JP2765362B2 - Loading equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for stacking a plurality of products on a pallet.

[0002]

2. Description of the Related Art FIG. 8 is an explanatory view of a loading state of a conventional truck for transporting products loaded by a loading device (loading robot) disclosed in, for example, JP-A-61-33426. In the figure, (1) is a truck, (2) is a pallet mounted on a bed of the truck (1), and (3) is a product stacked on the pallet (2).

That is, the product (3) is stacked on the pallet (2) in a plurality of stages by the stowage device. At this time, 1
When stacking multiple types of products with different shapes and sizes on a single pallet (2), the products (3) on each stage
(2) It is common to pile up near the center so that it does not protrude. When these are transported by truck (1), adjacent pallets (2) are loaded in contact with each other as shown in FIG.

[0004]

In the conventional loading device as described above, products are stacked on the pallet (2) so as not to protrude from the pallet (2). When the pallets (2) are in contact with each other when they are loaded on the carrier (1), there is a gap between the stacked products. For this reason, during transportation, the product (3) on the pallet (2) moves laterally when the truck (1) accelerates or decelerates, sometimes causing the product to lose its load and causing damage to the product (3). In addition, when arriving at the destination, it is necessary to manually unload one by one, and there is a problem that unloading requires a lot of manpower and requires a long time.

The present invention has been made to solve the above problems, and can prevent damage to products during transportation.
An object of the present invention is to provide a loading device capable of completing unloading in a short time.

[0006]

According to a first aspect of the present invention, there is provided a loading apparatus for stacking products in each stage such that one of the products is in contact with a plurality of products of the phase means. If the outermost line is set to be equal to or larger than the outer shape of the pallet, and the outermost surface of each stage is stacked on the same surface, and if it is judged that a fraction touches all products on the uppermost stage,
The upper stage is stacked in the same manner as the other stages, and a fraction is stacked on the upper stage toward the center.

Furthermore, loading device according to the second invention, the
In one of the inventions, the fractional loading condition is not satisfied.
In addition to stacking the top product near the center,
Fractional pieces are stacked on top of it near the center .

[0008]

In the first aspect of the present invention, one of the products of each stage contacts a plurality of products of the phase means, the outermost line of each stage is equal to or larger than the outer shape of the pallet, and The outer side is made the same side, and the top row is stacked in the same way as other rows,
Fractional parts are placed closer to the center on top of them, so if they are loaded close to each other on a truck etc., the inertial force generated on the product on the pallet is received by the inertial force of the product on the adjacent pallet Can be Also, fraction
Minute products are stable in position.

Further, in the second invention, the uppermost stage is manufactured.
The receiving inertia force is further increased because both the product and the fractional product are stacked near the center . In addition, the position of the product at the top and fractions is stable.

[0010]

1 to 7 show an embodiment of the present invention. FIG. 1 is an explanatory diagram of product stacking, FIG. 2 is an overall configuration diagram, FIG.
4 is a block diagram of a product system, FIG. 4 is a flowchart of a product loading operation, FIGS. 5 and 6 are explanatory diagrams of a product loading, and FIG. 7 is an explanatory diagram of a truck loading state. Show.

In FIG. 2, (11) is shipping information indicating the type and number of products (3) to be loaded on an empty pallet (2);
(12) is a stowage control device, (13) is a stowage command device, (14) is a stowed product supply command device, (15) is a stowage pallet supply command device,
(16) is a loading product transfer conveyor control device, (17) is a loading pallet transfer conveyor control device, (18) is a robot control device,
(19) is controlled by the control device (16), and is a product supply conveyor for supplying single-type products (3) stacked on the pallet (2), and (20) is controlled by the control device (17) to control the empty palette
A pallet conveyor for supplying (2), (21) is a loading robot constituting a loading device, and (22) is a service range of the loading robot (21).

In FIG. 3, (23) is a CPU (23A), RO
A computer consisting of M (23B) and RAM (23C), (24) is an input / output port to which the above devices (13) to (15) and (23) are connected, shipping information (11) is input, and signals are transmitted and received. .

Next, the operation of this embodiment will be described with reference to FIGS.
This will be described with reference to FIG. When the shipping information (11) is input to the higher-level control device (not shown) in step (31), the higher-level control device determines in step (32) the stowage order and number of products (3) according to predetermined conditions. And the stowage pattern.

The stowed product supply command device (14) controls the control device (16) in accordance with the stowage order, drives the stowed product transport conveyor (19), and loads the single product (3). The pallet (2) is transported into the service area (22) of the loading robot (21). On the other hand, the stowage pallet supply command device (15) controls the control device (17), drives the stowage pallet transport conveyor (20), and stacks the empty pallets (2) for stacking the products (3). It is transported within the service range (22) of the attached robot (21).

The stowage command device (13) controls the control device (18) to drive the stowage robot (21). The loading robot (21) sequentially loads the products (3) transported to the service area (22) on the empty pallets (2). Here, as shown in FIG.
Products (3) shall be stacked in the first to fourth tiers (A3) to (D3), with each tier having the same shape and dimensions.
(3) shall be piled up (hereinafter referred to as area).

In step (33), except for the top row, ie, the first
Stacking of stages 3 to 3 (A3) to (C3), and the outermost line
(3x) protrudes from the outline of the pallet (2) (they may match), and the products (3) in each stage are stacked so that the outermost surface is the same. In FIG. 1 (A), the outermost line (3
x) is determined by contacting and stacking all the products (3) of the second stage (B3). First stage (A3) and third stage (C3) products
The outermost surface of (3) is stacked with a gap between the products (3) so that it is flush with the outermost surface of the product (3) of the second stage (B3).

In step (34), it is determined whether or not the area other than the uppermost area has been completed. If completed, the process proceeds to step (35).
In step (35), one stage has products of the same shape and dimensions
Judge whether there is a stack of a small number of products (3) that cannot be formed in (3) (hereinafter referred to as fractional stack). If there is no fractional stacking, the area of the uppermost stage (the fourth stage (D3)) is measured in step (36). That is, the products (3) are brought into contact with each other, and
(C3) It comes inward from the outermost side and is stacked near the center. This is shown in FIG. Stage 4 in step (37)
It is determined whether or not the area of (D3) has been completed, and if completed, the process ends.

If it is determined in step (35) that there is a fractional stack, the process proceeds to step (38), and the area of the fourth stage (D3) is changed to another stage.
Similar to (A3) to (C3), when the outermost surface is stacked so that it is the same, and the fractional product (3) is stacked near the center on the fifth stage (E3), the fraction It is determined whether the lower surface of the stacked product (3) is in contact with the upper surfaces of all the products (3) of the fourth stage (D3).

If the condition of step (38) is satisfied, the process proceeds to step (39), and the area of the fourth step (D3) is adjusted so that the outermost surface is the same as the area of the other steps. Stowage, 5th stage
Stack the fractional stack of (E3) closer to the center. This is shown in FIG.
It is shown in (A). In step (40), it is determined whether or not the stowage of the fourth stage (D3) is completed, and if completed, the process ends. Steps
If the condition of (38) is not satisfied, proceed to step (41),
The area of the tier (D3) is placed near the center, and the fractional stack of the fifth tier (E3) is also placed near the center. This is shown in FIG. It is determined in step (42) whether or not the stowage has been completed, and if so, the process ends. Here, step (33) includes the first stowage unit,
Step (38) is a fractional load judging means, and step (39) is a
Step (41) constitutes the third stowage means.
doing.

The products (3) thus stacked are shown in FIGS. 1 (B), 5 (B) and 6 (B). As can be seen from the above, the product in the upper row (3) is the product in the lower row in each row.
They are stacked so as not to be in a so-called bar-stacked state having the same dimensions and the same arrangement as (3).

As shown in FIG. 7, the group of products (3) stacked in this manner is such that the product (3) on the adjacent pallet (2) is in contact with the loading platform of the truck (1) (pallet (3)). 2) They are loaded and transported so that they do not touch each other. At this time, the lower product (3) receives the weight of the upper product (3), and friction is generated between the pallet (2) and the product (3) and between the upper and lower products (3). The product (3) on the specific pallet (2)
It is in contact with a specific product (3) on an adjacent pallet (2).

Therefore, the inertial force generated in the specific product (3) by the acceleration / deceleration of the truck (1) is reduced by the inertia force of the adjacent pallet (2).
It is received by the inertial force of the multiple products (3) above, and movement is prevented. In particular, the stage where all the products (3) of the second stage (B3) are in contact has a large blocking force against the movement.

FIG. 1 shows all steps (A3) to (D3) in area.
Moreover, the example in which the second stage (B3) is stacked without gaps was shown,
This second stage (B3) is similar to the first stage (A3) and the third stage (C3),
It is also very useful when the products (3) are stacked with a gap between them. In addition, as shown in FIG. 1, the stage that is stacked without gaps, such as the second stage (B3), may be disposed in the middle of the stages (A3) (C3) with a gap between the products (3), as shown in FIG.・
Although the frictional force between the lower products (3) is available and desirable, it is clear that it may be provided in other stages.

[0024]

As described above, in the first aspect of the present invention, the products of each stage are stacked so that one of them is in contact with a plurality of products of the phase means, and the outermost line of the product of each stage is stacked. with a set or profile of the pallet, and put Masonry outermost surface of each stage in the same plane, the uppermost another stage
In the same way as above , fractional parts are placed on the center of the pallet. The product has the effect of being able to receive the product in a fraction of a minute , and to stabilize the position of the fractional product, prevent the product from moving and prevent it from being damaged, and unload the product at the destination in a short time with the pallet. is there.

In the second invention, the top product and
Since the fractional products are both stacked near the center , the above-mentioned inertia force for receiving is further increased, and the position of the top and fractional products is stable, and sufficient prevention force against product movement is provided. There are promising effects.

[Brief description of the drawings]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view of product stowage showing one embodiment of the present invention, in which (A) is an exploded perspective view and (B) is a perspective view in which stowage is completed.

FIG. 2 is an overall configuration diagram showing one embodiment of the present invention.

FIG. 3 is a block diagram of a control system showing one embodiment of the present invention.

FIG. 4 is a flowchart of a product loading operation according to FIG. 3;

5A and 5B are explanatory views of product loading according to FIG. 4, wherein FIG. 5A is an exploded perspective view of a main part, and FIG.

6A and 6B are explanatory views of product loading according to FIG. 4, wherein FIG. 6A is an exploded perspective view of a main part, and FIG.

FIG. 7 is an explanatory diagram of a product group in a truck stacking state according to the embodiment of the present invention.

FIG. 8 is an explanatory view showing a state in which a conventional product group is loaded on a truck.

[Description of Signs] 2 Pallets 3 Products 3x Outermost line of stowed product 21 Stowage device (stowage robot) A3 to E3 Product stowage stage

Continuation of the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B65G 57/00-61/00 B25J 13/00

Claims (2)

(57) [Claims] Claims 1. A plurality of products are stacked on a pallet,
In the apparatus for stacking the next plurality of products thereon and repeating this in a plurality of stages, the products in each stage are stacked so that one of the products is in contact with a plurality of products of the phase means, and First stowage in which the outermost line of the product is set to be equal to or larger than the outer shape of the pallet, and the outermost surfaces of the products in the respective stages are placed on the same plane, and the products are stacked up to the lowermost stage of the uppermost stage
And one step made of products of the same shape and dimensions
There is a fractional product that cannot be
(1) Stowing by means of stowage
Assuming that the product is stacked on top of the top product,
Does the lower surface touch the upper surface of all the products at the top
Fractional load judging means, and this fractional load judging means
If the above stowage conditions are satisfied, the top product
In the same manner as the other stages, and
Is stacked on the upper surface of the uppermost product at the center.
A loading device comprising a loading means. 2. The method according to claim 1, wherein the second stacking means is a fractional stacking determining means.
If the loading conditions are not satisfied,
And the fractional product
Third stowage means for stowing near the center on the upper surface of the products in the step
2. The loading device according to claim 1, wherein the loading device is replaced with a loading device.