JPH0577180A - Automatic loading device - Google Patents

Abstract

PURPOSE:To reduce the waiting time of a working robot so as to improve loading work efficiency by commanding the loading of preceding loaded articles in two supply places to the supply places, and emitting the supply command of succeeding loaded articles before the termination of loading the preceding loaded articles. CONSTITUTION:A first and a second supply places 2, 3 are provided in the working range (a) of an industrial robot 1 provided with a control means 1b. When a delivery command 13 is emitted to a control device 10, a supply means 7 is energized by a supply command program 11 through a control means 7a, and a supply pallet 8 loaded with a preceding loaded article group 14 is conveyed to the supply place 2 through routes A-B-C. The industrial robot 1 is then energized by a loading command program 12 through the control means 1b to perform loading onto a pallet 5. During the loading of the preceding loaded articles, the supply of a succeeding loaded article group 15 is commanded from the control device 10, and the supply means 7 is put in action, so that the supply pallet 8 loaded the succeeding loaded article group 15 is conveyed to the second supply place 3 to perform the loading of the succeeding loaded article group 15. The elapsed time of the robot 1 can be thereby reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic loading apparatus for loading a plurality of types of articles supplied to an loading pallet by an industrial robot in a predetermined manner.

[0002]

2. Description of the Related Art An automatic loading device is used in which a plurality of types of articles are supplied according to a loading instruction and the supplied articles are loaded on a loading pallet by an industrial robot in a predetermined manner.

In the conventional automatic loading device as described above,
The pre-loaded articles are supplied to the supply station by the supply means and the required number of them are loaded by the industrial robot. Next, after the loading of the pre-loaded articles is completed, the post-loaded articles are supplied to the supply station by the supply means, and the required number of the post-loaded articles are stacked by the industrial robot.

[0004]

In the conventional automatic loading device as described above, the industrial robot is used after the loading of the pre-loaded articles until the post-loaded articles are supplied to the supply station by the supply means. There was a problem that waiting time occurred.

The present invention has been made in order to solve the above problems, and an object thereof is to obtain an automatic loading apparatus having a short waiting time until the post-loading articles are supplied after the loading of the pre-loading articles is completed. To do.

[0006]

In the automatic loading apparatus according to the present invention, there are provided two supply stations, a control device for issuing an article loading command for these supply stations, and a supply command for the supply stations in a timely manner. Be done.

[0007]

In the automatic loading device configured as described above, the control device issues a command to load one of the first supply station and the second supply station in advance, and at the latest, the loading is completed. Prior to this, the other of the two is ordered to supply post-loaded articles.

[0008]

【Example】

Example 1. 1 and 2 are views showing an embodiment of the present invention, in which 1 is a working range 1a and control means 1
Industrial robot having b, 2 is a first supply station provided in the work range 1a, 3 is a second supply place provided in the work range 1a, 4 is a shipping conveyor provided in the work range 1a, 5 is a shipping conveyor 4 is a loading pallet, 6 is a spare pallet placed on the shipping conveyor 4, 7 is a conveyor, and is a supply means that reaches the first supply station 2 and the second supply station 3, and is a control means 7a and a drawing. Routes A to J shown in 1 are provided. Reference numeral 8 denotes a supply pallet loaded with different kinds of articles and placed on the supply means 7, reference numeral 9 denotes an empty pallet carried out by the supply means 7, reference numeral 10 denotes an I / O port 10a, RAM 10b, CPU 10c, ROM
A computer 10e including 10d and a control device having a supply command program 11 and a loading command program 12, 13 is a shipping command, 14 is a pre-loaded article group, and 15 is a post-loaded article group.

In the automatic loading device configured as described above, when the shipping instruction 13 is issued by the order information,
The supply means 7 is energized by the supply instruction program 11 of the control device 10 via the control means 7a, and the pre-loaded article group 14
The supply pallet 8 loaded with is transported to the first supply station 2 via the route ABC. Then, the industrial robot 1 is energized by the stowage command program 12 via the control means 1b, and the designated number of pre-loaded articles is stowed on the stowage pallet 5 at the first supply station 2 in a predetermined manner. In addition, at the same time as the instruction to load the pre-loaded articles, the supply instruction program 11
By this, a supply command of the post-loading article group 15 is issued, or at the latest, the supply of the post-loading article group 15 is commanded from the control device 10 during the loading of the pre-loading article. As a result, the supply means 7 operates and the supply pallet 8 on which the post-loading article group 15 is loaded becomes the route AF.
It is conveyed to the second supply station 3 via G. On the other hand, when the loading of the pre-loaded articles at the first supply station 2 is completed, the supply pallet 8 of the pre-loaded article group 14 is unloaded via the route DE. Then, following the completion of the loading of the pre-loaded articles at the first supply station 2, the industrial robot 1 is energized by the loading instruction program 12 via the control means 1b, and the specified number is specified at the second supply station 3 by a predetermined procedure. Subsequent items are loaded.

Before the completion of the loading of the post-loading articles, the supply of the next post-loading article group 15 is instructed, and the supply instruction program 11 of the control device 10 causes the control means 7 to operate.
The supply means 7 is urged via a, and the supply pallet 8 loaded with the article group passes through the route ABC and the first supply station 2
Be transported to. Then, the product is loaded by the industrial robot 1 via the control means 1b by the loading command program 12 following the completion of the loading of the products at the second supply place 3 and at the first supply place 2 according to a predetermined procedure. The specified number is stacked on the attachment pallet 5. In this way, the shipping instruction 13
When the stacking of all the articles is completed, the stacking pallet 5 is shipped by the shipping conveyor 4. In addition, in the second supply station 3, the supply pallet 8 on which the articles have been stacked is unloaded via the line H-I-J-E. By the loading operation by the above device configuration, the loading of the post-loaded articles can be performed after the end of the loading of the pre-loaded articles, the waiting time for the industrial robot can be reduced, and the loading work efficiency can be improved. it can.

Embodiment 2. FIG. 3 is a diagram showing another embodiment of the present invention. In the figure, the same reference numerals as those in FIGS. 1 and 2 indicate the corresponding parts, and 7 stores a plurality of kinds of articles respectively and controls them by a control means 7b. An article storage 71 is provided,
It is a supply unit that conveys the articles for which supply instructions are issued from the article storage 71 one by one.

Also in this embodiment, two supply stations 2,
3 is provided with a control device 10 for timely issuing an instruction to load articles to the supply station 3 and a supply instruction to the supply station, so that one of the first supply station 2 and the second supply station 3 can store the pre-loaded article. It is instructed to supply the post-loaded articles to the other of the two before the completion of the loading at the latest. Therefore, although detailed description is omitted, it is obvious that the same operation as that of the embodiment of FIGS. 1 and 2 can be obtained in this embodiment.

[0013]

As described above, the present invention is provided with the control device for issuing the article loading command to the two supply stations and the supply command to the supply stations in a timely manner, and the first supply station and the second supply station. One of the two is ordered to load the pre-loaded articles, and at the latest, before the completion of the loading, the other of the two is ordered to supply the post-loaded articles. As a result, the post-loading articles can be loaded after the end of the pre-loading article loading, and the waiting time of the industrial robot can be shortened, and the loading efficiency can be improved.

[Brief description of drawings]

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

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

FIG. 3 is a view corresponding to FIG. 1 showing another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Industrial robot 2 1st supply place 3 2nd supply place 5 Packing pallet 7 Supply means 10 Control device 14 Pre-loaded article 15 Post-loaded article

Claims (1)

[Claims] 1. A supply means for supplying a plurality of types of articles, an industrial robot for stacking the supplied articles on a stowage pallet according to a predetermined procedure, and a first supply station and a second supply connected to the supply means. And the one of the first supply station and one of the second supply stations to order the loading of the above-mentioned pre-loaded articles, and at the latest before the end of the loading of the above-mentioned pre-loaded articles to the other of the two. An automatic loading device comprising: a control device for instructing the supply of the above-mentioned articles for loading.