JP2001072242A - Loading method and device and recording medium readable by computer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a loading device which can stabilize loading forms regardless of the form of each burden. SOLUTION: This loading device 1 is provided with a burden loading machine 2 capable of transferring burden W. A burden loading machine controlling device 7 is connected to the burden loading device 2. The burden loading machine controlling device 7 controls the burden loading device 2 to locate the same quantity of a plurality of deformable and similarly formed burden W at each layer. In a pyramidal burden group after completing loading, the area restricted by the outer periphery of the burden group on each layer becomes narrow in order toward the top layer from the bottom layer based on the deformation of a part of burden.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stowage method and apparatus for stabilizing a package, and a computer-readable recording medium.

[0002]

2. Description of the Related Art Conventionally, in physical distribution, for example, a plurality of deformable, substantially identical bag-like packages packed with products such as rice are packed in each stage based on a predetermined position pattern. In the case of stacking in three or more stages so as to be arranged in a matrix, the work efficiency is poor in manual work. Therefore, in many factories and the like, a stowage device such as a robot palletizer is used.

[0003] The stowage apparatus stacks packages on a pallet in accordance with a predetermined stowage pattern. The predetermined stowage pattern includes, for example, a bar stack, that is, a column pattern.

However, according to the stowage method using this column pattern, as shown in FIG. 10, since the same position pattern is applied to all stages, only two vertically adjacent packages are in contact with each other, and There is a problem that cannot be stabilized.

Therefore, for example, a stowage method using an interlock pattern as shown in FIG. 11 is known.

[0006] In the loading method using the interlock pattern, one load is simultaneously positioned on a plurality of loads by changing the direction of the position pattern for each stage, thereby stabilizing the load appearance.

[0007]

However, according to the above-described conventional loading method using the interlock pattern shown in FIG. 11, for example, when the package is substantially square, two vertically adjacent packages are connected to each other. Only the contact state is close to the state of contact, and there is a problem that stabilization of the package cannot be achieved.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a stowage method and apparatus capable of stabilizing a package irrespective of the shape of a package, and a computer-readable recording medium. With the goal.

[0009]

According to a first aspect of the present invention, there is provided a stowage method in which a plurality of deformable substantially identical packages are stacked on three or more stages in a state where the same number of packages are positioned on each stage. An attaching method, in which the area defined by the outer periphery of the stacked baggage group of each stage after loading is gradually reduced from the lowest stage to the highest stage while partially deforming the baggage. .

[0010] In this configuration, the area defined by the outer periphery of the group of stage luggage in each stage after loading is gradually reduced from the lowest stage to the highest stage while partially deforming the luggage. In this state, a plurality of deformable, substantially identical luggage items are positioned in the same number in each stage and are stacked in three or more stages, so that regardless of the shape of the luggage, two vertically adjacent two Since only the luggage does not come into contact with each other, the appearance of the luggage is stabilized regardless of the shape of the luggage.

According to a second aspect of the present invention, there is provided a stowage method according to the first aspect, wherein a lower portion of the standard stage located between the uppermost stage and the lowermost stage is located between the respective packages. By reducing the separation distance, the area defined by the outer periphery of the group of luggage is gradually reduced from the lowest level to the reference level, and in the level above the reference level, each luggage is deformed by deforming each type of luggage. Are gradually reduced from the reference level toward the uppermost level.

[0012] In this configuration, in the lower stage than the reference stage, the area defined by the outer circumference of the stage package group is gradually reduced from the lowest stage toward the reference stage by shortening the separation distance between the packages. However, in the stages above the reference stage, the area defined by the outer periphery of the stage luggage group is gradually reduced from the reference stage to the uppermost stage by deforming each package, so that regardless of the shape of the package, The appearance is surely stable.

According to a third aspect of the present invention, there is provided a stowage device capable of transferring a load, and an area defined by an outer periphery of a group of stairs at each stage after the stowage is minimized due to partial deformation of the load. In a state in which a plurality of deformable substantially identical packages are positioned in the same number in each stage and are stacked in three or more stages in a state of being sequentially narrowed from a lower stage to an uppermost stage. And a loading machine control device for controlling the luggage loading machine.

[0014] In this configuration, the area defined by the outer perimeter of the staged luggage group of each stage after loading is controlled by controlling the luggage loading machine by the loading machine control device while partially deforming the luggage. In the state of narrowing sequentially from the lower stage to the uppermost stage, a plurality of deformable substantially identical packages are positioned in each stage by the same number and stacked on three or more stages, so that any Even if it is a shape, since only two pieces of luggage that are vertically adjacent to each other are not in contact with each other,
Regardless of the shape of the luggage, the package is stable.

According to a fourth aspect of the present invention, in the third aspect of the present invention, the loader control device is arranged such that the loader control device is located below a reference stage located between the uppermost stage and the lowermost stage. In the tiers, the separation distance between each package is shortened, so that the area defined by the outer circumference of the tiered packages is gradually reduced from the lowest level to the reference level, and each level is deformed in the levels above the reference level. By doing so, the luggage stacking machine is controlled so that the luggage is loaded in a state where the area defined by the outer periphery of the luggage group is gradually reduced from the reference level to the uppermost level.

[0016] In this configuration, by controlling the loader by the loader controller, the separation distance between the respective loads is reduced in the lower stage than the reference stage, thereby defining the outer periphery of the group of staged loads. The area is gradually narrowed from the lowest level toward the reference level, and in the levels above the reference level, each piece of luggage is deformed so that the area defined by the outer periphery of the group of level packages increases from the reference level to the highest level. , So that the package is reliably stabilized regardless of the shape of the luggage.

According to a fifth aspect of the present invention, there is provided a computer-readable recording medium comprising: a total number of deformable luggage stages which are the same in each stage; a reference stage located between an uppermost stage and a lowermost stage; A step of inputting a shift amount based on a dimensional difference between the horizontal dimension of the group of luggage located at the upper level and the horizontal dimension of the group of luggage located at the lowermost level; and According to the total number of stages, the reference stage, and the shift amount, the area defined by the outer circumference of the stage luggage group of each stage after loading is sequentially changed from the lowest stage to the highest stage due to deformation of some of the luggage And a step of determining a pyramid-shaped stowage pattern to be set to a narrow state.

In this configuration, a pyramid-shaped stowage pattern that can stabilize the package is easily determined by executing a program.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The construction of an embodiment of a stowage device according to the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral 1 denotes a stowage device, which stows a plurality of deformable, substantially identical bag-shaped packages W packed with a product such as rice, for example, in a predetermined manner. It is a robot palletizer or the like that stacks three or more stages on the pallet P in a stowage pattern, and includes a luggage stowage machine 2 that can transfer luggage W.

The loader 2 has, for example, a robot arm 3 that can move in a vertical direction and a horizontal direction.
Is attached. In addition, below the moving range of the hand 4, a transport end portion of the transport conveyor 6 is disposed, and a pallet P is disposed.

The loader 2 is connected to a loader controller 7 for controlling the loader 2. The loader controller 7 includes a keyboard, a mouse and the like. An input device 8 is connected, and an output device 9 including a monitor or the like is connected.

The loading machine control device 7 has a CP
U, a computer having a memory, etc., as shown in FIG. 2, a function of the total number of steps setting means 11 for setting the total number of steps α of the load W, and a shift for setting the shift amounts Sx and Sy. It has the function of the amount setting means 12.

The shift amounts Sx and Sy are, as shown in FIGS. 3 and 4, the horizontal dimensions of the group of luggage located at the uppermost level and the lowermost level after stacking. This is a value based on a dimensional difference from the horizontal dimension of the positioned baggage group. That is, when two axes orthogonal to each other are the X axis and the Y axis, the shift amount Sx is the horizontal dimension along the X axis of the luggage group located at the highest level and the shift amount at the lowest level. This is a value obtained by dividing the dimensional difference between the horizontal luggage group along the X-axis and the shift amount Sy
Is the difference between the horizontal dimension along the Y-axis of the group of luggage located at the highest level and the horizontal dimension along the Y-axis of the group of luggage located at the lowest level is 2 It is the divided value.

The loading machine control device 7 has a function of an average shift amount calculating means 13 connected to each of the total number of steps setting means 11 and the shift amount setting means 12, respectively. The average shift amount calculating means 13 calculates the average shift amounts SAx and SAy by dividing the shift amounts Sx and Sy by α-1 which is one less than the total number of stages.

On the other hand, the loading machine control device 7 controls the reference stage β
And a function of the fixed effective area setting means 16 for setting the fixed effective area R.

It should be noted that the reference stage β is determined according to the position pattern in the conventional stowage pattern determined according to the stowage pattern generation conditions such as the size of the load W, the size of the pallet P, and data relating to the loader 2. This is the stage where W is arranged. Further, the fixed effective area R is, as shown in FIG.
Is intended to be set around the pyramid central axis Z ₀ along the vertical direction is vertical pyramid luggage group after stowage, luggage W which is centered on the fixed effective area R to position the reference stage Like the package W located at β, the packages are arranged according to the position pattern in the conventional stowage pattern.

Further, the stowage machine control device 7 has a function of a pyramid type stowage pattern determining means 18 connected to each of the average shift amount calculating means 13, the reference stage setting means 15, and the fixed effective area setting means 16. are doing.

This pyramid-shaped stowage pattern determining means 18
Is to determine a pyramid-shaped stowage pattern by combining the average shift amounts SAx and SAy, the reference stage β and the fixed effective area R with a conventional stowage pattern determined in advance. The pyramid-shaped stowage pattern is such that the area defined by the outer periphery of the stowage luggage group of each stage after the stowage is set so as to be gradually narrowed from the lowest stage to the highest stage due to deformation of some of the loads W. This is a stowage pattern that is in a state of being performed.
That is, for example, in a stage below the reference stage β, the area defined by the outer periphery of the stage package group is gradually reduced from the lowest stage toward the reference stage β by shortening the separation distance between the packages W, and In the stage above the reference stage β, the stowage pattern is such that the area defined by the outer periphery of the stage luggage group is gradually reduced from the reference stage β toward the uppermost stage due to the deformation of each package W.

Next, the operation of the embodiment will be described.

When a plurality of bag-like packages W are stacked on a pallet P in three or more stages in a pyramid-shaped stowage pattern, an operator (not shown) uses the input device 8 to shift amounts Sx, Sy, The necessary stowage pattern generation conditions including the total number of stages α, the reference stage β, and the fixed effective area R are input.

Then, in accordance with the input stowage pattern generation conditions, the stowage machine controller 7 reads a predetermined program from the recording medium, and changes the conventional stowage pattern based on the execution of the program. The processing determines a pyramidal stow pattern.

Here, the operation of the loading machine control device 7 when the pyramid-shaped loading pattern is determined will be described with reference to the flowchart of FIG.

First, the position data of the load W in the X direction in stages other than the reference stage β is changed.

That is, based on the total number of stages α and the shift amount Sx which are input by the input device 8 and set by the total number of stages setting unit 11 and the shift amount setting unit 12, respectively, the average shift amount calculating unit 13 The quantity SAx is calculated (step 1).

Subsequently, the pyramid-shaped stowage pattern determining means 18 determines the average shift amount SAx in the direction from the center side to the outside in the stage below the reference stage β, and
In the upper stage, the average shift amount SAx is determined from the outside toward the center (step 2).

Next, it is determined whether or not the target stage is the reference stage β (step 3). If the result of this determination is that the target stage is other than the reference stage β, the stage other than the reference stage β follows the outer circumference of the stage luggage group. Then, the position data in the X direction of each package W positioned in the X direction is changed (step 4). That is, the position data corresponding to the load W on the reference stage β in each of the loads W is shifted by the average shift amount SAx.

In stages other than the reference stage β, the load W
The position data in the X direction of each of the other packages W whose center is not located in the fixed effective area R is changed (step 5). In other words, the position data corresponding to the luggage W on the reference stage β in each luggage W is changed from the center of the fixed effective area R to the center position of the luggage W such that the center position of the luggage W is substantially uniformly distributed. Is shifted by a predetermined distance that is shorter than the average shift amount SAx corresponding to.

Thereafter, the luggage W in stages other than the reference stage β
Is changed through the same process as the change process of the position data in the X direction.

The pyramid-shaped stowage pattern is determined by the process of changing the position data in the X-direction and the Y-direction in stages other than the reference stage β, and the luggage stacking is performed according to the determined pyramid-shaped stowage pattern. Attached machine 2
As a result, a plurality of bag-like packages W are automatically loaded on the pallet P in the pyramid-shaped loading pattern.

At the time of loading by the loader 2, each load W is stacked by dropping from a predetermined height position at least at a stage higher than the reference stage β. Further, even when the area defined by the outer circumference of the stage luggage group located at the lowest level becomes larger than the area defined by the outer circumference of the pallet P, the area is within the allowable range where the load W positioned on the outer circumference is placed. Should be fine.

Then, in the pyramid-type luggage group after the loading, the separation distance between the luggage W is higher in the lower stage than the reference stage β located between the uppermost stage and the lowermost stage. The area defined by the outer periphery of the group of baggage is gradually reduced from the lowest stage toward the reference stage β. In the stage above the reference stage β, the loads W are deformed by being pressed against each other. As a result, the area defined by the outer periphery of the group of stage packages gradually decreases from the reference stage β toward the uppermost stage. Has become.

That is, for example, pyramid-type luggage after stacking according to a pyramid-type stacking pattern that is set with the total number of stages α = 8, the reference stage β = 3, the fixed effective area R = 0, and shifted by a predetermined shift amount The group is in the packaging shown in FIGS.

FIG. 8 shows the state of each package W in the stage luggage group located at the reference stage of the pyramid-type luggage group, and shows the state of each package W in the stage luggage group located at the lowest stage. It is shown in FIG.

In FIG. 9, the numbers displayed on each package W indicate the order of loading. Also, for example, considering the positions of the two loads W1 and W2 shown in FIG. 9, the load W1 is shifted outward along the X direction with respect to the corresponding load W3 on the reference stage shown in FIG. Is located only shifted. Luggage W2 is
It is located at a position shifted outward by a predetermined distance along the X direction with respect to the corresponding package W4 on the reference stage shown in FIG. The predetermined distance, determined by multiplying the average shift amount, and a center and divided by the distance A between the center and the pyramid the central axis Z ₀ luggage W3 distance B between the pyramid the central axis Z ₀ luggage W4 Distance.

As described above, according to the above-described embodiment, the control of the loader 2 by the loader controller 7 allows the loader 2 to move the load of each stage after loading. In a state where the area defined by the outer circumference of the group is gradually reduced from the lowest level to the highest level while deforming a part of the load W, a plurality of deformable substantially identical loads W The same number is placed on each stage and stacked on three or more stages.

Therefore, regardless of the shape of the luggage W, one luggage W is positioned over at least two or more luggage W at substantially the same time over substantially the entire pyramid-type luggage group, and it is ensured. Can stabilize the package.

[0048]

According to the first aspect of the present invention, the area defined by the outer circumference of each stage of the stack of luggage after stacking is changed from a lowermost stage to an uppermost stage while partially deforming the luggage. In the state of being sequentially narrowed toward, a plurality of deformable substantially identical packages are positioned in each stage by the same number and stacked in three or more stages, so that even if the package is in any shape, Since only two packages vertically adjacent to each other do not come into contact with each other, the appearance of the package can be stabilized regardless of the shape of the package.

According to the second aspect of the present invention, in a stage below the reference stage, the separation distance between the respective packages is reduced so that the area defined by the outer periphery of the group of stage packages is changed from the lowest stage to the reference stage. Since the area defined by the outer periphery of the group of stage luggage is gradually reduced from the reference stage toward the uppermost stage by deforming each luggage at the stage above the reference stage,
Regardless of the shape of the luggage, the load appearance can be reliably stabilized.

According to the third aspect of the present invention, the control of the loader by the loader controller causes the loader to be defined by the outer perimeter of the group of staged goods at each stage after loading. In a state where the area is gradually reduced from the lowest level to the highest level while deforming a part of the luggage, a plurality of deformable substantially identical luggage are positioned in each level by the same number and three or more levels No matter what shape the luggage is, only two vertically adjacent luggage do not come into contact with each other, so that the luggage can be stabilized regardless of the luggage shape .

According to the fourth aspect of the present invention, by controlling the loader by the loader controller, the loader shortens the separation distance between each load in a stage below the reference stage. As a result, the area defined by the outer periphery of the baggage group is gradually reduced from the lowest stage toward the reference stage, and the upper stage is defined by the outer periphery of the baggage group by deforming each baggage. Since the area is gradually reduced from the reference level toward the uppermost level, it is possible to reliably stabilize the package regardless of the shape of the package.

According to the fifth aspect of the present invention, by executing the program, it is possible to easily determine the pyramid-shaped stowage pattern that can stabilize the package.

[Brief description of the drawings]

FIG. 1 is a front view showing an embodiment of a stowage device of the present invention.

FIG. 2 is a block diagram showing a loading machine control device of the same loading device.

FIG. 3 is a schematic front view showing the pyramid-type luggage group after being stowed by the stowage device.

FIG. 4 is a schematic plan view showing the same pyramid-type luggage group.

FIG. 5 is a flowchart showing an operation of determining the pyramid-shaped stowage pattern by the stowage machine control device.

FIG. 6 is a perspective view showing the pyramid-type luggage group after being stowed by the stowage device.

FIG. 7 is a front view showing the same pyramid-type luggage group.

FIG. 8 is a plan view showing a stage luggage group located at a reference stage of the pyramid-type luggage group.

FIG. 9 is a plan view showing a stage luggage group located at the lowest stage of the pyramid-type luggage group.

FIG. 10 is a perspective view showing a luggage group stacked in a conventional stacking pattern.

FIG. 11 is a perspective view showing a luggage group stacked in another conventional stacking pattern.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Loading device 2 Luggage loading machine 7 Loading device control device W Luggage

Claims (5)

[Claims] 1. A stowage method of stacking a plurality of deformable substantially identical packages in a plurality of three or more stages in such a manner that the same number of luggage is positioned in each stage, wherein each stage after the stowage is stacked. A stowage method characterized in that an area defined by an outer periphery of a luggage group is gradually reduced from a lowest level to a highest level while partially deforming the load. 2. In a stage below a reference stage located between the highest stage and the lowest stage, the area defined by the outer circumference of the stage package group is reduced by shortening the separation distance between each package. From the lowest level to the standard level, the width is gradually reduced.At the level above the standard level, the area defined by the outer perimeter of the group of level packages is changed from the standard level to the highest level by deforming each package. 2. The stowage method according to claim 1, wherein the stowage is sequentially reduced. 3. A luggage stowage machine capable of transporting luggage, and an area defined by an outer periphery of the luggage group of each stage after the loading is partially changed from a lowermost stage to an uppermost stage due to deformation of the luggage. The luggage stowage machine is controlled such that a plurality of deformable substantially identical luggages are positioned in the same number in each tier and stacked in three or more tiers in a state of being sequentially narrowed toward A stowage machine control device. 4. The stowage machine control device according to claim 1, wherein a lower separation distance between the packages in a stage below a reference stage located between the uppermost stage and the lowermost stage, thereby reducing the outer circumference of the group of staged packages. The area defined by is gradually narrower from the lowest level to the reference level, and in the level above the reference level, the area defined by the outer periphery of the group of 4. The loading device according to claim 3, wherein the loading device controls the luggage loading machine so that the luggage is loaded in a state where the luggage is sequentially narrowed toward the upper rank. 5. The total number of deformable luggage that is the same number in each stage, the reference stage located between the uppermost stage and the lowermost stage, and the horizontal direction of the stage luggage group located at the uppermost stage. A procedure for inputting a shift amount based on a dimensional difference between the dimension in the direction and the horizontal dimension of the group of luggage located at the lowest level, and according to the total number of these input packages, the reference level, and the shift amount. The pyramid-shaped stowage in which the area defined by the outer periphery of the stowed luggage group in each stage after loading is gradually reduced from the lowest level to the highest level due to deformation of some of the loads A computer-readable recording medium recording a program for causing a computer to execute a procedure for determining a pattern.