JPH03162320A - Palletizing device - Google Patents

Abstract

PURPOSE:To efficiently utilize space to improve the degree of freedom of loading order by providing a temporary storage table for temporarily storing the cargos to be palletized, memorizing a state in which the cargos are stored, and calculating the loading position so as for the cargos on the temporary storage table not to interfere with the cargos to be loaded onto a pallet based on the state of the cargos on the table. CONSTITUTION:A palletizing device P determines the combination of loading patterns from cargo data and loading data, and loads cargos onto a pallet 7 by means of a handling means 3. At this time, a part of the cargos to be loaded is placed on a temporary storage table 8 when necessary. The palletizing device memorizes the state in which the cargos are stored on the temporary storage table 8 at that time, and it determines the loading position of cargos onto the pallet 7 so as for the cargos to be loaded not to interfere with the cargos stored on the temporary storage table based on the memorized state of the cargos on the table.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a palletizing device that efficiently palletizes a plurality of cargoes of the same type or different types onto receivers such as pallets or boxes.

(Prior Art) Most conventional palletizing devices load only a plurality of cargoes of the same size onto receivers such as pallets or boxes. However, now that consumer demand for products has diversified, it has become necessary to transport a wide variety of products in small quantities based on the diversification of products. There is a need for palletizing equipment that can palletize cargo. In order to meet the above requirements, a teaching method for a palletizing robot system has been proposed (Japanese Unexamined Patent Publication No. 61-26109).

The teaching method described in the publication includes a means for creating a plane pattern, a means for creating a combination of plane patterns, and a stacking pattern, and teaches the robot's movement path and movement control information to the robot according to these human data. It is equipped with the means.

(Problem to be solved by the invention) However, the teaching method described in the above publication,
The robot was made to operate by inputting various data and teaching the robot's movement path in advance, and could only perform uniform movements based on the teaching contents. Therefore, it is possible to construct a flexible system in which the loading position of each cargo is determined by calculation each time according to the combination of cargoes, instead of a method in which the loading position of each cargo is taught in advance by teaching or the like. However, even with such a flexible system, there is a problem in that it is not possible to efficiently load cargo while minimizing the gaps between the cargo loaded on one receiver and eliminating wasted space. there were.

The present invention was made to solve the above problems, and
To provide an inexpensive palletizing device that can minimize wasted space and increase the degree of freedom in the supply and loading order of cargo when loading multiple cargoes of the same or different types onto pallets or box receivers. The purpose is to provide the following.

(Means for Solving the Problems) The palletizing device of the present invention determines the loading order and loading position of cargo based on cargo data such as the dimensions of the cargo and loading data such as the type and number of cargo to be loaded on the receiver C. A loading form calculating means for calculating, a handling means for loading cargo based on the calculation result of the loading form calculating means, a temporary storage stand for temporarily storing the cargo palletized by the handling means as necessary, and the above-mentioned handling means. storage means for storing the storage status of the cargo temporarily placed on the temporary storage stand; and stowage position calculation means for calculating the horizontal position of the cargo on the pallet so as not to interfere with the stored cargo based on the cargo storage situation. It is equipped with the following.

[Effect]

According to the present invention, when cargo of the same or different type is supplied, the handling means is operated based on the calculation result of the cargo form calculation means to load the cargo onto the receiving device. The cargo storage status is stored in the storage means,
Based on the storage situation, the handling mechanism temporarily calculates the cargo loading position on the pallet using the horizontal loading position calculation means so that the cargo on the temporary storage stand and the cargo loaded next to the pallet do not interfere with each other. Cargo can be efficiently palletized without being interfered with by the cargo on the storage platform.

(Example) The present invention will be described below based on the example shown in FIGS. 1 to 10. In each figure, FIG. 1 is a plan view showing an embodiment of the palletizing device of the present invention, FIG. 2 is a plan view showing an enlarged hand of the palletizing device shown in FIG. 1, and FIG.
)． (b) is a diagram showing the cargo, and (a)
is a partially cutaway side view, FIG. 4(b) is another side view, FIG. 4 is a perspective view showing a state in which cargoes with different dimensions are mixedly loaded on a pallet, and FIG. 5(a) ．． (b)
．． (c), (d). (e). (f) is a pattern diagram showing the cargo loading pattern, FIG. 6 is a flow diagram showing the operation of the palletizing device shown in FIG. 1,
Figure 7 shows three-dimensional coordinates showing the concept of space when loading, Figure 8 shows the concept of loading space - a conceptual diagram showing the base, and Figure 9 shows the concept of loading space when loading cargo onto pallets (7). FIG. 7 is a diagram showing the state of interference with the cargo on the temporary storage table (8) in the case of side-grip cargo. If cargo is stored on a temporary storage stand (8) within the size range shown in the figure, it cannot be stowed at this position.

As shown in Fig. 1, the palletizing equipment fit (P) of this embodiment consists of a robot body (1) and a robot body (1).
) hand (3) attached to the end of the arm (2)
The arm (2) is extended and contracted in an arc-shaped operating area (4) indicated by a dotted line in the figure, and is also swung horizontally to control the cargo (see figure (not shown) are held by a hand (3) and loaded in a predetermined quantity onto a receiver (hereinafter referred to as a "pallet") (7) which is conveyed by a pallet conveyor (6). In addition, the above pallet conveyor (6) is brought into contact with ELtJR, and the above operation area (4)
Temporary storage stand (8) for temporarily storing cargo by placing it inside the
is installed. Then, the above hand (3) is the second
As shown in the figure, a pair of suction pads (31), (31) are attached to the upper surface of the cargo to grip it, and a pair of suction pads (31), (31) are attached to the upper surface of the cargo.
As shown in (b), a hole (
9l) and a hook (22) for hooking and holding the
The suction pads (31), (3l) and the hook (32) are controlled to be gripped by appropriately switching between the suction pads (31), (3l) and the hook (32) depending on the target cargo via the rotating shaft (33).

Thus, the palletizing apparatus (P) of this embodiment is configured such that, for example, the same or different types of cargo (9) can be mixedly loaded on a pallet (7) (see FIG. 4).

Then, the palletizing device (P) collects the cargo data such as the dimensions of the cargo (9) and the cargo (9) to be loaded on the pallet (7).
), a memory for storing the data inputted by the input means, and a loading order and the loading order of the cargo (9) based on the data stored in the memory. It is equipped with a packing form calculating means (device) for calculating the loading position. Then, the palletizing device (P) operates the handling means, that is, the hand (3), based on the calculation result of the package form calculation device, to mix and load the cargo (9) onto the pallet (7). When performing mixed loading, for example, the six loading patterns P4a, P4b, P6a, P6b, P8a and P shown in Fig. 5(a) to (f) are used.
8b. These loading patterns are stored in advance in a memory (not shown), and are appropriately selected by calculation according to the cargo (9) to be palletized. The above loading pattern P4a
, P4b are the patterns for loading 4 pieces of the same cargo (9), loading patterns P6a and P6b are the patterns for loading 6 pieces of the same cargo (9), respectively, and loading patterns P8a and P8b are the patterns for loading the same cargo (9), respectively. ) is shown.

Next, the palletizing device (P) of this embodiment is used to collect different types of cargo (9^). (9B) 11 and 12 pieces respectively
The case of mixed loading will be explained based on Figs. 5 and 6 as an example. When the palletizing device (P) starts, the cargo to be consolidated (9^) is first loaded. (9B) Calculate each combination of loading patterns (step 110). Cargo (9^) 1
When loading one item, the following three combinations are calculated.

1) Combination of 8 loading patterns and fractional 3 pieces 2) 6
A combination of 1 piece, 4 piece loading pattern, and 1 piece. 3) Combination of 2 loading patterns of 4 items and 3 fractions Here, the combination of 1) above is defined as A1 = ^P8 + A old, ^l is the first combination of cargo (9), ^P
8 means that there are 8 loading patterns of cargo (9A), and ^H3 means that there are 3 fractions (H) of cargo (9A). If each combination of 2) and 3) above is expressed in the same way as l) above, the combination of 2) is A2=^P6+^P4 +A}
+1, 3) combination is A3=AP4 +AP4+
^It becomes H3.

Expressing cargo (9B) in the same way, B1=BP8
+BP4, B2=BP6 +BP4 +BH2 and B
There are three combinations: 3 = BP4 + [IP4 + BP4.

As above, each cargo (9^). Once the combination (9B) is calculated, then in the case of APfl, it is necessary to determine one of the stacking patterns P8a and P8b shown in FIG. Either the loading pattern Plla or P8b is
For example, ^l~A3 are determined according to the following rules.

1) The one whose lateral dimension (pw in FIG. 5) is within the lateral dimension of the pallet (7) and which is the longest in the lateral dimension range.

2) The one with the shortest vertical dimension (PL) and within the vertical dimension range of the pallet (7).

Also, after the second term (for example, BP4 in B2...
), in addition to 1) and 2), 3) ride on the pattern determined in the previous item (BP6 for BP4 of 82). In step 110, each cargo (9A). (9B)
Once each combination of loading patterns is determined, the priority order for loading among the next combinations is determined by calculation (step 120). This priority order is determined by, for example, an evaluation formula in which the following items are weighted and added. l) Number of loading stages (that is, the number of terms above, 2 for B1)
, if it is B2, it is 3) 2) The shortness of the vertical dimension (PL) of the maximum pattern.

3) Fewer fractions.

When the priority order of combinations of loading patterns is determined in step 120, each cargo (9A) . (9B)
Calculate the combination of loading patterns between (step l
30). This operation is performed, for example, as follows by introducing the concept of base. Here, the base is a rectangular space on which cargo can be loaded.
If you load cargo on top of the base, the remaining space where the cargo was loaded and the top of the cargo (9) you just loaded will become a new base. Furthermore, the above-mentioned pattern also defines the dimensions of the base when stacked according to that pattern. That is, the base has its vertical and horizontal dimensions, height, and start position coordinates. That is, in the initial conditions, the base is the pallet (A) itself, the dimensions of the base are the dimensions of the pallet (7), the height of the base is Omm, and the start position coordinates are the pallet (7) of the pallet (7). (see figure) (0.
0). Let this initial base be base 1.

Next, when loading the cargo (9) on the base 1,
How this base changes will be explained based on FIG.

As mentioned above, the empty palette (A) becomes base 1,
When the PA4 is loaded on the pallet (7), the base 1 is divided into bases 2 to 4 when placed on the part labeled base 2 in the figure. That is, base 3 and base 4 are the remaining spaces after placing PA4, and since the definition of the base is rectangular, there are two bases, base 3 and base 4, as shown in the figure. At this time, the base height of the base 2.3 remains at OI, and the start position coordinates become (72) and (7:l), respectively. Base 2 is PA4
In the space above, the starting position coordinates are (71
), the pace height is above the cargo (9A) (PA4), so it is equal to the height of the cargo (9A). In this way, the base is divided by loading cargo onto the base. In this example, the cargo to be consolidated (9A). (
9B) is ^3=AP4 +AP4 18H3 and B3
MoBP4 +BP4 +BP4. Therefore, we will explain how to combine these patterns.

1) Select the largest pattern for each cargo, and repeat the following calculation until all patterns are completed.

2) Select the smallest base on which the selected pattern can be placed, and perform the above-mentioned base division. At this time, if the cargo is the same, priority is given to selecting bases on the same cargo as much as possible so that the upper and lower cargo levels are of the same type.

By repeating the above steps, all patterns are loaded.

After the combinations of loading patterns between cargoes are calculated as described above in step 130, the remaining fractional combinations are calculated (step 140). Loading a fractional number is basically the same as the loading in step 130, in which the fractional cargo (9) is loaded by dividing the base, and the selection order of the target cargo (9) at this time is cargo (9). It is common to arrange them in descending order of their planar dimensions.

Therefore, when supplying cargo to the palletizing device of this embodiment, it is difficult to supply all cargo (9) in the loading order.
The supply device becomes expensive and is not practical. For example, freight (
When loading 12 pieces of cargo (9A), load them in a loading pattern of 8 pieces, then load another cargo (9B), and then load the cargo (9A) again.
) may be loaded. At this time, cargo (9A
), then supply cargo (9B), then supply cargo (9B) again.
Since four pieces of A) are to be supplied, the supply device becomes too complicated. Therefore, as a feeding device, cargo (9A) can be
However, when loading 8 pieces and temporarily storing the remaining 4 pieces on the temporary storage stand (8), loading the cargo (9B) first and loading the cargo (9A) again, the temporary storage stand (8) ). In this way, the temporary storage platform (8) can change the order in which the cargo is supplied and the order in which it is actually loaded. This is shown in Figures 1, 9 and l.
To explain concretely based on diagram O, first, cargo (9A
) are continuously supplied from the carry-in conveyor (5). Of these, eight are loaded onto a pallet (7), while the remaining four are temporarily stored on a temporary storage stand (8). At this time, due to the robot's operating area (4), the pallet (7)
and the temporary storage stand (8) must be installed adjacent to each other. Therefore, it is necessary to load the cargo (9B) with four cargoes (9A) stored in the temporary storage stand (8). However, when trying to load the cargo (9B) onto the pallet (7) with the cargo (98) stored on the temporary storage stand (8) in this way, for example, as shown in Fig. 9, the temporary storage stand (8) If there is a limit to the space between the pallet and the pallet (7), the cargo is picked from the temporary storage stand (8).
When loading cargo onto a pallet, the degree of freedom of movement of the handling mechanism may be reduced depending on the storage status of the cargo on the temporary storage platform (8). This may interfere with the cargo and make cargo loading impossible.

Therefore, in this embodiment, when performing division calculations for each base on the pallet, first, the cargo storage status of the temporary storage table (8) is stored in a storage means (not shown). Then, check the L dimension range between the temporary storage stand (8) and the pallet (7) at this time,
Each base division calculation of the pallet is performed so that the degree of freedom of movement of the handling mechanism (3) between the temporary storage stand (6) and the pallet (7) is increased. Therefore, it is possible to avoid the handling mechanism (3) from interfering with the cargo, and the temporary storage table (8) can be used effectively, and the cargo (9) supplied by the carry-in conveyor (5) can be transferred to the pallet (7). When loading, it is possible to mix the cargo (9) without creating gaps on the pallet (7) as much as possible, and it is also possible to have flexibility in the supply order and loading order of the cargo (9), making it possible to avoid palletization. Work can be done with high efficiency. Moreover, the price as a palletizing device is also low.

(Effects of the Invention) According to the present invention, when loading a plurality of cargoes of the same type or different types onto a receiver such as a pallet or a box, the cargo loading on the pallet is adjusted according to the storage status of the cargo on the temporary storage stand. Since the calculation is performed, interference with the cargo by the handling mechanism can be avoided, the cargo can be reliably palletized without wasting space, and an inexpensive palletizing device can be provided.

[Brief explanation of the drawing]

1 is a plan view showing an embodiment of the palletizing device of the present invention, FIG. 2 is a plan view showing an enlarged hand of the palletizing device shown in FIG. 1, and FIG. 3(a). (b) is a diagram showing the cargo, (a) is a partially cutaway side view, (b) is another side view, and Figure 4 is a cargo with different dimensions on the pallet. A visual diagram showing a state in which the
Figure 5 (a), (b), (c) (d). (
e) and (f) are pattern diagrams showing cargo loading patterns, Figure 6 is a flow diagram showing the operation of the palletizing device shown in Figure 1, and Figure 7 is a three-dimensional diagram showing the concept of space during loading. Coordinates, Figure 8 is a conceptual diagram showing the base, which is the concept of the loading space, and Figure 9 is a conceptual diagram showing the base, which is the concept of the loading space. Figure 9 shows the state of interference with the cargo on the temporary storage table (8) when loading cargo on the pallet (7). It is a diagram shown in the case of cargo. In each figure, (1) is the robot body, and (3) is the hand (handling means). (7) is a pallet (receiver). (8)
(9) is the cargo, and (P) is the palletizing device. Note that the same reference numerals in the figures indicate the same or corresponding parts.

Claims (1)

[Claims] In palletizing equipment that loads multiple items of the same or different types onto receivers such as pallets or boxes, based on cargo data such as the dimensions of the cargo and loading data such as the type and number of cargo to be loaded onto the receivers. a loading form calculation means for calculating the loading order and loading position of the cargo, a handling means for loading the cargo based on the calculation results of the packing form calculation means, and a handling means for temporarily calculating the cargo to be palletized by the handling means. storage means for storing the storage status of the cargo temporarily placed on the temporary storage platform by the above-mentioned handling means; and storage means for storing the cargo on the pallet in a manner that does not interfere with the stored cargo based on the cargo storage situation. 1. A palletizing device comprising a stowage position calculating means for calculating a position.