JPH05221525A - Automatic cargo loading device - Google Patents

Abstract

PURPOSE:To provide an automatic loading device capable of loading in a required state by properly supplying required number of plural types of article according to a loading command. CONSTITUTION:Required number of a plural types of articles 3 are supplied by a supply device 1 according to a loading command 2. If the supplied articles 3 have fractional number of articles to integral number of loading, the fractional number of articles are temporarily placed on a specified place 5 by a selection device 4 through a controller 11. An integral number of supplied articles 3 are loaded on an empty pallet 10 according to the loading order and loading procedure by the controller 11. In the next step, the fractional number of temporarily placed articles are placed on the stacked integral number of articles 3 on the empty pallet 10 through industrial robot according to required procedure. By this constitution, the control of the supply device and production control accompanied by the loading order of required number of plural types of article according to a loading command are facilitated, and automatic loading in a required state can be efficiently performed at a low cost.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic loading device for loading a required number of a plurality of types of articles onto empty pallets by an industrial robot.

[0002]

2. Description of the Related Art A required number of plural kinds of articles is supplied by a loading instruction, and the supplied articles are loaded on an empty pallet by an industrial robot. In this case, the order of loading the required number of items of multiple types and the loading procedure are calculated in order to prevent the items from collapsing after they have been loaded and to ensure that there are few gaps between the items so that they can be transported efficiently. . Then, the product is supplied and the industrial robot carries out the stowage work according to the calculation result.

In the conventional automatic loading device as described above,
The required number of plural kinds of articles according to the stowage command is supplied by the supply device according to the calculated stowage order.

[0004]

In the conventional automatic loading apparatus as described above, it is necessary to supply the required number of plural kinds of articles according to the loading instruction in the loading order calculated via the feeding apparatus. However, there has been a problem that the control of the supply device and the production management associated with the loading order of the required number of plural kinds of articles by the loading command become complicated.

The present invention has been made in order to solve such a problem, and obtains an automatic loading device capable of appropriately supplying a required number of a plurality of types of articles according to a loading instruction and loading the articles in a predetermined state. The purpose is to

[0006]

SUMMARY OF THE INVENTION In an automatic loading apparatus according to the present invention, a supply device for supplying a plurality of types of articles according to a loading instruction and a selection for arranging the articles supplied by the supply apparatus at predetermined positions. Device, an industrial robot provided opposite to this sorting device for loading empty pallets according to a predetermined procedure, a supply command of a required product to a supply device by a loading command, and an article supplied by the supply device If there is a fractional product with respect to the stacking integer that is efficiently stacked on the empty pallet and forms a flat upper surface, the temporary placement position command to the sorting device for this fractional product is calculated. , And a stacking integer of the required product by the stacking command to calculate the stacking integer to the industrial robot. A stacking integer of the empty pallet of the stacking command of the product and the fractional product temporarily placed by the temporary placement command. Control device is provided which issues a command stowage onto goods.

[0007]

In the automatic loading device configured as described above,
The supply device supplies the required number of each of the plurality of types of articles according to the loading instruction. Then, when the supplied articles include a fractional article with respect to the stacking integer, the sorting apparatus temporarily places the fractional article at a predetermined position through the control device. Then, the stacking integers of the supplied articles are stacked on the empty pallets by the operation of the industrial robot according to the stacking order and the stacking procedure calculated by the control device. Then, the temporarily placed fractional articles are stacked on the stacking integer articles of the empty pallet in a predetermined manner via the industrial robot.

[0008]

1 to 3 are views showing an embodiment of the present invention. In the figure, reference numeral 1 is a supply device composed of a conveyor for supplying a required number of each of a plurality of types of articles 3 in accordance with a loading instruction 2, and reference numeral 4 is a method for sorting the articles 3 supplied by the supply apparatus 1 according to a loading order and arranging them at a predetermined position 5. In the sorting device to be placed,
It is configured by a plurality of conveyors 6 arranged in parallel, a stopper 61 provided on the conveyor 6, and a pusher 7 provided so as to face the conveyors 6, respectively. Reference numeral 8 denotes an industrial robot which is provided with a handle 9 so as to face the sorting apparatus 4 and performs loading work on the empty pallets 10 according to a predetermined procedure. Reference numeral 11 denotes a control device, which is an I / O port 12
And a computer 16 including a RAM 13, a CPU 14, and a ROM 15, and a program for supplying a required article 3 to the supply device 1 based on the stowage instruction 2 and calculation of a stowage order of the articles 3 supplied by the supply device 1. The stacking order sorting command program to the sorting device 4 by the above, and the stowage instruction program of the stacking integer for the industrial robot 8 by calculating the stowage procedure of the required article 3 based on the loading command 2 and the sorting device 4 Is provided with a command program for loading a fractional number of articles 3 temporarily placed at a predetermined position 5 onto an empty pallet 10. Note that reference numeral 2 is an instruction to load the required number of articles for each required species based on one shipping instruction based on the order information, which is issued from a host computer (not shown).

The operation of the automatic loading device configured as described above will be described with reference to the flowchart shown in FIG. That is, when the required number of each of the plurality of types of articles 3 according to the loading instruction 2 is input in step 101, the control device 1
1 operates and proceeds to step 102. Step 102
At the control device 11, the supply device 1 is instructed to supply the articles 3 based on the loading instruction 2 and the articles 3 are supplied in a predetermined order. Then, through step 103, step 104
If there is a fractional product with respect to the stacking integer that is efficiently stacked on the empty pallet 10 to form a flat upper surface, the process proceeds to step 107, and if there is no fractional product, the process proceeds to step 105. Then, in step 105, if there is no stacking integer in the first-type article 3, the process returns to step 104 through step 106, and if there is a stacking integer, step 10
Then, the industrial robot 8 operates in response to a command from the control device 11 and the stacked first-order articles 3 of the stacking integer are stacked on the empty pallet 10 in a predetermined manner.

Then, the process proceeds to step 109, and if the stacking of the stack product integers of the first type articles 3 is not completed, the process returns to step 108, and if completed, the process proceeds to step 110. Step 1
If the item type according to the loading instruction is not final in step 10, the process returns to step 104 through step 106, and step 104
~ Step 110 is repeated. Also, step 11
If it is 0 and the type of goods by the loading instruction is the final, step 1
In step 107, the industrial robot 8 is instructed to load the fractional articles sorted by the sorting device 4 and temporarily placed in the predetermined position 5 through the operation of the control device 11 in step 107.
The empty pallets 10 are stacked on the stacked integer products 3 in a predetermined order and in a predetermined manner. Then proceed to step 112,
If the stacking of fractional articles is not completed, the process returns to step 111, and if the stacking of fractional articles is completed, one stacking command 2
The stowage work is completed, and stands by for the next stowage command 2.

In this way, the required number of each of the plurality of types of articles 3 according to the loading instruction 2 is supplied by the supply device 1. When there is a fractional product with respect to the stacking integer in the supplied products 3, the sorting device 4 causes the control device 11
The fractional article is temporarily placed at a predetermined position 5 via. Then, the stacking integers of the supply articles 3 are stacked on the empty pallet 10 according to the stacking order and the stacking procedure calculated by the control device 11. Next, the temporarily placed fractional articles are stacked on the stacked integer articles 3 of the empty pallet 10 through the industrial robot 8 in a predetermined manner. Therefore, the supply of the required number of the plurality of types of articles according to the stowage command 2 by the supply device 1 according to the calculated stowage order is eliminated. For this reason, the control of the supply device 1 and the production management according to the stowage order of the required number of plural kinds of articles by the stowage command 2 are facilitated. Therefore, it is possible to efficiently and automatically load the product into a required state at a low cost.

[0012]

As described above, the present invention provides a supply device for supplying a plurality of types of articles in accordance with a loading instruction, a selection device for arranging the articles supplied by the supply device at a predetermined position, and this selection device. An industrial robot that is installed facing each other to perform loading work on an empty pallet according to a predetermined procedure, a supply command of a required product by a loading command to a supply device, and the number of products supplied by the supply device to the empty pallet. If there is a fractional product for the stacking integer that is efficiently stacked to form a flat upper surface, the temporary placement position command of the fractional product to the sorting device and the stowage procedure of the required product by the stowage command are calculated. In addition, a control device for issuing a stacking integer article stacking command to the industrial robot and a stacking command for the fractional goods temporarily placed by the temporary placement command on the stacking integer article of the empty pallet is also provided. It is.

As a result, the required number of each of the plurality of types of articles according to the loading instruction is supplied by the supply device, and when the supplied articles have a fractional product with respect to the stacking integer, the sorting device determines the predetermined number via the control device. The fractional article is temporarily placed at the position. Then, the stacking integers of the supplied articles are stacked on the empty pallets according to the stacking order and the stacking procedure calculated by the control device. Then, the temporarily placed fractional articles are stacked on the stacking integer articles of the empty pallet in a predetermined manner via the industrial robot. Therefore, it is not necessary to supply the required number of plural kinds of articles according to the loading instruction by the supply device according to the calculated loading order, and control of the supplying device and the required number of plural kinds of articles according to the loading instruction The production management according to the loading order becomes easy. Therefore, there is an effect that the automatic loading operation in the required state can be efficiently obtained at a low cost.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram conceptually showing a first embodiment of the present invention.

2 is a conceptual circuit diagram showing an electrical connection of the device of FIG.

3 is a flowchart illustrating the operation of the apparatus of FIG.

[Explanation of symbols]

 1 Supply Device 2 Loading Command 3 Article 4 Sorting Device 5 Predetermined Position 8 Industrial Robot 10 Empty Pallet 11 Control Device

Claims (1)

[Claims] 1. A supply device for supplying a plurality of types of articles according to a loading instruction, a sorting device for arranging the articles supplied by the feeding device at a predetermined position, and a predetermined procedure provided opposite to the sorting device. An industrial robot that performs loading work on empty pallets by means of the above, and a supply instruction by calculating a supply instruction of the above-mentioned required article to the above-mentioned supply apparatus by the above-mentioned loading instruction and a loading procedure of the above-mentioned article supplied by the above-mentioned supply apparatus In the case where there is a fractional product with respect to a stacking integer that is efficiently stacked on the empty pallet to form a flat upper surface, a temporary placement position command for the fractional product to the sorting device, and the stacking command Required stacking procedure of the above-mentioned articles and the stacking command of the above-mentioned integer integer article to the above-mentioned industrial robot, and the above-mentioned stacking of the above-mentioned empty pallet of the above-mentioned fractional article temporarily placed by the above-mentioned temporary placement instruction An automatic loading device including a control device that issues a loading instruction on an integer item.