JP3275587B2 - Loading method and loading device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a loading method and a loading device for loading a required number of a plurality of types of articles onto one shipping pallet by an industrial robot.

[0002]

2. Description of the Related Art As a conventional loading apparatus, for example, there is an apparatus disclosed in Japanese Patent Application Laid-Open No. 1-275309. That is, a loading station including a three-dimensional warehouse, a stacker crane, and industrial robots, conveyors, and the like provided on the sides thereof is formed. Then, the supply pallet on which the required articles for which shipping has been ordered is placed is carried out from the three-dimensional warehouse to the vicinity of the industrial robot via a stacker crane and a conveyor. Next, the required number of articles from the supplied supply pallets are loaded on the shipping pallets by the industrial robot.

[0003] When loading of a required number of articles from the supplied supply pallet is completed, the supply pallet is returned to the three-dimensional warehouse by the stacker crane, and the supply pallet on which the next required article is placed is placed. It is carried out near the industrial robot. Such a loading operation is repeated for each type of required article, and the required number of each type of article is loaded on the shipping pallet. Thus, the loading operation of the shipping pallets according to one shipping instruction is completed.

[0004] In such a loading device, the position of the article on the supplied pallet may be shifted due to vibration or the like during transfer. For this reason, there is a possibility that the gripping by the industrial robot may not be performed, or the gripping may be incomplete, and the article, the handle of the industrial robot, or the like may be damaged by colliding with the article on the previously loaded shipping pallet. There is.

To prevent such a problem, a loading device as shown in FIG. 2 is conceivable. That is, FIG. 2 is an overall configuration diagram, in which (1) is an industrial robot having a work area (2), and (3) is near the industrial robot (1), that is, a main part is installed in the work area (2). Feed conveyor, (4)
Each is a supply pallet transported by a supply conveyor (3), on each of which a plurality of loaded articles (5) of a different type from the other supply pallets (4) are placed. (6)
Is the article gripping position of the loaded article (5) on the supply pallet (4) installed in the work area (2).

[0007] (7) is a storage standby place for the supplied supply pallet (4) set at the end of the supply conveyor (3), and (8) is a shipping pallet arranged in the work area (2). The required loading article (5) according to the is loaded. (9) is a shipping conveyor that carries out shipping pallets (8) to the shipping area, and (10) is a feeding conveyor (3) that stores a number of supply pallets (4).
(11) is a stacker crane that is provided between the supply conveyor (3) and the three-dimensional warehouse (10), and transfers the supply pallet (4) between them. .

[0007] (12) is an imaging device comprising a vision camera which is provided immediately above the article gripping position (6) and photographs the situation of the upper surface of the supply pallet (4), and (13) is connected to the imaging device (12). A recognition device that recognizes the output of the imaging device (12), and (14) is an industrial robot (1), a supply conveyor (3), and a shipping conveyor
(9) A control device connected to the stacker crane (11) and the recognizing device (13) and instructing a required loading operation, (15) is connected to the control device (14) based on, for example, order information for each customer. This is an input shipping command, that is, shipping information.

In the loading device configured as described above, shipping information (15) is input to the control device (14),
In (14), the loading order, the number, the position, the loading direction, etc. of the loaded articles (5) on the shipping pallet (8) are calculated. Based on this calculation, a stacker crane (11)
The order to pay out the required supply pallet (4) from (10)
A required loading operation command is issued to the industrial robot (1).

Then, the supply pallet (4) for the articles (5) to be loaded on the shipping pallet (8) is discharged from the three-dimensional warehouse (10) onto the supply conveyor (3) by the stacker crane (11). Next, the supply conveyor (3) operates and the required supply pallet (4) is transferred to the article gripping position (6). Then, the image of the loaded article (5) on the upper surface of the supply pallet (4) at the article gripping position (6) is picked up by the image pickup device (12) and recognized by the recognition device (13).

Thus, the position of the loaded article (5) on the upper surface of the supply pallet (4) is verified and input to the control device (14). Information on the position of this loaded article (5) and control device (14)
, The industrial robot (1) operates to load the required number of loaded articles (5) on the supply pallet (4) at the article gripping position (6) onto the shipping pallet (8). .

When the loading operation is completed, the supply pallet (4) at the article gripping position (6) is transferred to the storage standby place (7) by the operation of the supply conveyor (3), and the operation of the stacker crane (11) is performed. Is stored again at a predetermined position in the three-dimensional warehouse (10). In addition, the supply pallet (4) of the loaded articles (5) to be loaded next is moved from the three-dimensional warehouse (10) through the operation of the stacker crane (11) and the supply conveyor (3) to the article gripping position (6). Is transferred to

Next, an image of the loaded article (5) on the upper surface of the supply pallet (4) at the article gripping position (6) is again imaged by the imaging apparatus (12), and is recognized by the recognition apparatus (13).
The required number of loading operations of the loading pallets (5) on the supply pallet (4) to the shipping pallet (8) by (1) is repeated.

[0013]

In the conventional loading apparatus, the time required to transfer the supply pallet (4) of required load articles (5) to the article gripping position (6) by the operation of the supply conveyor (3) and Supply pallet transferred to article gripping position (6)
(4) The loading operation of the industrial robot (1) is interrupted during the recognition time by the image pickup device (12) and the recognition device (13). For this reason, shipping pallets (8)
However, there is a problem that it takes a long time to load the goods into the hopper and the efficiency of the loading operation is reduced.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and a loading method and a loading apparatus which reduce the load loss time due to the transfer of the supply pallet and the recognition of the loaded articles on the supply pallet. The purpose is to obtain.

[0015]

In a loading method according to the present invention, an industrial robot, a plurality of article gripping positions set in a work area of the industrial robot, and a plurality of loaded articles are respectively placed. Of the supply pallet supplied to each of the article gripping positions, the shipping pallet arranged at the loading position set in the work area, and the corresponding supply pallet provided at the position immediately above the article gripping position and sequentially recognition means for recognizing the image pickup apparatus of each output to, and a control unit for commanding the loading work to factory pallets of goods on the supply pallet via the output of this recognition means the industrial robot is provided, one of the article Supply pallet at gripping position
During the loading operation of the load item at the top of the
Transfer of another supply pallet to the gripping position is performed and
The uppermost item on the supply pallet at the item gripping position is
Recognized by the recognition means.

Further, in the loading device according to the present invention, the industrial robot, a plurality of article gripping positions set in a work area of the industrial robot, and an article gripping position where a plurality of loaded articles are respectively placed. Conveyor for each of the
Of the supply pallet supplied by the camera, the shipping pallet arranged at the loading position set in the work area, and the imaging device provided at the position immediately above the article gripping position to photograph the corresponding supply pallet . Recognize output sequentially
And the required supply palette by the supply conveyor.
And a controller for instructing the industrial robot to transfer the articles on the supply pallet to the shipping pallet via the output of the recognizing means .

[0017]

[Action] In the loading method described above SL, during loading operations by industrial robots loading article supply pallet in one article gripping position, transport and other of the required supply pallet to the other article gripping position A loaded article recognition operation on the supply pallet at the article holding position is performed.

Further, in the loading device configured as described above , the transfer of the required supply pallet to the article gripping position is carried out.
Done by conveyor. In addition, during the loading operation of the load pallet of the supply pallet at the one article gripping position by the industrial robot, the transfer of the required supply pallet to the other article gripping position and the loading article on the supply pallet at the other article gripping position. A recognition operation is performed .

[0019]

[Example] the actual Example 1. FIG. 1 is an overall configuration diagram showing an embodiment of the present invention.
In the figure, (1) is an industrial robot having a work area (2),
(3) is a supply conveyor installed in the work area (2), where the main part is arranged around the industrial robot (1) in a square shape, and (4) is a supply pallet transferred by the supply conveyor (3). A plurality of loaded articles (5) of a different type from the other supply pallets (4) are placed on each of them. (6) is a first article gripping position set in the work area (2) and arranged on one side of the industrial robot (1), at which the loaded article (5) on the supply pallet (4) is gripped. Is done.

Reference numeral (61) denotes a second article gripping position installed in the work area (2) and arranged on the other side of the industrial robot (1). At this position, the loaded articles (5) on the supply pallet (4) are located. ) Is gripped. (7) is a standby area for storing the supplied supply pallet (4) set at the end of the supply conveyor (3), and (8) is a work area (2).
The required pallets (5) according to the shipping destination are loaded on the shipping pallets arranged at the destination. (9) is the shipping pallet (8)
Is a three-dimensional warehouse that stores a large number of supply pallets (4) and is provided along the length of the supply conveyor (3).

(11) Supply conveyor (3) and three-dimensional warehouse (10)
Between the two, the pallet between them
This is a stacker crane for transferring (4). (12) is the first
Supply pallet provided just above the article gripping position (6)
A first imaging device comprising a vision camera for photographing the situation of the upper surface of (4), (121) is provided at a position immediately above the second article gripping position (61), and photographs the situation of the upper surface of the supply pallet (4). A second imaging device comprising a vision camera, (16) is a switching device connected to the first imaging device (12) and the second imaging device (121).

A recognition device (13) is connected to the switching device (16) and recognizes one of the outputs of the first imaging device (12) and the second imaging device (121), and (17) is a recognition device connected to the switching device (16). ) And recognition device (13)
Is a recognition means constituted by (14) is an industrial robot
(1) A control device connected to the supply conveyor (3), the shipping conveyor (9), the stacker crane (11) and the recognition means (17) and instructing a required loading operation. Is a shipping command input to the control device (14), that is, shipping information based on the order information.

In the loading device configured as described above, shipping information (15) is input to the control device (14),
In (14), the loading order, the number, the position, the loading direction, etc. of the loaded articles (5) on the shipping pallet (8) are calculated. Based on this calculation, a stacker crane (11)
The order to pay out the required supply pallet (4) from (10)
A required loading operation command is issued to the industrial robot (1).

Then, the supply pallet (4) for the first article (5) to be loaded on the shipping pallet (8) is discharged from the multi-level warehouse (10) onto the supply conveyor (3) by the stacker crane (11). Next, the supply conveyor (3) is operated to transfer the required supply pallet (4) to the first article gripping position (6). The first loading device (5) on the supply pallet (4) at the first article gripping position (6) by the first imaging device (12).
Is imaged and the recognition device (13) through the operation of the switching device (16)
, That is, by the recognition means (17).

As a result, the position of the uppermost loaded article (5) on the supply pallet (4) at the first article gripping position (6) is verified and input to the controller (14). This loading item
The industrial robot (1) operates according to the position information of (5) and the loading operation command of the control device (14), and the first article gripping position is obtained.
The required number of loaded articles (5) on the supply pallet (4) of (6) is loaded on the shipping pallet (8).

In this case, when the number of the uppermost loaded articles (5) on the supply pallet (4) at the first article gripping position (6) is insufficient for the required number of loaded articles (5), Loaded goods (5) on the supply pallet (4) at the latest at the first goods gripping position (6)
During the loading operation by the industrial robot (1), the following operation is commanded. That is, a secondary supply pallet (4) loaded with the same goods (5) as the first goods (5) to be loaded on the shipping pallet (8) is supplied from the three-dimensional warehouse (10) by the stacker crane (11). Dispensed on conveyor (3).

Next, the supply conveyor (3) operates to transfer the secondary supply pallet (4) to the second article holding position (61). Then, by the second image pickup device (121), the uppermost loaded article on the secondary supply pallet (4) at the second article gripping position (61))
(5) is imaged, and is recognized through the operation of the switching device (16).
(13), that is, by the recognition means (17). Thereby, the position of the uppermost loaded article (5) on the secondary supply pallet (4) at the second article gripping position (61) is verified and input to the control device (14).

Then, the number of the industrial robots corresponding to the number of the uppermost loaded articles (5) on the supply pallet (4) at the first article gripping position (6) is
When the loading on the shipping pallet (8) by (1) is completed,
The industrial robot (1) is operated by the secondary supply pallet (4) at the second article gripping position (61) and the verified position information of the uppermost loaded article (5) and the loading operation command of the control device (14). Works,
The supply pallet (4) at the second article gripping position (61) loads the required number of the uppermost loaded articles (5) onto the shipping pallet (8).

As described above, when the number of loaded articles (5) at the uppermost stage of the supply pallet (4) at the first article gripping position (6) is insufficient for the required number of loaded articles (5), at least (1) Supply pallet (4) at article gripping position (6) Loaded goods at the top (5)
During the loading operation by the industrial robot (1), the transfer of the secondary supply pallet (4) to the second article holding position (61) and the transfer of the secondary supply pallet (4) to the second article holding position (61) The loaded article recognition operation in the upper stage is performed.

Therefore, the loading operation of the industrial robot (1) is not interrupted because of the transfer of the supply pallet (4) and the recognition of the load item (5) at the top stage of the supply pallet (4). The loading operation is continued. For this reason, the transfer of the supply pallet (4) and the
(5) The load loss time due to recognition is reduced, and the time for loading the goods on the shipping pallet (8) by the industrial robot (1) can be shortened, and the efficiency of the loading operation can be improved. .

Further, a first imaging device (12) and a second imaging device
Either output of (121) is recognized by the recognizing device (13) by the switching device (16). Therefore, only one recognition device 13 is required, and the equipment cost of the loading device can be reduced.

It should be noted that even if the number of articles (5) at the top of the secondary supply pallet (4) at the second article gripping position (61) is loaded, it is still insufficient for the required number of loaded articles (5). When the industrial robot (1) loads the secondary supply pallet (4) at the latest at the second article gripping position (61) and the loaded article (5) at the uppermost stage, the first article gripping position (6 The supply pallet (4) of the uppermost stage performs the operation of recognizing the loaded articles. Then, the uppermost article (5) on the secondary supply pallet (4) at the second article gripping position (61)
After loading by the industrial robot (1), the supply pallet (4) at the first article gripping position (6)
The loading operation is performed by the industrial robot (1).

When the required loading operation is completed, the supply pallet (4) at the first article gripping position (6) and the secondary supply pallet (4) at the second article gripping position (61) are moved to the next loading position. Supply conveyors when you no longer need to respond
It is transported to the storage standby place (7) by the operation of (3), and is re-stored at a predetermined position of the three-dimensional warehouse (10) by the operation of the stacker crane (11).

Further, before the loading operation by the industrial robot (1) corresponding to the previous shipment information (15) is completed, the loaded articles (5) to be loaded according to the next shipment information (15) are deleted. The supply pallet (4) is moved from the three-dimensional warehouse (10) through the operation of the stacker crane (11) and the supply conveyor (3) to any of the first article gripping position (6) and the second article gripping position (61). It is transferred to an article gripping position without such a supply pallet (4).

Next, the first loading device (12) or the second imaging device (121) again captures an image of the uppermost loaded article (5) of the supply pallet (4) at the article gripping position and recognizes it (17). Recognition by the robot and the supply pallet by the industrial robot (1)
(4) The required number of loading operations corresponding to the next shipping information (15) on the shipping pallet (8) of the uppermost loaded article (5) are repeated.

As described above, the supply pallet (4) at the gripping position of one of the articles by the industrial robot (1)
During the loading operation of (5), the transfer operation of the next supply pallet (4) to the other article gripping position and the next supply pallet of the other article gripping position (4) At least one is done.

Therefore, the loading operation of the industrial robot (1) can be performed continuously, and the transfer of the supply pallet (4) and the recognition of the load item (5) at the uppermost stage can be performed. The loading work of the industrial robot (1) is not interrupted. As a result, the transfer pallet (4) is transferred and the load loss time due to the recognition of the load pallet (4) at the top of the supply pallet (5) is reduced, and the industrial robot (1) transfers the pallet to the shipping pallet (8). Goods loading time can be shortened,
Loading efficiency can be improved.

Embodiment 2 FIG. Since the dispensing position of the supply pallet (4) and the article gripping position are far from each other, it takes time to transfer the supply pallet (4) and to recognize the loaded article (5) at the top of the supply pallet (4). Therefore, the number of items to be loaded for each type of loaded article (5) is small, and
It is conceivable that the loading operation of the industrial robot (1) may be interrupted during the loading operation for. In such a situation, the loading device can be easily configured as described below by applying the embodiment of FIG.

That is, a plurality of supply pallets (4) of loaded articles (5) of the type corresponding to the shipping information (15) are loaded from the three-dimensional warehouse (10) to the supply conveyor (10) by the operation of the stacker crane (11) in the loading order. 3) Pay out to. Then, these supply pallets (4) are transferred to the article gripping position before the loading operation by the industrial robot (1), and the supply pallet (4) and the loaded articles (5) at the uppermost stage are recognized.

Further, by providing three or more article gripping positions, the time margin for the transfer operation of the supply pallet (4) and the recognition operation of the load pallet (5) on the uppermost stage of the supply pallet (4) is increased. With this configuration, it is possible to reduce interruption of the loading operation of the industrial robot (1) in the loading operation for the shipping information (15) in which the number of loaded articles (5) is small for each type and is various. It is possible to improve the efficiency of loading work.

[0041]

As described above, according to the present invention, an image pickup device is provided for each of a plurality of article gripping positions by the industrial robot, and the load of the supply pallet at one of the article gripping positions is loaded by the industrial robot. During the loading operation, a required supply pallet is transferred to the other article holding position, and a loaded article recognition operation on the supply pallet at the other article holding position is performed.

Thus, the interruption of the loading operation of the industrial robot for transferring the supply pallet to the other article holding position and recognizing the loaded article on the supply pallet at the other article holding position is reduced. Therefore, the load loss time due to the transfer of the supply pallet and the recognition of the loaded articles on the supply pallet is reduced, the time for loading the articles on the shipping pallet by the industrial robot can be reduced, and the effect of improving the loading efficiency can be reduced. is there.

As described above, according to the present invention, an image pickup device is provided for each of a plurality of article gripping positions by the industrial robot, and the imaging device is moved to the article gripping position of a required supply pallet.
Is transferred by a supply conveyor. Ma
In addition, during the loading operation by the industrial robot of the loaded articles on the supply pallet at the one article gripping position, the required supply pallet is transferred to the other article gripping position and the loaded articles on the supply pallet at the other article gripping position. A recognition operation is performed.

Thus, the interruption of the loading operation of the industrial robot for transferring the supply pallet to the other article holding position and recognizing the loaded article on the supply pallet at the other article holding position is reduced. Therefore, on the supply pallet
Reduces the load loss time due to delivery to the supply conveyor, transfer of the supply pallet, and recognition of the loaded items on the supply pallet, and shortens the time for loading the goods on the shipping pallet by the industrial robot, thus improving the efficiency of the loading operation. Has the effect of improving .

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing a first embodiment of the present invention.

FIG. 2 is an overall configuration diagram showing a conventional loading device.

[Explanation of symbols]

1 Industrial Robot, 3 Supply Conveyor, 4 Supply Pallet, 5 Loaded Articles, 6 First Article Grasping Position, 61
Second article gripping position, 8 shipping pallet, 12 first imaging device, 121 second imaging device, 13 recognition device, 14 control device, 16 switching device, 17 recognition means.

Claims (2)

(57) [Claims] 1. A industrial robot and, a plurality of articles gripping position set in the work area of the industrial robot, the supply pallet plurality of loading articles are supplied to the respective is placed in the article gripping position respectively And sequentially recognize the outputs of the shipping pallet arranged at the loading position set in the work area and the output of the imaging device provided at the position immediately above the article gripping position and capturing the status of the corresponding supply pallet. And a control device that instructs the industrial robot to load the goods on the supply pallet onto the shipping pallet via an output of the recognition means ,
Loading the uppermost stage of the supply pallet at one of the above article gripping positions
During the loading operation of the article, the other
Transfer of the supply pallet and supply of the other
Recognition of the loaded item at the top of the pallet by the recognition means
A loading method that performs insight . 2. A industrial robot, a plurality of articles gripping position set in the work area of the industrial robot, a plurality of loading articles are supplied by the supply conveyor to the respective placed on to the article gripping position respectively Supply pallets, a shipping pallet arranged at a loading position set in the work area, and an output of each of the imaging devices provided at positions immediately above the article gripping position and photographing the corresponding supply pallets. Recognition means for sequentially recognizing
The above-mentioned article holding of the above-mentioned supply pallet by a conveyor
And a controller for instructing the industrial robot to transfer the articles on the supply pallet to the shipping pallet via the output of the recognition means .