the rolled product to be loaded is the maximum value, the jig so that the rolled product is placed at the edge of the pallet. 400) and the operation of the jig conveying means 500 is controlled, and if there is another roll product at the edge, the rolled product is moved to the inner side by using the alignment means 600, and then placed at the edge. After aligning, when the first stage alignment of the roll product 300 is completed on the pallet 100, the operation of the pallet transfer means 700 is controlled to lower the pallet 100 by the roll product diameter of the corresponding layer. Control unit;
Roll product automatic loading device, characterized in that configured to include. The method of claim 8 or 9, wherein the dimension checking means
Barcode recognition means provided in the jig to recognize the bar code attached to the roll product, detecting the movement amount of any one or all of a pair of frames for holding the roll product in a position provided in the jig contact with the roll product, A roll product automatic loading device, characterized in that the sensor for measuring the interval between a pair of frames to configure. The method of claim 8 or 9, wherein the alignment means 600 is a pusher 610 for pushing the side of the roll product 300, and a pusher conveying means 620 or roll product for conveying the pusher 610 Roll product automatic loading device, characterized in that configured alternatively from jig and jig transfer means for lifting. 10. The automatic roll product loading device according to claim 8 or 9, wherein the jig (400) rotates 90 degrees by a jig rotating means (430). 10. The method of claim 9, wherein the pallet conveying means 700 is a lifting rope 720, the lifting rope 720 is installed at the end of the pallet jig 710 for supporting the side or bottom of the pallet 100 is Rolling device automatic loading device characterized in that it comprises a drive roller 740 being wound, a drive roller drive means (750) for rotating the drive roller (740). 14. The driving roller 740 sets the width of the winding groove 742 in which the lifting rope is wound so that the lifting rope 720 is wound in a line, and the driving roller 740 is a plurality of driving rollers 740. Roll product automatic loading device, characterized in that a plurality of winding grooves (742) are formed so as to simultaneously wound the two lifting ropes (720). Setting the density or color of the roll product to be loaded;
Before loading the rolled product, measuring the density or color of the rolled product by processing the image obtained by photographing the surface of the rolled product with a camera;
Separating the roll product so as not to be stacked if the density or color of the roll product determined in the determination step does not satisfy the density or color of the roll target roll product set in the setting step,
Vertical transfer step of vertically transferring the pallet for loading the roll product,
Dimension checking step of checking the diameter of the roll product while lifting the roll product that was not separated in the separation step by the jig and transported to the pallet for loading through the jig transfer means,
When the diameter of the rolled product to be loaded is the maximum value compared to the previous diameter values of the corresponding stacking layer, the operation of the jig and the jig feeder is controlled so that the rolled product is placed at the edge of the pallet. In this case, if there is another roll product on the edge, the alignment step of moving the pre-arranged roll product inward by using the alignment means and placing it on the edge,
A lowering step of lowering the pallet by the diameter of the rolled product of the corresponding layer loaded when the first stage alignment of the rolled product is completed on the pallet;
Method for automatically classifying and loading the roll product through the density or color measurement, characterized in that for loading the roll product by repeating the dimension checking step, alignment step and falling step.

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