JPH03279123A - Load handling device - Google Patents

Abstract

PURPOSE:To prevent mixture of manufacturing designation and to eliminate dissatisfaction of customers by dividing a specific type of works into a plurality of groups, by providing a stacking means to a corresponding supplying machine and pellet, and by carrying out stacking according to a filling state of the number of works in each of the supplying machine. CONSTITUTION:Opposite to the end part of conveyer 1a, a stacking means 1b to the delivery pallet 9 of a work, a first supplying machine 2 for a first type first group work, a second supplying machine 3 for a first type second group work whose manufacturing designation is different, and supplying machines 4 to 7 in the similar order of a second and a third type works are provided. Under energization of a supply command controller 11 by a delivery command of the same destination, a filling state of the number of works in each of the supplying machines are sequentially examined, and stacking is sequentially carried out giving priority to the supplying machine which has been filled so as to prevent mixture of the works with different manufacturing designation for the same destination.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a cargo handling device that stacks workpieces onto pallets in response to shipping orders.

[Conventional technology]

For example, as shown in Japanese Patent Application Laid-open No. 61-33426, there is an automatic workpiece loading system, in which the required types of multiple types of workpieces and the required number of each type are loaded onto pallets based on the instructions. There is a loading device.

[Problem to be solved by the invention]

For the above-mentioned equipment, there is a shipping slip for each customer.

In other words, a robot operation is performed to stack required workpieces onto pallets in response to a shipping command. However, even if the workpieces supplied are of the same type, the date of manufacture is different.

Items with different manufacturing indications such as manufacturing lot numbers are supplied,
Generally, products are supplied in the order of manufacture. For this reason, there is a problem in that workpieces with different manufacturing indications are mixed among the workpieces stacked for one shipping order or for the same unintentional shipping order, causing dissatisfaction to one customer.

The present invention has been made to solve this problem, and an object of the present invention is to provide a cargo handling device that automatically stacks workpieces of the same type and with the same production designation.

[Means to solve the problem]

The material handling device according to the present invention includes a first feeder that supplies a first group of workpieces of a specific type, a second feeder that feeds a second group of workpieces of the same type as the specific type, and a second feeder that loads the workpieces onto a pallet. A means for stowing and a control device for instructing the stowing work are provided.

Also, depending on the required number of workpieces according to shipping instructions.

A control device is provided that instructs the supply means to supply pallets in the order of the first pallet of the first group of pallets, the plurality of pallets of the first group of pallets, and the second group of pallets.

In addition, in order to process multiple shipping orders together, depending on the required number of workpieces for multiple shipping orders, a first group of pallets, a first group of pallets that satisfies at least one shipping order, and a second group of pallets for the remaining shipping orders are added. A control device is provided for instructing the supply means to supply the pallets in the order of the pallets.

[Effect]

In the cargo handling device configured as described above, if the number of works in the first group suffices the required number of works of a specific type in the same shipping order, the works are loaded from the first feeding machine, and the required work is When the number of works in the first group is insufficient, the works are stacked from the second supply machine.

Furthermore, depending on the required number of works, the works on the first pallet of the first group of pallets are given priority, and then the works of the plurality of pallets of the first group of pallets and the works of the second group of pallets are stacked.

Also, depending on the required number of works for multiple shipping orders, the workpieces on the first group pallet are given priority, and when the number of works on the first group pallet is insufficient, the workpieces on the first group pallet are given only to the shipping commands that are satisfied with this number of works. The workpieces on the second group of pallets are then stacked on the remaining shipping orders.

〔Example〕

Figures 1 to 3 are diagrams showing an embodiment of the present invention. In Figure 1, (1) is a conveyor (1a) having a control means (laa).
) and an industrial robot (1b) installed opposite to the end of this conveyor (1a) and having a control means (lha). 1a) is a feeding machine consisting of a conveyor facing the side, (2) is a first type first feeding machine that supplies a first group of first type workpieces, and (3) is a first type first feeding machine that supplies a first group of first type workpieces. The second group of workpieces that have a newer manufacturing loft number or newer manufacturing date than the group of workpieces, that is, the second group of workpieces that are the same type 1 workpieces but have a newer manufacturing indication than the first group of workpieces, This is a type 1 second feeder. Note that the relationship between the first group of works and the second group of works other than the first type of work, which will be described later, is the same as that of the first type of work.

(4) is a second type first feeder that supplies the first group of second type workpieces; (5) is a second type second feeder that supplies the second group of second type workpieces; ) is the first type of third type work.
(7) is a third type first feeding machine that supplies a group of workpieces; (7) is a third type second feeding machine that supplies a second group of third type workpieces;
8) is a discharge conveyor installed at the end of the conveyor (1a) closer to the industrial robot (1b), and (9) is an industrial robot (1b).
] b) Shipping pallets placed nearby, (9') is a spare pallet, (10) is an unloading conveyor for taking out the loaded shipping pallet (9), (11) is a supply with a feeding program This control device is equipped with a command means (lla) and a loading command means (llb) having a loading program, and is equipped with an I10 boat (llc) and a RAM (lid).
), a CPU (lie), and a computer (l1g) having a ROM (llf). (12) is a shipping instruction formed by a shipping slip or the like.

The operation of the cargo handling device configured as described above will be explained with reference to the flowchart shown in FIG. When the shipping slip for each customer is input, a shipping command is issued in step (101) and the control device (11) is energized. Then, the process proceeds to step (103) via step (102), where the first type workpiece stacking is sent to the means (1), and the process proceeds to step (104), where the first type workpiece stacking is sent to the first type first feeder (2). Type 1
If the number of group works satisfies the required number of type 1 works according to the shipping instruction (12), the process proceeds to step (105). In step (105), the stowage work from the first type first feeder (2) is instructed, and the first type first feeder (2) is operated by the supply command means (lla) to transfer the required amount to the conveyor (1a). Since the first group of workpieces of the first type are supplied, these workpieces are transferred to the loading command means (llb) by the industrial robot (lb).
b), pallets (9
) and proceeds to step (107). On the other hand, in step (104), if the number of first-class, first-group workpieces in the first-class, first-feeder (2) is insufficient to the required number of first-class, first-group workpieces according to the shipping instruction (12), step ( 106)
Proceed to.

Then, in step (1,06), the loading operation from the first type second feeder (3) is ordered, and the first type second feeder (
3) is operated by the supply command means (], laa, and the required number of first-class, second-group workpieces are supplied to the conveyor (1a), so that these works are transferred to the loading command means (llb) by the industrial robot (1b). Then, the work is stacked on the shipping pallet (9) according to the predetermined stowage procedure, and the process proceeds to step (107).If the stowage of the first type work is not completed in step (107), step (105) is carried out. Alternatively, the operation in step (106) is continued, and if the first type work loading is completed, the process advances to step (108).If N is not the final value of the shipping command (12) in step (108), step ( 109), the process returns to step (103).In step (103), a second type workpiece loading command is issued from the control device (11), and the first type workpiece loading command is omitted. The same operation as above is performed for the second type of work.Furthermore, when the stowage of the second type of work is completed.

Through steps (108) and (109), a command is given to stow the third type workpiece. When the loading of the third type work is completed and N becomes the final value of the shipping command (12) in step (108), other shipping commands (12)
, or the control device (11) is deenergized.

Then, the shipping pallet (9) on which the loading has been completed is conveyed to a shipping site, truck terminal, etc. by an unloading conveyor (10). Also, the first type first feeder (2).

If a transaction unit, that is, a fractional work that is less than the transaction standard, remains on the second type first feeder (4) or the third type first feeder (6), the control device (11) supplies the work to the first feeder. machine (2
) (4) (6) , conveyor (la), discharge conveyor (8). After eliminating the fractional workpieces, the first feeder (2), (4), and (6) store the workpieces with the manufacturing display next to the second group of workpieces, and then
It was replaced by the feeder, and the second feeder (3) (5
) (7) is replaced by the first feeder.

Through the above operations, by making one shipping command (12), or by making the same shipping command (12) one shipping command (12), workpieces with the same manufacturing label are stacked for the same type of work in a specific shipping command (12). It will be done. Therefore, it is possible to eliminate problems caused by the coexistence of workpieces with different manufacturing indications for one shipping command. In addition, since the shipping destinations of workpieces with the same manufacturing label are organized, it is easy to trace the workpieces.

Convenient for quality control and market management.

Figures 4 to 6 are diagrams showing other embodiments of the present invention, and in Figure 1, the same reference numerals as in Figures 1 to 3 indicate corresponding parts, (2)
(2b) is a supply conveyor provided near the means (1) for loading; (91) is a loaded shipping pallet (13); (14) is a storage shelf, (15) to (17) are pallets loaded with supplied workpieces, and (15A) is a counting device installed on the stacker crane.
- (15C) are stored in the lower part of the storage shelf (14) and are placed in the first
The seed work is loaded (15A) on the first group pallet (15A).
In B), the second group of pallets (15C) is the third group of pallets. (16A) to (16C) are stored in the middle of the storage shelf (14) and loaded with type 2 workpieces, (16A) is the first group pallet, (16B) is the second group pallet, (16C)
) is the third group palette. (17A) to (17c) are stored in the upper part of the storage shelf (14) and the third type work is loaded, (17A) is the first group pallet, (17B) is the second group
The group pallet (17C) is the third group pallet.

The operation of the cargo handling device configured as described above will be explained with reference to the flowchart shown in FIG. Counting device (13)
is moved together with the supply means (2) and each pallet (15)
~ (17) A control device that detects the number of works above! (11
). When the shipping slip and the like for each customer are input, a shipping command (12) in step (201) is issued and the control device (11) is energized. Then, the process proceeds to step (203) via step (202), where a stowage command for the first type work is issued, and the process proceeds to step (205) via step (204). In step (205),
If the number of works on one pallet of the first group pallet (15A) of the first type work satisfies the number of first type work according to the shipping instruction (12), the process advances to step (206).

If the number of workpieces of type 1 according to the shipping instruction (12) is insufficient in step (205), the process proceeds to step (207), and the number of workpieces on the plurality of pallets of the first group of pallets (15A) of type 1 workpieces is shipped. If the number of type 1 works according to command (12) is satisfied, the process proceeds to step (206).

Then, in step (207), the shipping command (12) is
If the number of Type 1 works is insufficient, step (208)
The process proceeds to step (209) and the first step where 1M is prepared.
If the number of groups of seed work is within the specified value, step (
Return to step (205), and if the value is not within the specified value, step (205) is returned to.
14), the shortage of supplied work is notified and step (21) is performed.
5), a command to stop cargo handling is issued.

In step (206), the supply means (2) is instructed to supply the pallets in step (205) and step (207), and these pallets are transferred to the supply conveyor (
2b). Next, in step (210), the loading operation of the first type workpieces from the pallet on the supply conveyor (2b) to the shipping pallet (9) is carried out by the loading means (1).
is ordered. Then, in step (211), the first
If the loading of the seed work is not completed, proceed to step (21).
0) is continued, and if completed, the process advances to step (212). If N is not the final value according to the shipping command (12) in step (212), the process returns to step (203) via step (213) and step (20
3) The subsequent steps are repeated.

With the above operation, for one shipping command (12), priority is given to the work on the first pallet of the first group of pallets for the same type of work, and the following works on multiple pallets of the first group of pallets are given priority.
Works on the second group of pallets are stacked on the shipping pallet (9). Therefore, for the same type of work in a specific shipping order (]2), work with the same manufacturing label is stacked,
The same effect as the embodiment shown in FIGS. 1 to 3 can be obtained. In addition, in the embodiments shown in FIGS. 4 to 6, the supply pallet loaded with fractional workpieces after loading is placed on the storage shelf.
14), and in the operations of step (205) and step (207), the number of remaining works or the shipping command (1
If the required number of works is satisfied according to 2), these remaining workpiece loading pallets are supplied. Therefore, workpieces with outdated manufacturing labels can be shipped quickly and efficiently.

7 and 8 are also diagrams showing other embodiments of the present invention.
In the figure, the same symbols as in Figures 4 to 6 indicate corresponding parts; (
12) For example, 1. II.

■Multiple shipping commands consisting of (9A) to (9C) are shipping pallets, respectively, and shipping commands (12) I, n, H
Prepared accordingly.

The operation of the cargo handling device configured as described above will be explained with reference to the flowchart shown in FIG. Step (301
), when multiple shipping commands (12) are issued, the control device (
11) is energized and goes through step (302).

Proceeding to step (303), a stowage command for the first class workpiece is issued, the process proceeds to step (304), and then step (305)
). In step (305), if the number of works on the first group of workpieces (15A) satisfies the number of first type workpieces according to the shipping instruction (12), step (
306), the supply means (2) is instructed to supply the required number of pellets of the first group of pallets (15A), and these pallets are conveyed to the supply conveyor (2b). Next, in step (307), the loading operation of the first type work from the pallet of the supply conveyor (2b) is instructed to the loading means (1), and the shipping pallet (1) corresponding to each of the shipping instructions (12) is 9A) to (9C) are stacked with the required number of first type workpieces, and the process proceeds to step (308). Step (
In step 308), if the first type workpiece loading has not been completed, step (307) is continued, and if loading has been completed, the process advances to step (318).

In step (305), the number of workpieces on the first group pallet (15A) of the first type workpieces is the shipping command (12)! If the number of Type 1 works is insufficient, step (309)
If the number of works on the first group pallet (15A) is insufficient to the required number of works for one shipping command among the shipping commands (12), the process advances to step (311) via step (310). The first M prepared in step (311)
If the number of groups of seed work is within the specified value, step (
The process returns to step (305), and steps after step (305) are repeated. In step (309), the first group of pallets (15
A) The number of works above is at least 1 in shipping command (12)
If the required number of works for one shipping command is not insufficient, the process advances to step (312), where the supply means (2) is commanded to supply the required pallets of the first group of pallets (15A), and these required pallets are transferred to the supply conveyor ( 2b). Then, in step (313), the loading work of the first type work is carried out from the pallet on the supply conveyor (2b) to the shipping pallet of the shipping command destination where the required number of works in the shipping command (12) has been satisfied. The stowage is performed by commanding the means (1). Next, the process proceeds to step (314), and if the loading of the first type workpieces from the first group of pallets on the supply conveyor (2b) is not completed, step (313) is continued, and if it is completed, the process proceeds to step (315). move on. Step (
In 315), the supply means supplies the required pallets of the second group pallet (15B) of the first type workpieces in response to the remaining shipping command in the shipping command (12) in which the number of works on the first group pallet (15A) is insufficient. (2), and the required pallets are delivered to the supply conveyor (2b).

Then, in step (316), the remaining shipping pallets to which the shipping command is directed are loaded with first-class workpieces from the pallets on the supply conveyor (2b), or the loading means (1) is instructed to load them. It will be done. Then step (317)
If the loading of the first type workpieces from the second group of pallets on the supply conveyor (2b) is not completed, proceed to step (31).
6) is continued, and if completed, the process advances to step (318). If it is not the final value according to the shipping command (12) in step (318), the process returns to step (303) via steps (31, 9) and step (3)
03) and thereafter are repeated.

Note that if 1M is not within the number of groups of prepared type 1 workpieces, that is, within the specified value in step (311), a shortage of supplied workpieces will be notified in step (320), and handling will be stopped in step (321). commanded.

With the above operation, the workpieces on the first group pallet are given priority according to the required number of works for multiple shipping orders (12), and when the number of works on the first group pallet is insufficient, only the shipping commands that are satisfied with this number of works are given priority. Works on the first group of pallets are stacked, and works on the second group of pallets are stacked on the remaining shipping instructions.

Therefore, since the workpieces with the same manufacturing label are stacked for the same kind of workpieces in the specific shipping order (12), the first
It is possible to obtain the same effect as the embodiments shown in FIGS. 3 to 3 and 4 to 6. Also, Figure 7.

In the embodiment shown in FIG. 8, a plurality of shipping commands are processed at the same time, so that supply and stowage operations can be carried out efficiently.

〔Effect of the invention〕

As explained above, in response to a specific shipping order, this invention sets the required number of works of a specific type, if the number of works in the first group is insufficient, stacks the first group of works, and adds the required number of works to the number of works in the first group. When there is a shortage of the above-mentioned specific types of workpieces, the second group of workpieces will be loaded, and depending on the required number of workpieces according to a specific shipping order, the first pallet of the first group of pallets, the multiple pallets of the first group of pallets, and the second group of pallets will be stacked. Then, depending on the required number of workpieces according to multiple shipping orders, the workpieces are stacked on the first group pallet that satisfies at least one shipping order on the first group pallet, and then on the second group pallet for the remaining shipping orders. It was designed to be stacked. This prevents workpieces with different manufacturing indications from being mixed in response to a specific shipping order, and has the effect of eliminating problems such as customer dissatisfaction caused by mixing of workpieces with different manufacturing indications.

[Brief explanation of the drawing]

Fig. 1 is a conceptual diagram of the overall configuration of an embodiment of the cargo handling device according to the present invention, Fig. 2 is a conceptual circuit diagram showing the electrical connections of the equipment shown in Fig. 1, and Fig. 3 shows the operation of Fig. 1. FIG. 4 is a flowchart of the main parts explained, which corresponds to FIG. 1 showing another embodiment of the material handling device according to the present invention, FIG. 5 corresponds to FIG. FIG. 3 is a diagram corresponding to FIG. 3, and FIG. 7 is also a diagram corresponding to FIG. 1 showing another embodiment of the present invention. FIG. 8 is a diagram corresponding to FIG. 3 corresponding to FIG. 7. (1)...Stowage is a means, (2) (4) (6)...
...first supply machine, (2) ...supply means, (3) (
5) (7)...Second supply machine, (9) (9A)
(9B) (9C)...Shipping pallet. (11)...Control device, (12)...Shipping command,
(15A) (15B) (15c)... 1st type work group pallet, (16A) (16B) (16C)
・2nd type work group pallet, (17A) (17B
) (17C)...Third type work group pallet. In addition, the same parts or corresponding parts in FIG. 1 are indicated by the same reference numerals.

Claims (3)

[Claims] (1) A first group of workpieces and a second group of workpieces each consisting of the same type of workpieces, a first feeding machine that supplies the first group of workpieces, a second feeding machine that supplies the second group of workpieces, and shipping of the workpieces. A stacking means for stacking the above-mentioned works onto a shipping pallet according to a command, and a first supply machine for the above-mentioned stacking means if the number of works in the first group suffices the required number of the above-mentioned works in a specific above-mentioned shipping command. Commands the loading of workpieces,
and a control device for instructing the stacking means to stack the works in the second feeder when the number of works in the first group is insufficient to the required number. (2) Multiple group works each consisting of the same type of work,
A plurality of group pallets each loaded with each of the group workpieces, a stacking means for stacking a required number of the workpieces onto the shipping pallet in response to a shipping command for the workpieces, and supplying the pallets of the group pallet to the stacking means. a supply means; and if the number of works on the first pallet of one pallet group satisfies the required number of works in the particular shipping command, the supply means is instructed to supply the first pallet; However, if the number of works on the first pallet is insufficient to the required number, the supply means is instructed to supply a plurality of pallets in the one group of pallets, and all of the pallets in the one group are added to the required number. and a control device for instructing the supply means to supply pallets of the next group of pallets when the number of works on the pallets is insufficient. (3) Multiple group works each consisting of the same type of work,
A plurality of group pallets each loaded with each of the above-mentioned group workpieces, and a stacking process in which the required number of the above-mentioned workpieces are stacked on a plurality of shipping pallets corresponding to each of the above-mentioned shipping orders in response to a plurality of shipping orders for the above-mentioned workpieces. a means for supplying pallets of the group of pallets to the stowage means; and a control device for issuing one of commands 1 and 2 described below. Directive 1: A supply command to the supplying means regarding the supply of the required number of pallets of one group of pallets when the number of works on one group of pallets satisfies the required number of works in the plurality of shipping instructions. . Directive 2: The number of works on one group pallet is insufficient for the required number of works in the plurality of shipping orders, and the required number of works in at least one shipping command is
A supply command to the supply means for supplying the required number of pallets for one group of pallets when the number of works on one group of pallets is sufficient, and the above corresponding to the shipping command for which the number of works by this supply command is sufficient A stowage command to the above-mentioned stowage means for stowing the required number of the above-mentioned workpieces on the shipping pallet, and a supply of the required number of pallets for the next group of pallets for the remaining shipping pallets corresponding to the above-mentioned shipping command that is insufficient for the above-mentioned number of works. a supply command to the supply means, and a stowage command to the stowage means for stowing the required number of works of the next group of pallets onto the remaining shipping pallets.