JP3277739B2 - Industrial robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot for sequentially loading supplied articles on a pallet.

[0002]

2. Description of the Related Art FIG. 29 is an explanatory view showing an example of a conventional industrial robot disclosed in Japanese Patent Application Laid-Open No. 5-238555. In the figure, 1 is an industrial robot having a control device 2,
Reference numeral 3 denotes a supply device which is composed of a conveyor provided near the industrial robot 1 and supplies articles 4;
Is a pallet placed near the pallet, 6 is a loading requirement document management unit in which the dimension data of the article 4 and the dimension data of the pallet 5 and the style data with the flat area relating to the article 4 and the pallet 5 are registered, and 7 is the pallet of the article 4 A stowage position calculating means 8 for calculating a stowage position guideline for 5; a personal computer 8 comprising a personal computer; an instruction connected to the control device 2 of the industrial robot 1; The means 9 is connected to the indicating means 8 and has a flat area for automatically selecting a flat area style in which the most articles 4 can be stacked on the pallet 5 from the flat area style materials of the loading essentials material management means 6. The style stowage instructing means 10 is connected to the instructing means 8, and selects a style with a flat area in which the articles 4 can be protruded and stowed from the pallet 5 on the basis of the material of the loading requirement material management means 6. Is a style selection means with the product.

FIG. 30 is an explanatory view of a stowage pattern which is a style material with a flat area disclosed in Japanese Patent Application Laid-Open No. 1-295771. The article stacking position of the stacking pattern 10 is determined by setting the center coordinates (X, Y) of the article 4 to be stacked on the pallet 5 to half (L / 2) of the length L of the long side of the article 4 and the short side. It is expressed by the following equation (1) using half (W / 2) of the length W. (□ * L / 2 + □ * W / 2, □ * L / 2 + □ * W / 2) Equation ( 1) Numerical coefficients are set for the individual articles 4 in the squares in the equation (1).

The center coordinates A8 of the eighth article shown in FIG.
Since (X, Y) is (W / 2, L / 2), if a numerical coefficient is set in a portion of the square of the equation (1), the following equation (2) is obtained. (0 * L / 2 + 1 * W / 2, 1 * L / 2 + 0 * W / 2) Equation (2) When numerical coefficients are similarly set for the center coordinates A1 to A7 of the first to seventh articles, FIG. Of the x coordinate coefficient 11 and the y coordinate coefficient 12.

The stowage angle θ of the stowage pattern 10 is
As shown in FIG. 32, a method of placing the article 4 with the short side W in the front is defined as θ = 1, and a method of placing the article 4 with the long side L in the front as shown in FIG. θ = 0. When the angle coefficient θ is set for the stow angle of the first to eighth articles shown in FIG. 31, the value becomes 13 shown in FIG. The stacking order of the stacking pattern 10 is a number indicating the stacking order of the articles 4, and the articles are stacked on the pallet 5 in ascending order of number. In the loading order shown in FIG.
The first article with the number 1 is stowed first and the number 2
Is to be stowed second, and the eighth article whose number is 8 is stowed eighth.

[0006] The approach distance of the stowage pattern 10 is such that the industrial robot 1 moves to the article stowage position defined by equation (1).
This approach distance will be described with reference to FIGS. 33 to 34. Article 4
Is made of plastic or metal and has high dimensional accuracy, the industrial robot 1
The article 4 may be temporarily moved to the space 17 directly above the article stacking position 16 and then lowered just below the arrow along the arrow direction 18 to be stacked at the article stacking position 16. However, when the article 4 is made of cardboard and has poor dimensional accuracy,
When the articles 4 are stacked as described above, there is a possibility that the portion 4a of the article 4 grasped by the industrial robot 1 may interfere with the portion 4b of the adjacent article 4 already stacked.

For this reason, as shown in FIG. 34, the industrial robot 1 once moves the article 4 to the approach position 19 which is away from the article stacking position 16 by x _ap in the x direction and y _{ap in} the y direction. After that, it is necessary to push the articles 4 along the arrow direction 20 to be stacked at the article stacking position 16. If the goods 4 are stowed as above,
There is no danger that the article 4c grasped by the industrial robot 1 will interfere with the adjacent article 4d already stacked on the pallet 5. These x _ap and y _ap are -50 m in the X direction from the article stacking position 16 at the approach distance shown in FIG.
When the approach position is set at a position separated by −50 mm in the m and Y directions, the approach distances x _ap and y _ap have the values shown in FIG.

The industrial robot 1 configured as described above
Works as follows. First, in transporting the article 4, a human inputs the dimension data of the article 4 and the pallet 5 and the stowage pattern 10 using the personal computer 8 according to the flowchart shown in FIG. 35.

In step 100, the length L of the long side, the length W, the height H of the short side, which is the dimension data of the article 4, the length L _P of the long side, which is the dimension data of the pallet 5, and the short side The human inputs the length W _P and the height H _P using the personal computer 8. In step 101, other articles 4 not yet entered
A human checks whether or not there is another pallet 5 and if there is an article 4 and pallet 5 that have not been input, the process returns to step 100, and the input operation is continued. When the input operation of all the articles 4 to be stacked by the industrial robot 1 and all the pallets 5 to be used is completed, the process proceeds to step 102.

A variable K shown in step 102 is a variable representing the number of articles for one stage to be stacked on the pallet 5, and starts from 1 at first. In step 103, the human examines the arrangement method of the articles 4 in which the number of articles to be stacked for one stage is K, and determines the x-coordinate coefficient 11, y coordinate coefficient 12, angle coefficient 1
3, stow order 14, approach distance 15, PC 8
Enter using.

In step 104, the number of articles to be stowed for one stage is K, and, as shown in FIG. , A human considers several times, and for each article arrangement, the x-coordinate coefficient 1 of the stowage pattern 10 respectively.
1, a y-coordinate coefficient 12, an angle coefficient 13, a stowage sequence 14, and an approach distance 15 are input using the personal computer 8.

In step 105, a human checks whether or not another stacking pattern 10 of the article arrangement in which the number of articles to be stacked in one stage is K is present. Returning to step, the input operation is continued, and if it cannot exist, the process proceeds to step.

In step 106, the value of the variable K is incremented by one. In step 107, it is examined whether or not the human continues the input operation. If it is determined that the value of the variable K has increased and the number of combinations of article arrangements has increased and has exceeded the limit that can be examined by humans, the input operation is terminated, and the routine proceeds to step 108. If the value of the variable K is still small and the human can still examine the combination of the article arrangement, the process returns to step 103 and the input operation is continued. In step 108, the dimension data input in step 100, the x-coordinate coefficient 11 and the y-coordinate coefficient 1 of the stowage pattern 10 input in steps 103 and 104
2, angle coefficient 13, stowage order 14, approach distance 15
Is registered in the flat-area-attached style management means 6, and a series of input operations is completed.

As described above, the human finishes the input operation,
When the articles 4 to be actually stacked by the industrial robot 1 and the pallets 5 to be actually used are determined, the flat area-attached style indicating means 9
The surface dimensions of the article 4 for all the styles of the stowage pattern 10 are obtained. Next, the surface size of the pallet 5 to be used and the surface size of the article 4 are compared, and the stowage pattern 10 that minimizes the difference is selected. For example, FIGS.
If the stowage pattern 10 shown in FIG. 9 is registered,
39, the difference between the surface size of the pallet 5 and the surface size of the article 4 is minimized. Therefore, the loading pattern 10 for loading the most items on the pallet 5 is shown in FIG.
This results in a stowage pattern 10 of 9. Then, using the stowage pattern 10, the stowage position calculation unit 7 calculates the stowage position of the articles on the pallet 5, and transmits the stowed position to the control device 2. The loading operation is performed by the operation of.

Further, in the case of performing the protruding stowage, the flat area-attached style instructing means 9 is operated by the output of the protruding stowage style selecting means 10 for selecting the protruding stowable stacking pattern 10. A stowage pattern 10 that allows the articles 4 to be stowed on the pallet 5 is selected. Then, using the stowage pattern 10, the stowage position calculation means 7 calculates the stowage position of the article 4 on the pallet 5,
The article loading position is transmitted to the control device 2, and the industrial robot 1 protrudes the article 4 from the pallet 5 and loads it.

[0016]

Since the conventional industrial robot is constructed as described above, a human is required to use the pallet 5
It is necessary to consider various arrangement methods of the articles 4 to be stacked on the top, and to input the x-coordinate coefficient 11, the y-coordinate coefficient 12, and the angle coefficient 13 of the stowage pattern 10 for each article arrangement. there were.

If a human erroneously inputs the x-coordinate coefficient 11, the y-coordinate coefficient 12, and the angle coefficient 13, the industrial robot 1
Moves to a position different from the position where the articles 4 are originally stacked. As a result, the article 4 held by the industrial robot 1 and the article 4 already stacked on the pallet 5
Interfere with each other, and the article 4 is damaged.

Further, in the case of performing the protruding stowage,
A number of methods of arranging the articles 4 that can be protruded and stowed by a human are examined.
The work of inputting was required.

Further, since the stowage pattern 10 to be selected by the flat area style instructing means 9 is one, when the articles 4 are stacked in multiple stages on the pallet 5, the industrial robot 1 And odd-numbered stages are stacked in the same arrangement. As a result, the article 4 on the pallet 5 is in a bar-stacked state, and has a drawback that the load easily collapses.

Further, it is necessary for a person to input the stowage order 14 of the stowage pattern 10.

In addition, it is necessary for a human to input the approach distance 15 of the stowage pattern 10.

The present invention has been made in order to solve the above-mentioned problems, and eliminates the need for a human to examine a method of arranging articles to be stacked on a pallet.
X-coordinate coefficient, y-coordinate coefficient of stowage pattern of each article arrangement,
An object of the present invention is to provide an industrial robot which can save labor by eliminating the operation of inputting an angle coefficient.

It is another object of the present invention to provide a safe industrial robot in which an article held by the industrial robot does not interfere with an article already loaded on a pallet.

In addition, it is not necessary for a person to consider a method of arranging items that can be protruded and stowed, and to input an x-coordinate coefficient, a y-coordinate coefficient, and an angle coefficient of a stuck-out stowable pattern. An object of the present invention is to provide an industrial robot that can be made unnecessary and can save labor.

It is another object of the present invention to provide an industrial robot that loads articles so as not to collapse even when the articles are stacked in multiple stages on a pallet.

It is another object of the present invention to provide an industrial robot which does not require a human to input the stowage order of the stowage pattern, thereby saving labor.

It is another object of the present invention to provide an industrial robot which can save labor by eliminating the need for a human to input an approach distance of a stowage pattern.

[0028]

An industrial robot according to the present invention sets loading data input means for inputting dimension data of articles and pallets, and sets the number of articles to be stacked on a pallet for one stage. Plane number setting means, first arrangement condition registering means for registering arrangement conditions of a first basic stowage arrangement for one stage to be stacked on a pallet, first article storage based on loading data and the first arrangement condition A first stowage position calculating means for calculating the stowage position is provided.

Also, loading data input means for inputting dimensions of articles and pallets, loading area input means for inputting a loading area on a pallet, and one-stage article loading for loading in the loading area Plane number setting means for setting the number, first arrangement condition registration means for registering the arrangement condition of the first basic stowage arrangement for one stage to be stowed in the stowage area, and loading data and the first arrangement condition. A first stowage position calculating means for calculating a first stowage position based on the first stowage position.

Further, a second arrangement condition registering means for registering an arrangement condition of a second basic arrangement to be stacked on the articles arranged according to the first basic stowage arrangement, and a second arrangement condition registration means for registering the second arrangement condition based on the loading data and the second arrangement condition. And a second stowage position calculating means for calculating the second item stowage position.

[0031] Further, there is provided a loading order determining means for determining the loading order of the articles to be loaded by the industrial robot based on the first article loading position, the second article loading position and the loading data. It is.

The stow order determining means calculates the vertex coordinates of the article based on the first article stow position, the second article stow position and the dimension data, and vertex coordinates between a certain article and another article. Is compared with the vertex coordinates to determine the article stacking order.

Pallet position input means for inputting the position of the pallet, and approach position calculation for calculating the approach position of the article stacking position based on the pallet position, the first article stacking position and the second article stacking position. Means.

Further, the approach position calculating means may calculate the direction with respect to the article stacking position based on the pallet position, and may calculate the distance with respect to the article stacking position based on the dimension data.

Also, loading data input means for inputting dimension data of articles and pallets, loading area input means for inputting a loading area on a pallet, and loading 1 in the loading area
Plane number setting means for setting the number of articles to be stowed, first arrangement condition registration means for registering the arrangement conditions of the first basic arrangement for one step to be stowed in the stowage area, 1
First stowage position calculating means for calculating a first article stowage position based on an arrangement condition; and second arrangement for registering arrangement conditions of a second basic arrangement to be stacked on articles arranged according to the first basic arrangement. Condition registering means, second stowage position calculating means for calculating a second article stowage position based on the stowage data and the second arrangement condition, first article stowage position, second article stowage position and stowage A loading order determining means for determining an article loading order of the industrial robot based on the data, a pallet position inputting means for inputting a pallet position, a pallet position, a first article loading position and a second An approach position calculating means for obtaining an approach position of the article storage position based on the article storage position is provided.

[0036]

According to the present invention, when the dimension data of the articles and the pallet and the number of articles to be stacked on the pallet for one stage are set, the first article stacking position on the pallet is calculated.

When the dimension data of the articles and the pallet, the stowage area on the pallet, and the number of articles to be stowed in one stage to be stowed in the stowage area are set, the first article stow position in the stowage area is determined. It is calculated.

Further, a second article stacking position to be stacked on the articles arranged according to the first article stacking position is calculated.

Further, the order in which the articles are loaded by the industrial robot is determined.

The stacking order of the articles can be obtained by calculating the vertices of the articles and comparing the vertices of one article with the vertices of other articles.

When the position of the pallet is input, the approach position of the article stacking position is calculated.

The approach position is obtained by calculating the direction to the article storage position from the pallet position and calculating the distance to the article storage position from the dimensional data.

When the dimensions of the article and the pallet, the stowage area on the pallet, and the number of articles to be stowed in one stage to be stowed in the stowage area are set, the first article stowage position in the stowage area is calculated. And a second article stacking position to be stacked on the articles arranged according to the first article stacking position is calculated,
Furthermore, the loading order of the articles to be loaded by the industrial robot is determined. When the position of the pallet is input, the approach positions of the first article loading position and the second article loading position are calculated.

[0044]

FIG. 1 is an explanatory view showing the configuration of an industrial robot according to the present invention. In the figure, 31 is a robot control means 32
An industrial robot having a conveyor 33 provided near the industrial robot 31 and configured to supply articles 34, and a pallet 35 disposed near the industrial robot 31 and stacking the articles 34 thereon. . 40 is the article 34
And loading data input means for inputting dimension data of the pallet 35. 41 is a loading data input means 40
Is a stowage area input means for receiving an operation start signal from the pallet 35 and inputting a stowage area on the pallet 35. Reference numeral 42 denotes a plane number setting unit that receives an operation start signal from the stowage area input unit 41 and sets the number of articles to be stowed for one stage in the stowage area.

Reference numeral 43 denotes first arrangement condition registration means for registering the arrangement condition of the first basic stowage arrangement for one stage of the articles 34 to be stowed in the stowage area inputted by the stowage area input means 41. . A first arrangement condition registration unit 43 receives an operation start signal from the plane number setting unit 42 and uses the dimension data input by the loading data input unit 40.
Is a first stowage position calculating means for calculating an article stowage position that satisfies the arrangement condition registered in the first stowage position. Reference numeral 45 denotes second arrangement condition registration means for registering arrangement conditions of a second basic stowage arrangement to be stacked on the articles 34 arranged according to the arrangement conditions registered in the first arrangement condition registration means 43.

46 receives the operation start signal from the first stowage position calculating means 44 and is registered in the second placement condition registering means 45 by using the dimensional data inputted by the loading data input means 40. Second stowage position calculating means for calculating an article stowage position which satisfies the arrangement condition. 47 is
The stowage order determining means receives the operation start signal from the second stowage position calculating means 46 and determines the stowage order of the articles 34 to be stowed by the industrial robot 31. 48 receives the operation start signal from the stow order determining means 47 and
Pallet position input means for inputting the origin coordinates of No. 5.
An approach position 49 receives an operation start signal from the pallet position input means 48 and calculates an approach position with respect to the stow position calculated by the first stow position calculating means 44 and the second stow position calculating means 46. It is an operation means.

The first article stowage position calculated by the first stowage position calculation means 44, the second article stowage position calculated by the second stowage position calculation means 46, and the stowage order determination means 47 are determined. The stowage order and the approach position calculated by the approach position calculating means 49 are transmitted to the robot control means 32.

FIG. 2 is an explanatory diagram showing the electrical connection of the present invention. In the figure, reference numeral 50 denotes a microcomputer having an input circuit 51, a CPU 52, an output circuit 53, and a memory 54. Reference numeral 55 denotes a keyboard, the output of which is provided to the input circuit 51. The output of the output circuit 53 is provided to the display 56 and the robot control means 32.

The operation of the industrial robot thus configured will be described with reference to FIGS. FIG. 3 is a flowchart showing the operation of the loading data input means. The program is stored in the memory 54 of the microcomputer 50.
Registered in. The loading data input means 40 allows the human to input the type name and size data of the article 34 (step 2).
The operation starts from 00.

In step 200, the type name of the article 34,
The length W of the long side which is the dimension data of the article 34 shown in FIG.
_A human inputs the _L , the length W _W of the short side, and the height W _H (not shown) using the keyboard 55 and the display 56. In step 201, it registers the value of the _{W L,} W W, W _H in the memory 54.

In step 202, the pallet 3 to be used
5 name, length P _x in the X direction is the dimension data of the pallet 35 shown in FIG. 4, the Y-direction length P _y, the height P _z (not shown), human keyboard 55 and a display 56
Enter using. In step 203, P _x , P
The values of _y and _Pz are registered in the memory 54. Step 20
In step 4, it is checked whether the input of the names and the dimension data of the articles 34 and the pallets 35 to be stowed by the industrial robot 31 has been completed.

If there is an article 34 and a pallet 35 that have not been input yet, the flow returns to step 200 to continue the input operation. If all input operations have been completed, the process proceeds to step 205. In step 205, an operation start signal is output to the stowage area input means 41, and the process ends.

FIG. 5 is a flowchart showing the operation of the stowage area input means 41. The program is registered in the memory 54 of the microcomputer 50. The loading area input means 41 receives the operation start signal from the loading data input means 40 and starts the operation from step 210. In step 210, the display 56 displays the X direction length P _X and the Y direction length P _Y of the pallet 35.

In step 211, it is checked whether or not a stowage area is set on the pallet 35. The setting of the stowage area means, as shown in FIG. 6, when the articles 34 are stuck out of the pallet 35 and stuck out, the stuck-out amount dx in the X direction from the pallet 35 and the stuck-out amount dy in the Y direction. Is set. If a positive value is set for dx and dy, a stowage area that protrudes from the pallet 35 will be set, and if a negative value is set for dx and dy, an inner part specific area that does not protrude from the pallet 35 will be Will be set.

When setting the storage area, step 2
12 and using the keyboard 55, the amount of protrusion d
Enter the values of x and dy. If the stowage area is not set, the process proceeds to step 213, and the overflow amounts dx and dy are set to 0.
Is assigned. In step 214, the length P _W of the length P _L and Y directions in the X direction of the stowage area shown in FIG. 6, calculated using equation (3) and (4) below, P _L and The value of P _W is registered in the memory 54. P _L = P _x + 2 * _d x Equation (3) P _W = P _y + 2 * dy Equation (4) In step 215, an operation start signal is output to the number-of-planes setting means 42, and the process ends.

FIG. 7 is a flowchart showing the operation of the number-of-planes setting means 42. The program is registered in the memory 54 of the microcomputer 50. The plane number setting means 42 receives the operation start signal from the stowage area input means 41 and starts the operation from step 220.
In step 220, actual type varieties name of Sekizukeru article 34, in step 221, reads the length W _L and short sides of length W _W of the long sides of the article 34 from the memory 54.

In step 222, the following equation (5)
It is used to compute the footprint WK _M of the article 34. In WK _M = _{W L} * W W Formula (5) Step 223, using equation (6) shown below, calculating the area PT _M stowage area. PT _M = P _L * P _W Equation (6) In step 224, the number of articles to be stowed in one stage of the stowage area is calculated using the following equation (7), and the value is set as a variable K Substitute for K = INT (PT _M / W K _M ) Equation (7) The INT function shown on the right side of Equation (7) is (PT _M / WK
A function for substituting the integer value of the quotient of _M ) into the variable K.

In step 225, the value of the variable K calculated in step 224 is displayed on the display 56. In step 226, it is checked whether the value of the variable K is to be changed. If the value of the variable K is to be set to a predetermined value instead of the value calculated in step 224, the process proceeds to step 227. , A predetermined value is input to the variable K using the keyboard 55. If it is determined in step 226 that the value of the variable K is not changed, the process proceeds to step 228, and the value of the variable K is registered in the memory 54. In step 229, an operation start signal is output to the first stowage position calculating means 44, and the process ends.

FIG. 8 to FIG. 10 show the first stowage in the stowage area.
FIG. 3 is an explanatory diagram of a first arrangement condition of the basic stowage arrangement, and the first arrangement condition is registered in a first arrangement condition registration unit 43. FIG. 8 shows one of the first basic stowage arrangements, which is referred to as an alignment type, and has a long side of the article 34 in a stowage area whose length in the X direction is P _L and whose length in the Y direction is _PW. and the W _L forward, in which the article 34 n _a row, then m _a column arranged in the X direction to the Y direction. Assuming that the value of the variable K representing the number of articles to be loaded in one stage is the value set by the number-of-planes setting means 42, the first arrangement condition of this alignment type is expressed by the following equations (8) and (9). , (10). K = n _a * m _a formula _{(8) W W * n a} <= P W formula _{(9) W L * m a} <= P L (10) disposed condition shown in the expression (8), the area stowage article total one stage disposed (n _a * m _a) indicates a condition that is equal to the value of the variable K. The arrangement condition shown in Expression (9) is
Shows the condition that that Y direction with the article product length _(W W * n _a) is equal to or less than the length P _W region with the product of the Y-direction.
The arrangement condition shown in Expression (10) indicates a condition that the article stacking length in the X direction (W _L * m _a ) is equal to or less than the length P _L of the stacking area in the X direction.

FIG. 9 shows one of the first basic arrangements, which is referred to as a pinwheel type, in which articles 34 are grouped into four rectangular blocks 60, 61, 62, and 63, and four rectangular blocks are provided in the stowage area. Blocks are arranged in a swastika shape. 60a, 60b, 60c, the first rectangular block 60 whose vertices 60d is a long side W _L of the article 34 to the front, that the articles 34 were allowed to m _a column disposed n _a row, in the X direction in the Y-direction and a, 61a, 61b, 61c, second rectangular block 61 whose vertices 61d is in contact with the right side surface of the first rectangular block 60, the short side W _W of the article 34 to the front, the article 34 in the Y-direction n _b rows, in which is disposed m _b rows in the X direction. The third rectangular block 62 having the vertices 62a, 62b, 62c, and 62d is in contact with the inner side surface of the second rectangular block 61 and has the same arrangement of the first rectangular block 60 and the article 34, and 63a, 63
Fourth rectangular block 6 having vertices b, 63c and 63d
3 is in contact with the left side surface of the third rectangular block 62 and the back side surface of the first rectangular block 60, and
1 and the arrangement of the article 34 are the same.

Assuming that the value of the variable K representing the number of articles to be loaded in one stage is the value set by the number-of-planes setting means 42,
The first arrangement condition of this pinwheel type is represented by the following Expression (11), Expression (12), Expression (13), Expression (14), and Expression (15). K> = 4 Equation (11) K = 2 * I (I = a natural number) formula (12) K = 2 * ( n a * m a + n b * m b) formula _{(13) (n a * W} W + n b * _{W L)} <= P W formula _{(14) (m a * W} L + m b * W W) <= arrangement condition shown in P _L expression (15) (11), placing the article 34 into swastika type In this case, a condition that four or more articles 34 are necessary is shown. The arrangement condition shown in Expression (12) indicates a condition that the value of the variable K is an even number. Equation (13)
Arrangement condition shown in the article the total number of one stage 2 * (n _a * m _a
+ N _b * _mb ) is equal to the value of the variable K. Arrangement condition of Formula (14) shows the condition that that Y direction with the article product length _{(n a * W W + n} b * W L) is equal to or less than the length P _W region with the product of the Y-direction ing. Arrangement condition of Formula (15) shows the condition that that the X-direction with the article product length _{(m a * W L + m} b * W W) is equal to or less than the length P _L of the region with the product of the Y-direction ing.

FIG. 10 shows one of the first basic arrangements, which is called a composite type.
65 are arranged in groups. 64
a, 64b, 64c, the fifth rectangular block 64 whose vertices 64d is a long side W _L of the article 34 to the front, that the article 34 has n _a row, then m _a column arranged in the Y direction in the Y-direction It is. 65a, 65b, 65c, the sixth rectangular block 65 whose vertices 65d is in contact with the right side surface of the fifth rectangular block 64, and the short side W _w of the article 34 in the foreground, n the article 34 in the Y direction _b It is arranged in rows and _mb columns in the X direction. Assuming that the value of the variable K representing the number of articles to be loaded for one stage is the value set by the number-of-planes setting means 42, the first arrangement condition of this composite type is represented by the following equation (1)
6), Equation (17), Equation (18), and Equation (19). _{K = n a * m a +} n b * m b Formula _{(16) (W L * m} a + W W * m b) <= P L expression _{(17) MAX (W W *} n a, W L * n b) <= P _W formula (18) | W _W * n _a −W _L * n _b | <= ２ * W _W formula (19)

[0063] an arrangement condition shown in the expression (16), the article the total number of one stage _{(n a * m a + n} b * m b) indicates a condition that is equal to the value of the variable K. The arrangement condition shown in the equation (17) is based on the article storage length in the X direction (W _L * m _a + W _W * m
_b ) indicates a condition that the length of the storage area in the X direction is equal to or less than the length P _L. Arrangement condition of Formula (18), the larger of the Y-direction length of the fifth rectangular blocks 64 _{(W W} * n _a) and Y-direction length of the sixth rectangular block 65 (W _L * n _b) Indicates a condition that the length is _smaller than or equal to the length P _W of the stowage area in the Y direction. The arrangement condition shown in the equation (19) is an absolute value | W _W of the difference between the article stacking lengths of the fifth rectangular block 64 and the sixth rectangular block 65 in the Y direction.
* N _a −W _L * n _b | is ／ of the short side W _W of the article 34
It indicates the condition of being smaller. The arrangement condition of the expression (19) is a conditional expression for preventing the step of the article stacking length in the Y direction between the fifth rectangular block 64 and the sixth rectangular block 65 from becoming too large.
A value of 3 * W is not limited to this value but may be any length less than the value of the short side W _W.

FIG. 11 is a flowchart of equations (8), (9), and (10), which are the first arrangement conditions of the alignment type shown in FIG. 8, and this program is stored in the memory 54 of the microcomputer 50. It is registered in the form of a subroutine. In this subroutine, the value of a variable K indicating the number of articles to be loaded for one stage is given as an argument.

Step 240 initializes the values of the variables n _a and m _a to I, respectively. In step 241, the arrangement condition shown in Expression (8) is checked. If the condition is satisfied, the process proceeds to step 242. If the condition is not satisfied, the process proceeds to step 246. In step 242, the arrangement condition shown in Expression (9) is checked. If the condition is satisfied, the process proceeds to step 243. If the condition is not satisfied, the process proceeds to step 246. In step 243, the arrangement condition shown in Expression (10) is checked. If the condition is satisfied, the process proceeds to step 244. If the condition is not satisfied, the process proceeds to step 246. In step 244, Equation (8), equation (9), arranged satisfies the variable n _a of formula (10), m _a separate variable N _a value of, as well as substituted for M _a, three first in the arrangement with the base product, it assigns the value 1 to indicate that it is the alignment type variable PAT _a. In step 245, registering variable PAT _a, N _a, the value of M _a in the memory 54.

[0066] At step 246, adds one value of the variable m _a, the value of the variable m _a is checked whether exceeds the K in step 247, if the value of the variable m _a exceeds the value of the variable K proceeds to step 248, if the value of the variable m _a does not exceed the value of the variable K to continue the process returns to step 241. In step 248, the value of the variable n _a 1
One adds, initializes the value of variable m _a. Step 2
In 49, it is checked whether the value of the variable n _a exceeds the value of the variable K, the value of the variable n _a is the processing is terminated if it exceeds the value of the variable K, the value of the variable n _a is a variable K If it does not exceed the value, the process returns to step 241 to continue the process.

FIG. 12 is a flowchart of equations (11), (12), (13), (14), and (15), which are the first arrangement conditions of the pinwheel type shown in FIG. This program is registered in the memory 54 of the microcomputer 50 in the form of a subroutine. In this subroutine, a variable K representing the number of articles in one stage is stored.
Is given as an argument.

Step 260 is for determining the variables n _a , m _a , n
_b, initialized to 1 in the value of m _b. Step 26
In step 1, the arrangement condition shown in Expression (11) is checked. If the condition is satisfied, the process proceeds to step 262. If the condition is not satisfied, the process ends. In step 262,
The arrangement condition shown in Expression (12) is checked. If the condition is satisfied, the process proceeds to step 263. If the condition is not satisfied, the process ends. In step 263, the expression (1)
The arrangement condition shown in 3) is checked. If the condition is satisfied, the process proceeds to step 264. If the condition is not satisfied, the process proceeds to step 264.
Proceed to step 268. In step 264, the expression (1)
The arrangement condition shown in 4) is checked. If the condition is satisfied, the process proceeds to step 265. If the condition is not satisfied, the process proceeds to step 265.
Proceed to step 268. In step 265, the expression (1)
The arrangement condition shown in 5) is checked. If the condition is satisfied, the process proceeds to step 266. If the condition is not satisfied, the process proceeds to step 266.
Proceed to step 268. In step 266, the expression (1)
1), Expression (12), Expression (13), Expression (14), Expression (1)
The values of the variables n _a , m _a , n _b , and m _b satisfying the arrangement condition of 5) are substituted into different variables N _a , M _a , N _b , and M _b , and the three first basic stowage arrangements are performed. among the substitutes the value 2 indicating that the pinwheel type variable PAT _a. In step 267, the variable PAT _a, N _a, M
_a, and registers N _b, the value of M _b in the memory 54.

[0069] At step 268, adds one value of the variable m _b, the value of the variable m _b is checked whether exceeds the variable K in step 269, if the value of the variable m _b exceeds the value of the variable K In step 270, _if the value of the variable mb does not exceed the value of the variable K, the process returns to step 263 to continue the process. In step 270, adds one value of the variable n _b, initializes the value of the variable m _b. In step 271, the variable value of n _b is checked whether it exceeds the value of the variable K, the process proceeds to step 272 if the value of the variable n _b exceeds the value of the variable K, variable n _b value variable K If the value does not exceed the value, the process returns to step 263 to continue the process.

[0070] At step 272, adds one value of the variable m _a, initializes variables n _b, the value of m _b 1. At step 273, it is checked whether the value of the variable m _a exceeds the K, the process proceeds to step 274 if the value of the variable m _a exceeds the value of the variable K, the value of the variable m _a is the value of the variable K If not exceeded, the process returns to step 263 to continue the process. In step 274, adds one value of the variable n _a,
Initialize variables m _a, n _b, the value of _{m b} 1. In step 275, the value of the variable n _a is checked whether it exceeds the value of the variable K, variable n value of _a completed processing when exceeding the value of the variable K, variable n _a value variable K If the value does not exceed the value, the process returns to step 263 to continue the process.

FIG. 13 shows equations (16), (17), and (1) which are the first arrangement conditions of the composite type shown in FIG.
8) In the flowchart of equation (19), this program is registered in the memory 54 of the microcomputer 50 in the form of a subroutine. This subroutine
The value of a variable K representing the number of articles to be loaded for one stage is given as an argument.

In step 280, variables n _a , m _a , n
_b, initialized to 1 in the value of m _b. Step 28
In step 1, the arrangement condition shown in equation (16) is checked. If the condition is satisfied, the process proceeds to step 282. If the condition is not satisfied, the process proceeds to step 287. Step 282
Then, the arrangement condition shown in Expression (17) is checked. If the condition is satisfied, the process proceeds to step 283. If the condition is not satisfied, the process proceeds to step 287. In step 283, the arrangement condition shown in Expression (18) is checked. If the condition is satisfied, the process proceeds to step 284. If the condition is not satisfied, the process proceeds to step 287. In step 284, the arrangement condition shown in Expression (19) is checked. If the condition is satisfied, the process proceeds to step 285. If the condition is not satisfied, the process proceeds to step 287. In step 285, equations (16), (17), (18), and (19)
Arrangement satisfies the variable n _a, m _a of, n _b, m _b of different values each variable _{N a, M a, N b} , as well as substituted for M _b, in the arrangement with three first basic product in assigns a value 3 indicating a complex type in the variable PAT _a. In step 286, the variable _{PAT a, N a, M a} , N b, M b
Is registered in the memory 54.

[0073] At step 287, adds one value of the variable m _b, the value of the variable m _b is checked whether exceeds the variable K in step 288, if the value of the variable m _b exceeds the value of the variable K proceeds to step 289, in the case where the value of the variable m _b does not exceed the value of the variable K to continue the process returns to step 281. In step 289, adds one value of the variable n _b, initializes the value of the variable m _b. In step 290, the variable value of n _b is checked whether it exceeds the value of the variable K, the process proceeds to step 291 if the value of the variable n _b exceeds the value of the variable K, variable n _b value variable K If the value does not exceed the value, the process returns to step 281 to continue the process.

[0074] At step 291, adds one value of the variable m _a, initializes variables n _b, the value of m _b 1. At step 292, it is checked whether the value of the variable m _a exceeds the variable K, when the value of the variable m _a exceeds the value of the variable K proceeds to step 293, values of the variable K variables m _a If not, the process returns to step 281 to continue the process. In step 293, adds one value of the variable n _a, initializes variables m _a, n _b, the value of m _b 1. In step 294, the value of the variable n _a is checked whether it exceeds the value of the variable K, variable n value of _a completed processing when exceeding the value of the variable K, variable n _a value variable K If the value does not exceed the value, the process returns to step 281 to continue the process.

FIG. 14 is a flowchart showing the operation of the first stowage position calculating means 44. The program is registered in the memory 54 of the microcomputer 50. The first stowage position calculating means 44 receives the operation start signal from the plane number setting means 42 and starts the operation from step 300. In step 300, the plane number setting means 42
1 (shown in step 288 of FIG. 7)
The value of the number K of articles to be stacked is read from the memory 54.
In step 301, an alignment type subroutine shown in FIG. 11 is called to check the alignment type arrangement condition. In step 302, an arrangement type article arrangement diagram satisfying the arrangement condition is displayed on the display 56.

In step 303, the pinwheel type subroutine shown in FIG. 12 is called to check the pinwheel type arrangement condition. In step 304, a pinwheel-type article arrangement diagram satisfying the arrangement condition is displayed on the display 56.

In step 305, the complex type subroutine shown in FIG. 13 is called to check the complex type arrangement condition. In step 306, a composite type article arrangement diagram satisfying the arrangement condition is displayed on the display 56.

At step 307, a human selects which of the alignment type, the pin wheel type, and the composite type displayed on the display 56 is to be actually loaded. Selection proceeds to step 308 when completed, in step 308, and registers the variable PAT _a selected article placed in step _{307, N a, M a,} N b, the value of M _b in the memory 54. In step 309, a variable i is initialized to 1. In step 310, the center coordinates of the i-th article 34, variable _{PAT a, N a, M a} , N b, calculated using the value of the dimension data W _L, W _W of M _b values and the article 34 Is assigned to the array variable P _a (i),
Register with. In step 311, the value of the array variable P _a (i) calculated in step 310 is
Send to 2.

In step 312, the value of the variable i is incremented by one. In step 313, it is checked whether the value of the variable i exceeds the value of the variable K. If the value of variable i is variable K
If the value exceeds the value, the process proceeds to step 314; otherwise, the process returns to step 310 to continue the process. In step 314, an operation start signal is output to the second stowage position calculating means 46, and the process is continued.

FIGS. 15 to 17 are explanatory views of the second arrangement condition of the second basic stowage arrangement to be stacked on the article 34 of the first basic stowage arrangement, and the second arrangement condition is the second arrangement condition. It is registered in the registration means 45. FIG. 15 shows one of the second basic stowage arrangements, which is a stacked alignment type that is stacked on the alignment type shown in FIG. The stacking alignment type, length P _L in the X direction, in the length of the Y direction of stowage area is P _W, n _c rows article 34 in the Y direction, then m _c columns arranged in the X direction It is something. Alignment type of FIG. 8, while are arranged long side W _L of the article 34 in the foreground, stacking alignment type of FIG. 15 are arranged short side of the article 34 by a W _W forward. Assuming that the value of the variable K representing the number of articles to be stacked for one stage is the value set by the number-of-planes setting means 42, the second arrangement condition of this stacking alignment type is represented by the following equation (2)
0), Equation (21), and Equation (22). K = n _c * m _c formula _{(20) W L * n c} <= P W formula _{(21) W W * m c} <= P L expression (22)

[0081] an arrangement condition shown in the expression (20) shows the condition that that article the total number of one stage disposed in the stowage area (n _c * m _c) is equal to the value of the variable K. The arrangement condition shown in the equation (21) is the article stow length in the Y direction (W _L * n _c ).
Is less than or equal to the length P _W of the stowage area in the Y direction. Arrangement condition of Formula (22) shows the condition that that the X-direction with the article product length (W _W * m _c) is less than the length P _L of the region with the product of the X-direction.

FIG. 16 shows one of the second basic arrangements.
Pin hoist to be stacked on the pin wheel type shown in
Type. This stacked pinwheel type
The article 34 is divided into four rectangular blocks 66, 67, 68, 6
Grouped into 9 and 4 blocks in the stowage area
Are arranged in a swastika shape. First rectangle shown in FIG.
The block 60 has a long side W of the article 34._L With Y in front
Articles 34 in the Y direction so that_a Row, X direction
Toward m_a In contrast to the arrangement in rows, 66 shown in FIG.
a, 66b, 66c, 66d.
The lock 66 is connected to the short side W of the article 34._W In the X direction with
The article 34 in the Y direction so that_c Row, X direction
To m_c They are arranged in columns. The second rectangular block shown in FIG.
C 61 is the short side W of the article 34_W In the X direction with
The article 34 in the Y direction so that_b Row, m in X direction
_b In contrast to the arrangement in columns, 67a, 6a shown in FIG.
Eighth rectangular block having vertices 7b, 67c, and 67d
67 is the long side W of the article 34 _L In the Y direction with
So that the article 34 is n_d Row, m in X direction_d 
They are arranged in columns. 68a, 68b, 68 shown in FIG.
The ninth rectangular block 68 having vertices c and 68d is
Eighth rectangular block 67
The arrangement of the lock 66 and the article 34 is the same,
Vertices 69a, 69b, 69c and 69d shown in FIG.
The tenth rectangular block 69 is a ninth rectangular block
68 on the left side and the back side of the seventh rectangular block 66
And the arrangement of the eighth rectangular block 67 and the article 34 is the same.
That's bad.

Assuming that the value of the variable K representing the number of articles to be loaded in one stage is the value set by the number-of-planes setting means 42,
The second arrangement condition of the stacked pin wheel type is expressed by the following equations (23), (24), (25), and (2)
6), Equation (27). K> = 4 Equation (23) K = 2 * I (I = a natural number) formula (24) K = 2 * ( n c * m c + n d * m d) formula _{(25) (n c * W} L + n d * W _W ) <= P _W expression (26) ( _mc * W _W + m _d * W _L ) <= P _L expression (27) The arrangement condition shown in expression (23) arranges the articles 34 in a swastika shape. For this purpose, a condition that four or more articles 34 are required is shown. The arrangement condition shown in Expression (24) indicates a condition that the value of the variable K is an even number. Equation (25)
Arrangement condition shown in the article the total number of one stage 2 * (n _c * m _c
+ N _d * m _d ) is equal to the value of the variable K. Arrangement condition of Formula (26) shows the condition that that Y direction with the article product length _{(n c * W L + n} d * W W) is equal to or less than the length P _W region with the product of the Y-direction ing. Arrangement condition of Formula (27), X direction with the article product length _{(m c * W W + m} d * W L) is a stowage area of the X-direction a condition that is not more than the length P _L Is shown.

FIG. 17 shows one of the second basic arrangements.
This is a stacked composite type which is stacked on the composite type shown in FIG. In the stacked composite type, articles 34 are grouped into two rectangular blocks 70 and 71 and arranged. Fifth rectangular block 64 shown in FIG. 10, and the long side W _L of the article 34 in the foreground, n the article 34 in the Y-direction
_a row, whereas that is arranged m _a row in the X direction, Fig. 17
11 a rectangular block 70 having apexes 70a, 70b, 70c, and 70d shown in is the short side W _W of the article 34 in the foreground, n _c rows article 34 in the Y direction, then m _c columns arranged in the X direction ing. Sixth rectangular block 65 shown in FIG.
Whereas, in the short side W _W of the article 34 to the front, and the article 34 n _d line in the Y-direction, then m _d columns arranged in the X direction,
12 a rectangular block 71 to 71a shown in FIG. 17, 71b, 71c, and 71d and vertex long side W _L of the article 34
, The article 34 is placed in _nd rows in the Y direction and m in the X direction.
_d rows are arranged. Assuming that the value of the variable K representing the number of articles to be stacked for one stage is the value set by the number-of-planes setting means 42, the arrangement condition of the stacked composite type is represented by the following equations (28), (29), Equations (30) and (31) are obtained. _{K = n c * m c +} n d * m d formula _{(28) (W W * m} c + W L * m d) <= P L expression _{(29) MAX (W L *} n c, W W * n d) <= P _W formula (30) | W _L * n _c −W _W * n _d | <= ２ * W _W formula (31)

[0085] an arrangement condition shown in the expression (28), the article the total number of one stage _{(n c * m c + n} d * m d) indicates a condition that is equal to the value of the variable K. Arrangement condition of Formula (29), X direction with the article product length _{(W W * m c + W} L * m
_{The condition that d} ) is less than or equal to the length P _L of the stowage area in the X direction is shown. Arrangement condition of Formula (30), 11 rectangular block of Y direction with the article product length (W _L * n
_c) a Y-direction of the article stowage length of the 12 rectangular blocks _(W W * n _d) is larger of, shows the condition that not more than the length P _W stowage area of the Y-direction I have. The arrangement condition shown in Expression (31) is obtained by setting the eleventh rectangular block 70
The absolute value | W _L * n _c −W _W * n _d | of the difference between the product stacking length in the Y direction of the object and the twelfth rectangular block 71 is not more than ／ of the short side W _W of the article 34. Is shown. The arrangement condition of Expression (31) is that the eleventh rectangular block 7
This is a conditional expression for preventing the level difference between the 0th and the length of the twelfth rectangular block 71 in the Y direction from becoming too large, and the value of 2/3 * W on the right side is not limited to this value. it may be any length less than the value of the short side W _W.

FIG. 18 shows equations (20), (21), and (2) which are the second arrangement conditions of the stacked alignment type shown in FIG.
In the flowchart of 2), this program is registered in the memory 54 of the microcomputer 50 in the form of a subroutine. In this subroutine, the value of a variable K indicating the number of articles to be loaded for one stage is given as an argument.

In step 320, the values of the variables n _c and m _c are initialized to 1. In step 321, the expression (2)
The arrangement condition shown in 0) is checked. If the condition is satisfied, the process proceeds to step 322. If the condition is not satisfied, the process proceeds to step 322.
Proceed to step 326. In step 322, the expression (2)
The arrangement condition shown in 1) is checked. If the condition is satisfied, the process proceeds to step 323. If the condition is not satisfied, the process proceeds to step 323.
Proceed to step 326. In step 323, the expression (2)
The arrangement condition shown in 2) is checked. If the condition is satisfied, the process proceeds to step 324. If the condition is not satisfied, the process proceeds to step 324.
Proceed to step 326. In step 324, the expression (2)
0), the values of the variables n _c and m _c satisfying the arrangement conditions of the equations (21) and (22) are respectively substituted for the other variables N _c and M _c , and among the three second basic stowage arrangements in assigns a value 10 indicating a stacked alignment type variable PAT _c. In step 325, the variables PAT _c , N _c , and M _c
Is registered in the memory 54.

[0088] At step 326, adds one value of the variable m _c, the value of the variable m _c is checked whether exceeds the variable K in step 327, if the value of the variable m _c exceeds the value of the variable K the process proceeds to step 328, if the value of the variable m _c does not exceed the value of the variable K to continue the process returns to step 321. In step 328, adds one value of the variable n _c, it initializes the value of the variable m _c. In step 329, the value of the variable n _c is checked whether it exceeds the value of the variable K, variable n value of _c ends the process when exceeding the value of the variable K, variable n _c value variable K If the value does not exceed the value, the process returns to step 321 to continue the process.

FIG. 19 shows equations (23) and (2) which are the second arrangement conditions of the stacked pin wheel type shown in FIG.
4), equations (25), (26), and (27) are flowcharts, and this program is executed by the microcomputer 5
0 in the form of a subroutine in the memory 54. In this subroutine, the value of a variable K indicating the number of articles to be loaded for one stage is given as an argument.

At step 340, the variables n _c , m _c , n
_d, is initialized to 1 in the value of m _d. Step 34
In step 1, the arrangement condition shown in Expression (23) is checked. If the condition is satisfied, the process proceeds to step 342. If the condition is not satisfied, the process ends. In step 342,
The arrangement condition shown in Expression (24) is checked. If the condition is satisfied, the process proceeds to step 343. If the condition is not satisfied, the process ends. In step 343, the expression (2)
The arrangement condition shown in 5) is checked. If the condition is satisfied, the process proceeds to step 344. If the condition is not satisfied, the process proceeds to step 344.
Proceed to step 348. In step 344, the expression (2)
The arrangement condition shown in 6) is checked. If the condition is satisfied, the process proceeds to step 345. If the condition is not satisfied, the process proceeds to step 345.
Proceed to step 348. In step 345, the expression (2)
The arrangement condition shown in 7) is checked. If the condition is satisfied, the process proceeds to step 346. If the condition is not satisfied, the process proceeds to step 346.
Proceed to step 348. In step 346, the expression (2)
3), Equation (24), Equation (25), Equation (26), Equation (2)
Arrangement satisfies the variable n _c of _{7), m c, n d} , separate variable N _c values of _{m d, M c, N d} , as well as substituted for M _d, arranged with three second basic product In the table, the value 20 indicating the pinwheel type is set as the variable PAT.
Substitute into _c . In step 347, the variables PAT _c , N
The values of _c , M _c , N _d , and M _d are registered in the memory 54.

[0091] At step 348, adds one value of the variable m _d, the value of the variable m _d is checked whether exceeds the variable K in step 349, if the value of the variable m _d exceeds the value of the variable K proceeds to step 350, in the case where the value of the variable m _d does not exceed the value of the variable K to continue the process returns to step 343. In step 350, the value of the variable n _d is incremented by one, and the value of the variable m _d is initialized to one. In step 351, the variable value of n _d is checked whether it exceeds the value of the variable K, the process proceeds to step 352 if the value of the variable n _d exceeds the value of the variable K, variable n _d value variable K If the value does not exceed the value, the process returns to step 343 to continue the process.

[0092] At step 352, adds one value of the variable m _c, initializes variables n _d, the value of m _d 1. The value of the variable m _c at step 353, it is checked whether or exceeds the variable K, the process proceeds to step 354 if the value of the variable m _c exceeds the value of the variable K, the value of the variable m _c is the value of the variable K If not exceeded, the process returns to step 343 to continue the process. In step 354, the value of the variable n _c is incremented by one,
Initialize variables m _c, n _d, the value of m _d 1. In step 355, the value of the variable n _c is checked whether it exceeds the value of the variable K, variable n value of _c ends the process when exceeding the value of the variable K, variable n _c value variable K If the value does not exceed the value, the process returns to step 343 to continue the process.

FIG. 20 is a flowchart of equations (28), (29), (30), and (31), which are the second arrangement conditions of the stacked composite type shown in FIG. It is registered in the memory 54 of the computer 50 in the form of a subroutine. In this subroutine, the value of a variable K indicating the number of articles to be loaded for one stage is given as an argument.

In step 360, variables n _c , m _c , n
_d, is initialized to 1 in the value of m _d. Step 36
In step 1, the arrangement condition shown in Expression (28) is checked. If the condition is satisfied, the process proceeds to step 362; otherwise, the process proceeds to step 367. Step 362
Then, the arrangement condition shown in Expression (29) is checked. If the condition is satisfied, the process proceeds to Step 363. If the condition is not satisfied, the process proceeds to Step 367. In Step 363, the arrangement condition shown in Expression (30) is checked. If the condition is satisfied, the process proceeds to Step 364. If the condition is not satisfied, the process proceeds to Step 367. In step 364, the arrangement condition shown in Expression (31) is checked. If the condition is satisfied, the process proceeds to step 365. If the condition is not satisfied, the process proceeds to step 367. In step 365, the equations (28), (29), (30), and (31)
The arrangement satisfies the variable _{n c, m c, n d} , m Alternative _d values of the variables _{N c, M c, N d} , as well as substituted for M _d, in the arrangement with three second basic product in assigns a value 30 indicating a stacked composite type variable PAT _c. In step 367, the variables PAT _c , N _c , M _c ,
The values of N _d and M _d are registered in the memory 54.

[0095] At step 367, adds one value of the variable m _d, the value of the variable m _d is checked whether exceeds the variable K in step 368, if the value of the variable m _d exceeds the value of the variable K proceeds to step 369, in the case where the value of the variable m _d does not exceed the value of the variable K to continue the process returns to step 361. In step 369, the value of the variable n _d is incremented by one, and the value of the variable m _d is initialized to 1. In step 370, the variable value of n _d is checked whether it exceeds the value of the variable K, the process proceeds to step 371 if the value of the variable n _d exceeds the value of the variable K, variable n _d value variable K If the value does not exceed the value, the process returns to step 361 to continue the process.

[0096] At step 371, adds one value of the variable m _c, initializes variables n _d, the value of m _d 1. The value of the variable m _c at step 372, it is checked whether or exceeds the K, in the case where the value of the variable m _c exceeds the value of the variable K proceeds to step 373, the value of the variable m _c exceeds the value of the variable K If not, the process returns to step 361 to continue the process.
In step 373, adds one value of the variable n _c, initializes variables m _c, n _d, the value of m _d 1. Step 37
In 4, checks whether the value of the variable n _c exceeds the value of the variable K, the value of the variable n _c is the processing is terminated if it exceeds the value of the variable K, the value of the variable n _c is a variable K If the value does not exceed the value, the process returns to step 361 to continue the process.

FIG. 21 is a flowchart showing the operation of the second stowage position calculating means 46. The program is registered in the memory 54 of the microcomputer 50. Second
The stowage position calculating means 46 receives the operation start signal from the first stowage position calculating means 44 and starts the operation from step 380. In step 380, it reads registered by the first stowage position calculating means 44 (shown in step 308 of FIG. 14) variable _{PAT a, N a, M a} , N b, the value of M _b from the memory 54. In step 381, the information is registered by the plane number setting means 42 (step 22 in FIG. 7).
The value of the article stacking number K for one stage (shown in FIG. 8) is read from the memory 54. In step 382, by checking the value of the variable PAT _a, first basic stowage arranged aligned type selected, pinwheel type, checks whether it is a complex type. If the value of the variable PAT _a is 1 indicating the alignment type process proceeds to step 383, when the value of the variable PAT _a is 2 indicating the pinwheel type proceeds to step 384, the variable Pat _a
Is 3, which indicates that it is a composite type, the flow proceeds to step 385.

In step 383, a stacking alignment type subroutine shown in FIG. 18 is called to check the stacking alignment type arrangement condition. In step 384,
The stack pinwheel type subroutine shown in FIG. 19 is called to check the arrangement condition of the stack pinwheel type. In step 385, the stacking composite type subroutine shown in FIG. 20 is called to check the stacking composite type arrangement condition.

In step 386, the variable i is initialized to 1. In step 387, the center coordinates of the i-th article 34 are changed to the variables PAT _c , N registered in each subroutine.
_c, M _c, N _d, dimension data W values and the article 34 of the M _{d L,} W calculated from the value of _{is W,} the value array variable P _c
The value of P _c (i) is registered in the memory 54 by substituting into (i). In step 388, the value of the array variable P _c (i) calculated in step 387 is transmitted to the robot control means 32. In step 389, the value of the variable i is incremented by one, and in step 390, it is checked whether or not the value of the variable i exceeds the value of the variable K. If the value of the variable i exceeds K, the process proceeds to step 391, where the value of the variable i is
If the value does not exceed the value, the process returns to step 387 to continue the processing. In step 391, an operation start signal is output to the stowage order determining means 47, and the process ends.

FIGS. 22 and 23 are flowcharts showing the operation of the stowage order determining means 47 for determining the stowage order of the articles 34 arranged in the stowage area. The program is stored in the memory 54 of the microcomputer 50. It is registered. The stowage order determining means 47 is a second stowage position calculating means 4
6, the operation is started from step 420. In step 420, the value of the article stacking number K for one stage set by the plane number setting unit 42 (shown in step 228 of FIG. 7) and registered by the first stacking position calculating unit 44 (FIG. 14). Step 31
Shown 0) the value of the first with article product position P _a read from the memory 54.

[0102] At step 421, the values of K and P _a as arguments to call the order determination subroutine shown in FIG. 23. The order determination subroutine starts the operation from step 440. In step 440, the value of the variable i is initialized to 1. In step 441, the size data W _L values of P _a and the article 34, than the value of W _W, as shown in FIG. 24, and calculates the four vertex coordinates of the i-th article 34, the value of the array variable P1 (I), P2 (i), P3 (i), P4
Substitute (i). In step 442, an array variable JU (i) for substituting the stow sequence number of the article 34 is initialized to zero. In step 443, one is added to the variable i. In step 444, it is checked whether or not the value of the variable i exceeds the value of the variable K. If the value of the variable i exceeds the value of K, the process proceeds to step 445. If the value of the variable i does not exceed the value of the variable K, the process returns to step 441 to continue the processing.

At step 445, a variable j representing the stowage sequence number is initialized to 1, and at step 446, the variable i is set to 1
Initialize to In step 447, the ith item 3
Check if the stow order of 4 has already been determined. That is, it is checked whether the value of the array variable JU (i) is 0, and if the value of JU (i) is 0, the stowage order of the i-th article 34 has not been determined yet. If the value of JU (i) is not 0, the stacking order of the i-th article 34 is determined to have been already determined and the process proceeds to step 453. In step 448, the coordinate value of the vertex closest to the robot origin R0 among the four vertices of the i-th article 34 is set to a variable x.
Substitute 0, y0. Among the four vertices P1 (1), P2 (1), P3 (1), and P4 (1) of the first article shown in FIG. 24, P1 (1) is the vertex closest to the robot origin R0. The coordinate values are substituted into variables x0 and y0.

In step 449, the stowage order is not determined, that is, in the vertex coordinates (x, y) of another article 34 in which the value of JU (i) is equal to 0, x> x0 and y>
Check if there is a vertex that is y0. x>
If there is no vertex satisfying x0 and y> y0, the process proceeds to step 450. In step 450, the i-th article 34 is to be loaded on the j-th article,
The value of j is substituted into the array variable JU (i). Taking the article 34 shown in FIG. 24 as an example, among the vertices of the first article, the vertex P1 (1) is closest to the robot origin R0. All vertices in the second to fifth articles and the vertices P1 of the second articles
Comparing (1), among the second to fifth articles, there is no vertex whose vertex coordinates are both larger than the x coordinate of P1 (1) and the y coordinate of P1 (1). The goods will be loaded first.

Next, in the second article, the vertex closest to the robot origin R0 is P1 (2). Since the loading order of the first article has already been determined, comparing the coordinate values of all the vertices in the third to fifth articles with the vertex P1 (2) of the second article, Since the coordinate values of P3 (3) and the vertex P4 (3) of the third article are both larger than the x coordinate of the vertex P1 (2) and the y coordinate of P1 (2), the second article is stowed in the second position. It will be out of the order candidate. Next, in the third article, the vertex P1 (3) is closest to the robot origin R0. Since the stacking order of only the first article is determined, comparing the coordinate values of all the vertices of the second article and the fourth to fifth articles with the vertex P1 (3) of the third article, the vertex P1 (3) )), There is no vertex having a coordinate value greater than both the x coordinate and the y coordinate of the vertex P1 (3), so the third article is stacked second.

At step 451, the value of j is incremented by one.
In step 452, it is checked whether or not the value of j exceeds the value of the variable K. If the value of j is exceeded, it is determined that all the article loading orders of the articles 34 have been determined, and the routine returns from the subroutine. If the value of j does not exceed the value of K, the process returns to step 446 and continues.

In step 449, if at least one vertex of x> x0 and y> y0 exists among the vertices (x, y) of the other article 34, the i-th article 34
Does not assign any value to the array variable JU (i), assuming that it is out of the j-th stacking candidate, and proceeds to step 453 with the initial value being 0. In step 453, the variable i
And returns to step 447 to continue the process. As described above, when the processing of the order determination subroutine shown in steps 440 to 453 is completed, the array variable JU to which the stow order number is assigned is set as a return value, and the process returns to step 422 shown in FIG.

At step 422, the variable i is initialized to 1, and at step 423, the value of the return value JU (i) is transferred to another array variable JU _a (i). Step 42
In step 4, the value of i is incremented by one.
Is checked to see if it exceeds the value of the variable K. If the value of the variable i exceeds the value of the variable K, the process proceeds to step 426; otherwise, the process returns to step 423 to continue the process.

In step 426, the value of the second article stow position _Pc (shown in step 387 in FIG. 21) registered by the second stow position calculating means 46 is read from the memory 54. In step 427, the order determination subroutine shown in FIG. 23 is called using the values of K and _Pc as arguments. Here, the description of the order determination subroutine is omitted. From the order determination subroutine, the array variable JU to which the stow order number is assigned is set as a return value, and the process returns to step 428. In step 428, the variable i is initialized to 1, and in step 429, the value of the return value JU (i) is transferred to another array variable JU _c (i). Step 430
In step 431, it is checked whether the value of the variable i exceeds the value of the variable K.
If the value of the variable i exceeds the value of the variable K, step 43
Then, the process returns to step 429 to continue the process. In step 432, it transmits the value of the array variable JU _a and JU _c stowage sequence number is assigned to the robot control unit 32. In step 433, an operation start signal is output to the pallet position input means 48, and the process ends.

FIG. 25 is a flowchart showing the operation of the pallet position input means 48. The program is registered in the memory 54 of the microcomputer 50. The pallet position input means 48 receives the operation start signal from the stow order determining means 47 and starts the operation from step 500. In step 500, the human uses the keyboard 55 and the display 56 to display the pallet origin P shown in FIG.
0 of the coordinate _{(x p, y p, z} p < not shown>) to enter. In step 501, the coordinates (x _p , y _p , z
_p ) is registered in the memory 54. In step 502, an operation start signal is output to the approach position calculating means 49, and the process is terminated.

FIG. 26 shows the approach positions of the first article stowage position calculated by the first stowage position calculating means 44 and the second article stowage position calculated by the second stowage position calculating means 46. In the flowchart of the approach position calculation means 49, the program is registered in the memory 54 of the microcomputer 50. Approach position calculation means 4
9 receives the operation start signal from the pallet position coordinate input means 48 and starts the operation from step 510. In step 510, registered by loading data input means 40 (shown in step 201 of FIG. 3) _W W of the article 34, W _L, a value of W _H read from the memory 54.

[0111] In step 511 and step 512, with the article product shown in Figure 27 position P _a and approaches position A
The distance DE between x and y in the x and y directions is calculated using the following equation (32). _{DE = KE * MIN (W W} , W L, W H) KE shown on the right-hand side of equation (32) (31), called approach distance factor, in step 511, is set to KE = 0.25 . The approach distance coefficient KE is not limited to 0.25, but may be any value smaller than 1.0. In step 512, using the MIN function, _W W, W _L,
The smallest value of W _H is multiplied by KE, and the value is substituted for a variable DE.

In step 513, the value of the coordinates (x _p , y _p , z _p ) of the origin P0 registered by the pallet position input means 48 (shown in step 501 in FIG. 25) is read from the memory 54. In step 514, FIG.
As shown in the figure, the coordinates of the pallet origin P0 are in the first quadrant to the fourth quadrant.
Check which quadrant is in which quadrant. First
If it is in the quadrant, proceed to step 515; if it is in the second quadrant, proceed to step 516; if it is in the third quadrant, proceed to step 517; if it is in the fourth quadrant, proceed to step 518.

[0113]

[Table 1]

In step 515, the direction of the approach position with respect to the article stacking position is set to the direction of ap1 shown in FIG. 28, and the unit direction vector shown in the first first term is converted to the value of the equation shown in the second term of Table 1. And In step 516, the direction of the approach position with respect to the article stacking position is indicated by a in FIG.
Let p2 be the direction, and the unit direction vector shown in the first term of Table 1 be the value of the equation shown in the third term of Table 1. Step 517
Then, the direction of the approach position with respect to the article storage position is set to the direction of ap3 shown in FIG. 28, and the unit direction vector shown in the first item of Table 1 is set to the value of the expression shown in the fourth item of Table 1. In step 518, the direction of the approach position with respect to the article stacking position is set to the direction of ap4 shown in FIG.
The unit direction vector shown in the term is the value of the equation shown in the fifth term of Table 1.

[0115] At step 519, a vector from approach position AP shown in FIG. 27 to the attached article product position P _a (shown in Table 1 paragraph 6), computed using the equations shown in Table 1 Section 7. DE shown in the first term on the right side of the equation in the seventh term of Table 1 is the scalar amount calculated in step 512. Step 5
At 20, the value of the article stacking number K for one stage (shown in step 228 in FIG. 7) registered by the plane number setting means 42 is read from the memory 54. In step 521, the value of the variable i is initialized to 1, and in step 522,
As shown in FIG. 27, the vector from the robot origin R0 until the article stowage position P _a (shown in Table 1 Section 8), Table 1 9
Calculate using the formula shown in the item.

The vector of the first term on the right side of the equation shown in the ninth term of Table 1 (shown in the tenth term of Table 1) is obtained by the pallet position input means 4.
8 is a vector representing the pallet origin P0 (shown in step 500 of FIG. 25) inputted by the pallet No. 8; Also, the vector of the second term on the right side of the equation shown in Table 9 (Table 11
Is a vector representing the first article stow position (shown in step 310 in FIG. 14) registered by the first stow position calculating means 44.

In step 523, a vector (shown in item 12 in Table 1) from the robot origin R0 shown in FIG.
The calculation is performed using the equation shown in the thirteenth term. In step 524, a vector (not shown) from the robot origin R0 to the second article storage position _Pc (shown in item 14 of Table 1) is calculated using the formula shown in item 15 of Table 1. Vector shown in the second term on the right-hand side of the equation shown in Table 1, Item 15 (shown in Table 1, Item 16)
Is the second article stow position P registered by the second stow position calculating means 46 (shown in step 387 shown in FIG. 21).
_This is a vector representing _c .

In step 525, a vector (not shown) from the robot origin R0 to the approach position AP with respect to the second article loading position (shown in Table 1 item 17) is calculated using the equation shown in Table 1 item 18. . At step 526,
The value of the variable i is incremented by one, and it is checked in step 527 whether the value of the variable i or the value of k is exceeded. Variable i
If the value exceeds the value of the variable K, the process proceeds to step 528; otherwise, the process returns to step 522 to continue the process. In step 528, the values of the vectors shown in Table 1 item 12 and the vectors shown in Table 1 item 17 are transmitted to the robot control means 32, and the process ends.

The robot control means 32 calculates the first goods storage position calculated by the first storage position calculation means 44 and the second goods storage position.
Receiving the second article stowage position calculated by the stowage position calculating means 46, the stowage order determined by the stowage order determining means 47, and the approach position calculated by the approach position calculating means 49, the next Works as follows.
First, the robot control unit 32 issues an instruction to the industrial robot 31 to hold the article 34 supplied to the supply device 33. When the holding of the industrial robot 31 is completed,
The robot control means 32 instructs the industrial robot 31 to move to the approach position of the first article loading position, which is the first loading order. When the move is complete,
An instruction to stow the articles 34 to the first article stow position where the stow order is the first is issued. When the stowage is completed, the robot control unit 32 instructs the industrial robot 31 to again grip the article 34 supplied to the supply device 33. A similar instruction is issued for the articles 34 whose stowage order is the second or later, and the stowage for one stage is completed.

In the second-stage stowage after the completion of the first-stage stowage, after the industrial robot 31 grips the article 34 of the supply device 33, the robot control means 32 On the other hand, an instruction to move to the approach position of the second article stow position where the stow order is the first is issued.
The industrial robot 31 moves to a position obtained by adding the height W _H of the article 34 for one step to the approach position. When the movement is completed, the robot control unit 32 issues an instruction to load the articles 34 to the second article loading position where the loading order is the first.
The industrial robot 31 loads the article 34 at a position obtained by adding the height W _H of the article 34 for one step to the second article loading position. When the stowage is completed, the robot control unit 32 instructs the industrial robot 31 to again grip the article 34 supplied to the supply device 33. Robot control means 32
Issues the same instruction to the articles 34 whose stowage order is the second or later, and completes the stowage of the second stage.

In the third stage, the robot control means 32
Issues an instruction to stack the articles 34 again at the first article stacking position, and in the fourth stage, the articles 3 are again shifted to the second article stacking position.
Give instructions to load 4. As described above, the industrial robot 31 stacks the articles 34 in different arrangements at the even-numbered steps and the odd-numbered steps, and ends the stowage operation when the predetermined number of steps is reached. After that, the industrial robot 31 sets the pallet 35 to another pallet, and starts the loading operation of another article 34.

In the industrial robot configured as described above, it is not necessary for a human to consider the method of arranging the articles 34 to be stacked on the pallet 35. The input operation of the y-coordinate coefficient 12 and the angle coefficient 13 can be omitted.

Further, the x coordinate coefficient 1 of the stowage pattern 10
As a result of eliminating the necessity of inputting the 1, the y-coordinate coefficient 12, and the angle coefficient 13, the x-coordinate coefficient 11, the y-coordinate coefficient 12,
Input error from the industrial robot 31
Can be prevented from moving to another position different from the original position, and interference between the article 34 held by the industrial robot 31 and the article 34 already stacked on the pallet 35 can be prevented. Can be prevented.

Also, an article 3 that can be stuck out and stowed by a human
The work of examining the arrangement method of 4 can be eliminated,
X-coordinate coefficient 1 of stowable stacking pattern 10
1, the input operation of the y-coordinate coefficient 12 and the angle coefficient 13 can be omitted.

When the articles 34 are stacked in multiple stages on the pallet 35, the articles 34 can be stacked in different arrangements in the even and odd stages. As a result, it is possible to prevent the articles 34 from being stacked, and to prevent the articles 34 from collapsing. Further, it is not necessary to input the stowage order 14 and the approach distance 15 of the stowage pattern 10.

[0126]

As described above, according to the industrial robot according to the present invention, it is possible to eliminate the need for a human to examine the method of arranging the articles to be stacked on the pallet, and to reduce the stowage pattern. The operation of inputting the x-coordinate coefficient, the y-coordinate coefficient, and the angle coefficient can be omitted, and labor can be saved.

Further, it is possible to prevent interference between the articles held by the industrial robot and the articles already stacked on the pallet.

In addition, it is not necessary to consider a method of arranging articles that can be protruded and stowed, and it is not necessary to input an x-coordinate coefficient, a y-coordinate coefficient, and an angle coefficient of a stowed pattern that can be protruded and stowed. It can save labor.

Further, even if the industrial robot stacks articles on the pallet in multiple stages, it is possible to prevent the articles from collapsing.

Further, the work of inputting the stowage order of the stowage pattern can be omitted, and the number of workers can be reduced.

In addition, the operation of inputting the approach distance of the stowage pattern can be omitted, and labor can be saved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a configuration of an industrial robot of the present invention.

FIG. 2 is an explanatory diagram showing an electrical connection relationship of the present invention.

FIG. 3 is a flowchart showing the operation of the loading data input means of the present invention.

FIG. 4 is an explanatory diagram of dimension data of the present invention.

FIG. 5 is an explanatory diagram showing the operation of the stowage area input means of the present invention.

FIG. 6 is an explanatory diagram of the amount of protrusion in the present invention.

FIG. 7 is a flowchart showing the operation of the plane number setting means of the present invention.

FIG. 8 is an explanatory diagram of a first arrangement condition of the present invention.

FIG. 9 is an explanatory diagram of a first arrangement condition of the present invention.

FIG. 10 is an explanatory diagram of a first arrangement condition of the present invention.

FIG. 11 is a flowchart of a first arrangement condition of the present invention.

FIG. 12 is a flowchart of a first arrangement condition of the present invention.

FIG. 13 is a flowchart of a first arrangement condition of the present invention.

FIG. 14 is a flowchart showing the operation of the first stowage position calculating means of the present invention.

FIG. 15 is an explanatory diagram of a second arrangement condition of the present invention.

FIG. 16 is an explanatory diagram of a second arrangement condition of the present invention.

FIG. 17 is an explanatory diagram of a second arrangement condition of the present invention.

FIG. 18 is a flowchart of a second arrangement condition of the present invention.

FIG. 19 is a flowchart of a second arrangement condition of the present invention.

FIG. 20 is a flowchart of a second arrangement condition according to the present invention.

FIG. 21 is a flowchart showing the operation of the second stowage position calculating means of the present invention.

FIG. 22 is a flowchart showing the operation of the stow order determining means of the present invention.

FIG. 23 is a flowchart showing the operation of the stow order determining means of the present invention.

FIG. 24 is an explanatory diagram of the operation of the stow order determining means of the present invention.

FIG. 25 is a flowchart showing the operation of the pallet position input means of the present invention.

FIG. 26 is a flowchart showing the operation of the approach position calculating means of the present invention.

FIG. 27 is an explanatory diagram showing the operation of the approach position calculating means of the present invention.

FIG. 28 is an explanatory diagram showing the operation of the approach position calculating means of the present invention.

FIG. 29 is an explanatory diagram showing a configuration of a conventional industrial robot.

FIG. 30 is an explanatory diagram of a stowage pattern.

FIG. 31 is an explanatory diagram of a stowage pattern.

FIG. 32 is an explanatory diagram of a stowage pattern.

FIG. 33 is an explanatory diagram of an approach distance.

FIG. 34 is an explanatory diagram of an approach distance.

FIG. 35 is an explanatory diagram showing an operation of a conventional industrial robot.

FIG. 36 is an explanatory view of stuck-out stowage.

FIG. 37 is an explanatory diagram showing the operation of a conventional industrial robot.

FIG. 38 is an explanatory diagram showing an operation of a conventional industrial robot.

FIG. 39 is an explanatory diagram showing the operation of a conventional industrial robot.

[Explanation of symbols]

31 industrial robot, 32 robot control means, 33
Supply device, 34 articles, 35 pallets, 40 loading data input means, 41 stowage area input means, 42 plane number setting means, 43 first arrangement condition registration means, 44
First stowage position calculation means, 45 second arrangement condition registration means,
46 second stowage position calculating means, 47 stowage order determining means, 48 pallet position input means, 49 approach position calculating means, 50 microcomputer, 51 input circuit, 52 CPU, 53 output circuit, 54 memory,
55 keyboard, 56 display.

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B65G 61/00 B65G 57/03

Claims (8)

(57) [Claims] 1. An industrial robot for sequentially loading articles on a pallet, a loading data input means for inputting dimension data of the articles and the pallet, and loading articles for one stage to be loaded on the pallet. Plane number setting means for setting the number, and a first step for one stage of the articles to be stacked on the pallet
A first arrangement condition registering unit in which each arrangement condition of the basic stowage arrangement is registered, and the loading data and the plane number setting unit.
From the data, each distribution registered in the first
Check the placement conditions and display the article layout diagram that satisfies the placement conditions.
And select from the displayed article layout diagrams.
An industrial robot comprising: a first stowage position calculating means for calculating a first stowage position based on an arrangement condition of a selected article arrangement view . 2. An industrial robot for sequentially loading articles on a pallet, a loading data input means for inputting dimension data of the articles and the pallet, and an area for loading the articles on the pallet. Stowage area input means, plane number setting means for setting the number of articles to be stowed for one step to be stowed in the stowage area, and first basic for one step of the articles to be stowed to the stowage area each arrangement condition of the arrangement with product is registered
A first arrangement condition registration unit has, the loading data, the product
Data input from the attached area input means, and the plane
From the data of the number setting means to the first arrangement condition registration means
Check each registered placement condition and satisfy the placement condition
Displaying the article layout and displaying the displayed article layout
An industrial robot, comprising: a first stowage position calculating means for calculating a first stowage position based on an arrangement condition of an article arrangement view selected from the arrangement drawings . 3. An arrangement condition of a second basic stowage arrangement to be stacked on said articles arranged according to said first basic stowage arrangement.
There a second arrangement condition registering means is registered, the selection of the
3. An industry according to claim 1, further comprising: a second stowage position calculating means for calculating a second stowage position based on the arrangement condition of the article arrangement drawing. For robots. 4. A stacking order determining means for determining an article stacking order of the industrial robot based on the first article stacking position, the second article stacking position, and the loading data. The industrial robot according to claim 3, wherein 5. The stowage order determining means calculates vertex coordinates of the articles based on the first article stowage position, the second article stowage position, and the dimensional data. The industrial robot according to claim 4, wherein the vertex coordinates are compared to determine an order in which the industrial robot loads articles. 6. A pallet position inputting means for inputting a position of the pallet, and an approach of an article loading position based on the pallet position, the first article loading position, the second article loading position, and the dimensional data. The industrial robot according to claim 3, further comprising an approach position calculating means for calculating a position. 7. The approach position calculating means calculates a direction with respect to the first article stow position and the second article stow position based on the pallet position, and calculates the direction of the first stow position and the second stow position. 7. The method according to claim 6, wherein the distance to the article loading position is calculated based on the dimension data to calculate the approach position.
The industrial robot as described. 8. An industrial robot for sequentially stacking articles on a pallet, a loading data input means for inputting dimension data of the articles and the pallet, and an area for loading the articles on the pallet. Stowage area input means, plane number setting means for setting the number of articles to be stowed for one step to be stowed in the stowage area, and first basic for one step of the articles to be stowed to the stowage area each arrangement condition of the arrangement with product is registered
A first arrangement condition registration unit has, the said loading data Rights
From the data of the surface number setting means, the first arrangement condition registration means
Check each placement condition registered in
Display the article arrangement diagram and the displayed article
First stowage position calculating means for calculating a first article stowage position based on an arrangement condition of an article arrangement view selected from the arrangement plan ; the stacked each arrangement condition register of the arrangement with the second basic product
The second arrangement condition registration unit, and a second stowage position calculating means for calculating a second with article product position based on the selected arrangement condition, the first item stowage position and the second A loading order determining means for determining an article loading order of the industrial robot from an article loading position and the loading data, and a pallet position inputting means for inputting a position of the pallet;
Approach position calculating means for calculating an approach position of the article stowage position based on the pallet position, the first article stow position, the second article stow position, and the loading data. Industrial robot.