JPH03243526A - Cargo loading device - Google Patents

Abstract

PURPOSE:To lower the position of a center of gravity of the whole work on a piling pallet with a simple device by providing an industrial robot opposing to a plurality of supply means, a loading command means for a required work, an a loading order indicating means for every sort of work. CONSTITUTION:A loading order indicating means 11 is operated by a forwarding command 9, and the sort of a work to be loaded due to the command 9 is converted to a loading order. When loading of the first order work 13 is commanded from a loading command means 10, a supply means loaded with the work 13 is opposed to an industrial robot 6 through a conveyor 5, and the work 13 is loaded on a pallet 7 with the robot 6. When the order number N is not the last one by the forwarding command 9, the second order work 14 is loaded similar to the work 13 on the work 13 on the pallet 7. Loading are similarly performed on and after the third order work 15, loading of required work is completed when the order number is the last one, and the loaded work is transported to a truck terminal and the like with a carrying out conveyor 8.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a loading device for stacking a specified number of seven-packs of a plurality of types onto a pallet.

[Conventional technology]

For example, as shown in Japanese Patent Application Laid-Open No. 61-33426, a loading pattern is created given the dimensions of an arbitrary load, and the loads are received in an arbitrary order according to the stowage plan and loaded onto pallets. The attaching system is known.

[Problem to be solved by the invention]

The conventional loading device described above requires a plurality of devices and is expensive for the task of stacking a specified number of different types of workpieces onto pallets.

It is not suitable for processing large amounts of work. In addition, there is a problem in that the center of gravity of the entire piled-up workpieces becomes high due to the lightweight workpieces being stacked at the bottom, and stability during transportation is impaired.

The present invention was made to solve this problem, and provides a loading device that has a simple device configuration and that stacks workpieces so that the center of gravity of the workpieces on stacked pallets does not become high. The purpose is to obtain.

[Means to solve the problem]

The loading device according to the present invention is provided with an industrial robot facing a plurality of supply means, a command means for stowing required workpieces, and a ranking designation means for stowing each type of workpiece.

[Function 1] In the loading device configured as described above, the number of workpieces for each of the seven types of workpieces is loaded, the loading is instructed to the industrial robot according to the procedure, and the center of gravity of the entire stacked workpieces is low. 9 The stowage of each work type is designated by rank or industrial robot. [Example] Figures 1 to 4 are diagrams showing an example of this invention. (4) are supply means placed on a conveyor (5), each consisting of a specific type of cotton or a loaded supply barret; (1) is a first supply means; (2) is a second supply means; is the third supply means, (4) is the fourth supply means, (6
) is installed close to the conveyor (5) and the control means (6a
) has a loading pallet (7') located near the industrial robot (6), and a preliminary loading pallet (8) is an unloading conveyor for the pallet (7). , (9) is a shipping command that has been input such as a shipping slip, (10) is a shipping command (9) that instructs the industrial robot (6) to specify the type of workpieces to be loaded, the number of each type, and The stowage of each workpiece in the workpiece type is the arrangement, the stowage is the command means for the stowage including a program that instructs the stowage procedure such as the combination of postures, and (11) is the stowage command means for each workpiece for each workpiece type to be determined. For stowage, such as weight per volume, weight per unit volume, box strength, and maximum number of boxes stacked, check the registered list of requirements, and for stowage according to shipping directive (9), check the workpiece type. Loading is done in an order that lowers the center of gravity of all the workpieces when they are stacked, and on the condition that the packing box of the lower workpieces is not deformed. (12) is a control device that instructs the industrial robot (6) to perform all operations, and the I10 port (12a)
, RAM (12b), CPU (12c),
A computer (12) having a ROM (12d),
e) are arranged. Figure 4 is a diagram illustrating an example of a situation in which workpieces are stacked on the bullet (7), with the first priority work (13), the second priority work (+4), the third priority work (15), and the fourth priority work (13). Ranked works (16) are stacked one after another.

The operation of the loading device configured as described above will be explained with reference to the flowchart shown in FIG.

When the shipping command (9) is issued in step (101), the stowage is carried out in step (102) by the order designation means (
11) is operated, and the stowage commanded by the shipping command (9) is converted into the work type or the stowage order. Then, in step (104) after passing through step (103), the command means (10) issues a command to stow the first priority work (13). As a result, the supply means loaded with the first order workpiece (13) via the conveyor (5) faces the industrial robot (6), and the industrial robot (6) places the first order workpiece (13) on the valentine (7). ) are stacked. Then, the process moves to step (105), and if the stacking of the first priority work (13) is not completed, the stacking of the first order work (13) is continued, and if it is completed, the process advances to step (106). In step (106), if it is not the final rank according to the shipping command (9), the process returns to step (104) via step (107), and regarding the second rank work (14),
Similar to the first rank work (13), the second rank work (14) is placed on top of the first rank work (13) on the bullet (7).
or stacked. For the 3rd rank work (15) onwards, detailed explanations will be omitted or the 2nd rank work (15) will be omitted.
It is stacked in the same way as 4). and step (106)
If the rank number N is the final one, the required workpieces have been loaded and the workpieces are in the state shown, for example, in FIG. 4, and are transported to a truck terminal or the like by an unloading conveyor (8).

With such a simple device configuration, a large amount of workpieces can be easily stacked, and heavier workpiece types are stacked on the bottom, and lighter workpiece types are stacked on top of them.

Therefore, the center of gravity of the entire workpieces stacked on the valet (7) is lowered, and the stacking is stable during subsequent transportation, and problems such as collapse and overturning of the workpieces can be prevented. Furthermore, when loading workpiece types, consider the strength of the workpiece boxes when specifying the order, and consider the limit on the number of boxes that can be stacked when issuing the loading command to prevent problems such as deformation of the workpieces stacked below. Can be done.

〔Effect of the invention〕

As explained above, this invention specifies the order of stowage for each work type so that the center of gravity of the entire stacked workpieces is lowered, and stows the number of workpieces for each type of work and the stowage procedure. Since the industrial robot is operated by commanding the following, the stability of the entire work on the pallet is
Stowage has the effect of preventing the cargo from collapsing or falling over during subsequent transportation.

[Brief explanation of drawings]

FIG. 1 is a conceptual overall configuration plan view showing one embodiment of a loading device according to the present invention, FIG. 2 is a main circuit diagram showing the electrical connections shown in FIG. 1, and FIG. 3 is an operation shown in FIG. 1. FIG. 4 is a perspective view showing an example of a loading state by the apparatus shown in FIG. 1. (1) to (4)... Supply means, (6)... Industrial robot (7)... Valet (10)... Loading is command means, (11)... Loading is order Specifying means, (13
) ~ (16)... Work. Note that the same parts in Figure 1 are indicated by the same symbols.

Claims (1)

[Claims] A plurality of supply means each containing specific types of workpieces, an industrial robot provided opposite to these supply means for loading at least two types of workpieces onto a stacking pallet, and a shipping command for the industrial robot. Based on the required types of workpieces and the number of pieces for each type,
and a stowage command means for instructing the stowage procedure for each of the required workpiece types, and the stowage order for each of the required workpiece types to lower the center of gravity of the entire workpieces stacked on the pallet. A loading device comprising a loading order designation means for specifying an industrial robot.