JPH03243534A - Palletizing device - Google Patents

Abstract

PURPOSE:To stow goods at a stowage predeterminate position on a receiver according to a mounting order even at the time of a stowage error occurrence, by arranging so that a handling means, upon receiving an error inspecting signal, may be moved to the 2nd supply position and the goods held may be mounted at the mounting position on the receiver that has been operated by means of a packing style operating means. CONSTITUTION:In the case of a hand 3 having caused the fall of goods in the middle of the goods mounting, a mounting error inspecting means inspects the fall, and conveys the information to an upper position device that supplies goods to a carrying-in conveyor 5, and at the same time stops the action of handling. During this stoppage, the upper position device conducts the throwing-in of goods that are equal to the goods which are subjected to an mounting error, to the 2nd carrying-in conveyor 5a, and carrying-out is made to a palletizing device P. Next, a control panel equipped at the device P is operated, and a control signal is inputted at the device P, and then, a handling movement means is started, and a hand 3 is made to hold the goods laid at the 2nd carrying-in conveyor 5a, and stow them at a mounting position on a pallet 7 previously operated by means of a packing style operating means. Next, goods are held at the conveyor 5 again as usual.

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 for palletizing cargo.

In response to the above requirements, a cargo lateral control system (
There is one shown in Japanese Unexamined Patent Publication No. 60-209439). In order to efficiently stow multiple cargoes of different sizes, what is shown in this bulletin is to create horizontal loading pattern data and stowage order data for multiple cargoes in advance, and to load the multiple cargoes loaded in any order. Each cargo is stowed in a predetermined order according to the above-mentioned data and in a manner that matches the horizontal loading pattern.

[Problem to be solved by the invention]

However, with conventional equipment, when different types of cargo are supplied in an ordered manner by a feeding device such as a conveyor, or when a loading means such as a robot drops cargo during loading, etc.
It was difficult to stow the cargo in the designated horizontal loading position. In other words, loading may take a long time if the robot supplies one piece of cargo to a conveyor every time the robot loads one, so even before the robot completes loading, multiple pieces of cargo may be loaded onto the conveyor in advance. The attachments are added in order. Therefore, if the robot drops cargo during loading, even if the robot returns the cargo to the conveyor and causes the robot to start loading again, the conveyor has already been supplied with cargo for the next loading. , the loading of the cargo by the robot becomes impossible, and the loading position of each cargo is determined in advance based on the result of position calculation, so if the cargo is manually stacked in an inappropriate position, the subsequent cargo will be There were problems in that it interfered with the loading of items.

This invention was made in order to solve the above-mentioned conventional problems, and even if an error occurs when loading cargo by a handling means such as dropping cargo during loading, the cargo is not loaded in the order in which it is loaded. The purpose of stacking directly above the receiver is to obtain a palletizing device that can be stacked at a predetermined location.

(Means for Solving the Problems) A palletizing device according to the present invention loads a plurality of cargoes of the same type or different types fed by a predetermined supply device onto a receiver such as a pallet or a box using a handling means. , a packing form calculation means for calculating the loading order and loading position of the 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 receiving device; , a second supply device provided in the operating area of the handling means, and a loading error detection means for detecting a cargo loading error caused by the handling means;
cargo loading means for receiving the error detection signal and feeding the cargo into the second supply device;
A handling moving means is provided for moving the handling means to the second supply device and loading the grasped cargo to a loading position directly above the receiver calculated by the loading form calculating means.

[Effect]

According to the present invention, when an error occurs in the loading of cargo by the handling means, the cargo loading means receives a detection signal from the loading error detection means and inputs the same cargo as that in which the loading error occurred to the second supply device. Then, the cargo is grasped by the handling means moved by the handling moving means, moved to the loading position directly above the receiver calculated in advance by the cargo form calculation means, and loaded at that position. Even if an error occurs, the loading order can be maintained and each cargo can be loaded at the predetermined loading position.

〔Example〕

The present invention will be explained below based on the embodiments shown in FIGS. 1 to 7. In each figure, FIG. 1(a) 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 of FIG. 1, and FIG. Figure 4 (a), (b), (c) is a perspective view showing a state in which cargoes with different dimensions are mixedly loaded on a pallet.
, (d), (e), and (f) are pattern diagrams showing cargo loading patterns, Figure 5 is a flow diagram showing the operation of the palletizing device shown in Figure 1, and Figure 6 is a flowchart showing the operation of the palletizing device shown in Figure 1. Three-dimensional coordinates showing the concept of space. FIG. 7 is a conceptual diagram showing the base, which is the concept of loading space.

As shown in FIG. 1, the palletizing device (P) of this embodiment includes a robot body (1) and a hand (3) attached to the tip of an arm (2) of the robot body (1). , the arm (2) is extended and contracted in the arc-shaped operating area (4) shown by the dotted chain line in the same figure, and is swung horizontally to handle the cargo (not shown) supplied by the carry-in conveyor (5). (3) and is configured to be loaded in a predetermined quantity onto a receiver (hereinafter referred to as a "pallet") (7) which is conveyed by a pallet conveyor (6). Further, a second carry-in conveyor (5a) is located adjacent to the carry-in conveyor (5) and within the operation area (4) to carry in the emergency co-fed cargo.
) or are arranged. As shown in Fig. 2, the hunt (3) is equipped with a pair of suction pads (3a) and (3b) that grip the cargo by suctioning it to the upper surface of the cargo, and these suction pads (3a) and (3b) It is controlled to grasp the cargo.

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. 3).

Then, the palletizing device CP) 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 manually input by the manual means, and a memory for storing the loading data of the cargo (9) based on the data stored in the memory. A cargo form calculating means (device) for calculating a loading position, a loading error detecting means for detecting a cargo loading error caused by the nodding means, and a cargo feeding means for receiving an error detection signal and feeding the cargo into the second supply device. , handling moving means for receiving the error detection signal and moving the handling means to the second supply device to load the grasped cargo to a loading position directly above the receiver calculated by the packing form calculating means; We are prepared. and,
The palletizing device (P) uses the handling means, that is, the hand (3), based on the calculation result of the packaging form calculation device.
The cargo (9) is loaded onto the pallet (7). When performing mixed loading, for example, the six loading patterns P4a, P4b, Pfia, and P6 shown in Fig. 4 (a) to (f) are used.
b, P8a and P8b. These loading patterns are stored in advance in a memory (not shown), and are appropriately selected by calculation in accordance with the cargo (9) to be palletized. The above loading patterns P4a and P4b are the patterns for loading 4 pieces of the same cargo (9), respectively, and the loading patterns P6a and P
6b shows a no<turn when six pieces of the same cargo (9) are loaded, and loading patterns P8a and P8b each show a pattern when eight pieces of the same cargo (9) are loaded.

Next, the case where 11 and 12 pieces of different types of cargo (9A) and (9B) are mixedly loaded, respectively, using the palletizing device (P) of this embodiment will be explained based on FIGS. 4 and 5, as an example. .

When the palletizing device (P) starts, it first calculates the combination of loading patterns for the cargoes (9^) and (9B) to be consolidated (step 110). Cargo (9A)
When loading 11 pieces, the following three combinations are calculated.

1) Combination of 8 loading patterns and fractional 3 pieces 2) 6
3) Combination of 2 loading patterns of 4 pieces and 3 odd pieces Here, the combination of 1) above is A1 = AP3 + Al
l, A1 is the first combination of cargo (9),
AP8 means that there are eight loading patterns of cargo (9^), and AH3 means that there are three fractions (H) of cargo (9A).

When each combination of 2) and 3) above is expressed in the same way as 1) above, the combination of 2) is A2=AP6 +AP4
The combination of +A) II3) is ^3=AP4 +AP4
+A) 13.

Expressing cargo (9B) in the same way, B1=BP8
+BP4 B2=BP6 +BP4 +BH2 and B
There are three combinations: 3=BP4 10BP4 +BP4.

As described above, when the combination of each cargo (9A) and (9B) is calculated, next, in the case of AP8, it is necessary to determine one of the loading patterns P8a and P8b shown in FIG. Either loading pattern P8a or P8b is
For example, A1-A3 is determined according to the following rules.

1) The horizontal dimension (P in Figure 4) is within the horizontal dimension of the pallet (7) and is the longest within the horizontal 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, BF2 in B2...
), in addition to l) and 2), 3) ride on the pattern determined in the previous term (BF2 for BF2 of B2).

In step 110, each cargo (9A), (9B)
Once each combination of loading patterns is determined, the priority order of loading among the next combinations is determined by calculation (step 120). This priority order is determined, for example, by an evaluation formula in which the following items are weighted and added.

1) Number of loading stages (that is, the number of terms above, B1 is 2
, B2 is 3) 2) The shortness of the maximum pattern vertical dimension (PL).

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 1
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 (7) 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 @(6th) of the pallet (7). (see figure) (0,
O). 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.

The empty palette (7) becomes base 1, as described above,
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 heights of bases 2 and 3 remain Omm, and the start position coordinates are (72) and (73), respectively. Base 2 is PA
In the space above where 4 is placed, the starting position coordinates are (7
1) Since the base height is above the cargo (9A) (PA4), 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),
(98) is 83=AP4 +AP4 +AH3 and B3
= BF2 + BF2 + BF2. Therefore,
Explain how to combine two 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 of fractional cargo is basically the same as loading in step 130, where fractional cargo (9) is loaded by base division calculation, and the selection order of target cargo (9) of paddy is cargo (9). ) is generally arranged in descending order of planar dimensions.

As is clear from the above explanation, the cargoes supplied from the carry-in conveyor (5) are sequentially introduced in the supply order calculated by the packaging form calculation means. However, as mentioned above, the cargo is supplied by the robot at this time, and after completing one cargo loading, the following cargo is not put in by the carry-in conveyor (5), but the robot loads the cargo according to the order. A plurality of cargoes that are expected to be loaded are successively placed on the carry-in conveyor (5). Therefore, in this case, the cargo is supplied on the premise that the robot loads the cargo that is placed on the pallet (7) one after another without any loading errors such as cargo picking mistakes. Therefore, when the robot makes a loading error or when it is necessary to additionally supply new cargo, the loading conveyor (5) has already been supplied with the cargo from the next loading stage where the loading error occurred. Therefore, it is impossible to pick the next cargo from the carry-in conveyor (5).

Therefore, if Hunt (3) grasps the next cargo from the incoming conveyor (5) after a loading error, the loading order calculated in advance by the cargo form calculation means will be disturbed, and the cargo will not be placed on the pallet (7). It becomes impossible to carry out normal cargo loading. Therefore, if the cargo falls while the hand (3) is loading the cargo, the loading error detection means detects the fall and notifies the host device (not shown) that supplies the cargo to the carry-in conveyor (5). , stop the handling operation. During this stop period, the above-mentioned host device loads the same cargo as the one that caused the loading error onto the carry-in conveyor (5a) of 'fS2, and carries it out to the palletizing device (P). After that, the staff operates the control panel (IC) provided in the palletizing device (P) and manually inputs a control signal to the palletizing device (P), and the handling movement means is activated and the hand (3) is moved to the second
The cargo placed on the carry-in conveyor (5a) is grasped and stacked at the loading position on the pallet (7) calculated in advance by the cargo form calculation means. Next, the cargo is gripped from the carry-in conveyor (5) as usual. As a result, even if a loading error occurs during cargo loading, each cargo can be stacked on the pallet (7) while maintaining the pre-calculated loading order.

〔Effect of the invention〕

As described above, according to the present invention, even if a cargo loading error occurs during cargo loading, it is possible to load more than the loading order calculated in advance by each handling means, including the cargo concerned, so it is normal. This has the effect of quickly restoring normal loading operations.

[Brief explanation of drawings]

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. 3 shows cargoes having different sizes on the pallet. Perspective view showing mixed loading state, Fig. 4(a)
, (b), (c), (d), (e),
(f) is a pattern diagram showing the cargo loading pattern, FIG. 5 is a flow diagram showing the operation of the palletizing device shown in FIG. 1, FIG. 6 is a three-dimensional coordinate diagram showing the concept of space during loading, and FIG. FIG. 7 is a conceptual diagram showing a base, which is a concept of a loading space. In each figure, (1) is the robot body, (IC) is the control panel, (3) is the hand (handling means), (5a) is the second loading conveyor, (7) is the pallet (receiver) (9
) is cargo, CP) is palletizing equipment. Note that the same reference numerals in the figures indicate the same or corresponding parts.

Claims (1)

[Claims] In a palletizing device that loads multiple cargoes of the same type or different types fed by a predetermined supply device onto a receiver such as a pallet or box using a handling means, the cargo data such as the dimensions of the cargo and the cargo loaded onto the receiver. a packing form calculating means for calculating the loading order and loading position of the cargo based on loading data such as the type and number of cargo; a second feeding device provided in the operating area of the handling means, separate from the feeding device; loading error detection means for detecting a cargo loading error by the handling means; cargo inputting means for receiving the error detection signal and feeding the cargo into the second supply device; 1. A palletizing device comprising: handling and moving means for loading the cargo that has been moved to the feeding device and grasped into the loading position on the receiver calculated by the cargo form calculation means.