JPH07215465A - Automatic loading method - Google Patents

Abstract

PURPOSE:To provide an automatic loading method where the loading of articles of the first group whose shipping number is large for one shipping pallet and the loading of articles of the second group whose shipping number is small are successively executed. CONSTITUTION:The prescribed number of articles 11 of the first group whose shipping number is large are loaded on a shipping pallet 12 in the first loading process, and the prescribed number of articles 15 of the second group by the customer whose shipping number is small are loaded by an industrical robot 1 are loaded on the articles 11 of the first group on the shipping pallet 12 to be fed by the feeding process in the second loading process. This constitution simplifies the circulating route of the shipping pallet 12 for the loading and the articles, and reduces the loading time of the required articles for one shipping pallet. Thus, the higher speed and efficiency of the loading can be realized, the constitution of the device can be simplified, and the cost for the equipment can be saved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic loading method for loading articles on shipping pallets via an industrial robot.

[0002]

2. Description of the Related Art As an automatic loading method for loading a plurality of types of articles having different outer shapes on one shipping pallet, the required types of a plurality of types of articles and the required number of each type are stored in a shipping pallet via an industrial robot. An automatic loading method for loading according to a required loading procedure is known.

In the conventional automatic loading method, a required number of each type of a plurality of types of articles is loaded on one shipping pallet according to a predetermined loading procedure according to a shipping instruction. Then, a plurality of types of goods are shipped, for example, by being stacked on a shipping pallet for each customer in response to orders from a large number of customers.

[0004]

In the conventional automatic loading method as described above, a patrol movement route of shipping pallets for loading a plurality of types of articles, a movement route for pausing the loaded articles. However, there is a problem in that the time required for loading the required articles on one shipping pallet is long, and it is difficult to increase the speed and efficiency of loading. In addition, there is a problem that the device configuration becomes large and the equipment cost increases. Further, there is a problem in that it is necessary to maintain a plurality of industrial robot handles for each of the types of stowed articles and a single-item stowage robot.

The present invention has been made in order to solve such a problem, and it is possible to stack a large number of first group articles out of a plurality of kinds of articles on one shipping pallet and to reduce the number of shipments. An object of the present invention is to obtain an automatic loading method in which loading of second group articles is sequentially performed.

[0006]

In the automatic loading method according to the first aspect of the present invention, a flat surface is formed on the upper surface of a predetermined number of the first group articles which are shipped a lot, to form a shipping pallet. The first stacking step of pre-packing and preparation, the supply step of supplying a required shipping pallet on which the first group articles are stacked, and the number of shipments on the flat surface of the supplied shipping pallets of the first group articles And a second stowage step of stowing the required number of second group articles with a small number by the industrial robot.

In the automatic loading method according to the second aspect of the present invention, a flat surface is formed on the upper surface of a predetermined number of the first group articles that are frequently shipped, and the articles are pre-loaded on the shipping pallet. A first stowage step for preparing, a supply step for supplying a required shipping pallet on which the first group of articles are stowed, a fractional receipt and delivery step for delivering a second group of articles with a small number of shipments by a fractional accounting means, and a supply On the flat surface of the first group of articles of the shipped pallet, the second stowage process of setting the required number of the second group of articles submitted by the fraction counting means by the industrial robot is set.

In the automatic loading method according to the third aspect of the present invention, a flat surface is formed on the upper surface of a predetermined number of the first group articles that are shipped a lot, and the articles are pre-loaded on the shipping pallet. A first stowage step of preparing, a supply step of supplying required shipping pallets of the respective shipping destinations to which a plurality of shipping destinations are loaded with the required first group goods, and a second group having a small number of shippings An industrial robot that calculates the fractional receipt / delivery process of delivering and receiving the articles by the fractional receipt and delivery means, and the required number of each destination of the second group of articles submitted by the fractional receipt and delivery means on the flat surface of the first group of articles of the supplied shipping pallets. And the second stowage step for stowage is set.

In the automatic loading method according to the fourth aspect of the present invention, a flat surface is formed on the upper surface of a predetermined number of the first group articles that are frequently shipped, and the articles are pre-loaded on the shipping pallet. A first stowage step of preparing, a supply step of supplying a plurality of shipping pallets each having a specific type of the first group of articles and a specific predetermined number of the type to a predetermined position in a predetermined order, and shipping A fractional delivery process for delivering a small number of second group articles by a fractional delivery means, and a first required for each of a plurality of shipping destinations from the supplied shipping pallet.
The shipment pallet on which the group of articles is stacked is selected, and the second pallet is submitted by the fractional delivery means on the flat surface of the first group of articles of the shipping pallet selected for each shipping destination.
A second stowage step is set in which the required number of each group of shipping destinations is stowed by the industrial robot.

In the automatic loading method according to the fifth aspect of the present invention, a flat surface is formed on the upper surface of a predetermined number of the first group articles that are frequently shipped, and the articles are pre-loaded on the shipping pallet. A first stowage step of preparing, and a supply step of supplying a shipping pallet on which the required first group articles are stowed by artificial work according to the display of the first group article movement display device,
The required number of second group articles submitted by the fraction counting means is set on a flat surface of the first group articles of the supplied shipping pallet by the fraction counting process of delivering and receiving the second group articles having a small number of shipments by the fraction counting means. 2nd loading by industrial robot
The stowage process is set.

[0011]

In the invention according to claim 1 of the present invention configured as described above, a predetermined number of the first group of articles are stacked and prepared on the shipping pallet in the first stacking step, and the shipping pallet is supplied. The required number of second group articles for each shipping destination is stacked on the first group articles by the industrial robot by the second stacking step.

Further, in the invention according to claim 2 of the present invention configured as described above, a predetermined number of the first group of articles are stacked and prepared on the shipping pallet in the first stacking step, and the shipping pallet is supplied. By the industrial robot, the required number for each shipping destination of the second group of articles submitted by the fraction counting means in the second loading step is stacked on the first group of articles in the supply step.

Further, in the invention according to claim 3 of the present invention configured as described above, a predetermined number of the first group of articles are stacked and prepared on the shipping pallet in the first stacking step, and the shipping pallet is supplied. By the industrial robot, the required number for each shipping destination of the second group of articles submitted by the fraction counting means by the second loading step is loaded on the first group of articles by each of the plurality of shipping destinations by the supplying step. To be

Further, in the invention according to claim 4 of the present invention configured as described above, a predetermined number of the first group of articles are stacked and prepared on the shipping pallet in the first stacking step, and placed. A shipping pallet corresponding to each of a plurality of shipping destinations is selected from a plurality of shipping pallets arranged at a predetermined position according to the type and a predetermined number of the first group of articles, and the second stack is placed on the first group of articles of the shipping pallet. The required number for each shipping destination of the second group of articles submitted by the fraction counting means in the attaching step is loaded by the industrial robot.

In the invention according to claim 5 of the present invention configured as described above, the first group of articles is prepared by loading a predetermined number of the first group of articles on the shipping pallet in the first loading step. According to the display on the mobile display device, the shipping pallet on which the required first group articles are stacked is supplied by an artificial operation. Then, on the supplied first group of articles on the shipping pallet, a required number of second group articles for each shipping destination submitted by the fraction counting means in the second loading step are loaded by the industrial robot.

[0016]

【Example】

Example 1. FIG. 1 is an overall configuration diagram conceptually showing one embodiment of the present invention. In the figure, (1) is an industrial robot,
(2) is a stowage place provided facing the industrial robot (1), (3) is a supply device consisting of a supply conveyor provided toward the stowage place (3), (4) is a stowage place A transfer conveyor provided from (3) to the shipping area (not shown),
(5) is a supply conveyor arranged facing the industrial robot (1), and (6) is a storage conveyor connected to the supply conveyor (5).

(7) is a stacker crane traveling along the supply conveyor (5), and (8) is a hangar provided so as to face the stacker crane (7). (81) is a supply conveyor
(5), a storage conveyor (6), a stacker crane (7), and a hangar (8), which is a fractional delivery means for delivering and receiving a second-class article described later. (9) is a controller connected to the industrial robot (1), supply device (3), transfer conveyor (4), supply conveyor (5), storage conveyor (6) and stacker crane (7), (10) is It is a shipping command device connected to the control device (9).

Reference numeral (11) is a first group of articles which are respectively stacked on the shipping pallet (12) and supplied by the supply device (3),
1st group 1st type 1st stage article (111) in which 1st type article forms a flat surface on the upper surface and is stacked in 1 step, 1st type article forms a flat surface on the upper surface and is stacked in 2 steps 1st group 1st type 2nd stage article (112), 1st group 1st type 1st stage 3rd stage article (113) which the 1st type article forms a flat surface on the upper surface and is stacked in 3 stages, 1st group 2nd type 1st stage article (121) in which 2nd type article forms a flat surface on the upper surface and is stacked in 1 step, 2nd type article forms a flat surface on the upper surface and is stacked in 2 steps The first group, second kind, two-stage article (122) and the second kind article are formed by the first group, second kind, three-stage article (123) stacked in three steps with a flat surface on the upper surface. ing.

(13) is an empty shipping pallet supplied by the supply device (3), and (14) is a supply pallet on which any one of a plurality of second group articles (15) is placed. Hangar
It is stored in (8) and is transferred to the supply conveyor (5) by the stacker crane (7) as needed and is placed at the position facing the industrial robot (1), and is stored by the storage conveyor (6) after use.
Stored in (8). The first group of articles (11) are stacked so as to effectively cover the upper surface of the shipping pallet (12), so-called so-called area, and stacked in one or more steps to form a predetermined number of each. A flat surface is formed on the upper surface of the stacked first group articles (11).

In the automatic loading method having the above-mentioned structure, the first group of articles (11) is composed of articles having a large number of shipments, and the first group, first kind, first stage article is prepared according to the type and the number of articles.
(111), 1st group 1st type 2nd stage article (112), 1st group 1st type 3rd stage article (113), 1st group 2nd type 1st stage article (121), 1st group 2nd type 2 Dedicated stacking device (not shown) for the shipping pallet (12) in advance such as the corrugated article (122) and the first-group, second-kind, three-tiered article (123)
Stowed and prepared by. In addition, the second group article (1
5) is an article with a small number of shipments, that is, a fractional article, placed on the supply pallet (14) and stored in the hangar (8).
It is stored in. As the second group article (15), a fractional article of the first group article (11) which does not reach the above area count is also prepared.

When the order information from a specific customer is input to the shipment commanding device (10), the control device (9) operates and the types of articles to be shipped, the number of each type, the stacking order, and Calculate the stowage position, industrial robot (1), feeder (3),
Transfer conveyor (4), supply conveyor (5), storage conveyor (6)
It also issues an operation command to the stacker crane (7). As a result, from the first group of articles (11), the type of articles corresponding to the shipping instruction and the optimum number of articles for the shipping pallet (12) are selected and placed at the stowage location (2) by the supply device (3). To be done.

Further, the stacker crane (7) and the supply conveyor (5) are operated so that the required second group of articles from the hangar (8).
The required supply pallet (14) of (15) is arranged at a position facing the industrial robot (1). Then, the industrial robot (1) operates so that the required number of second group articles (15) of the supply pallet (14) is on the flat surface of the upper surface of the first group article (11) of the shipping pallet (12). Reprint. When the transfer of the required number of the second group goods (15) is completed, the packing corresponding to the shipping instruction is completed and the shipping pallet is completed.
(12) is transferred to the shipping site by the conveyor (4).
In addition, a supply pallet on which the remaining second group articles (15) are placed
(14) is transferred by the storage conveyor (6) and stored at a predetermined position in the storage box (8) by the stacker crane (7).

As described above, the optimum shipping pallet (12) is selected from the shipping pallets (12) in which a predetermined number of the first group articles (11) having a large number of shipments are stacked in advance for one shipping pallet (12). Is selected, and the second group of articles (15) with a small number of shipments are stacked on the flat surface of the upper surface of the first group of articles (11) of the shipping pallet (12). Therefore, the traveling route of the shipping pallets (12) for loading the goods and the traveling route of the shipping pallets for loading the goods are simplified, and the loading time of the required goods on one shipping pallet is reduced. It gets shorter. As a result, loading can be speeded up and efficiency can be increased. In addition, the device configuration can be simplified and the equipment cost can be saved.Furthermore, the handle of the industrial robot (1) can be prepared by only preparing a single item for the type of item to be loaded. Can be dealt with by.

The first item in the order information from a specific customer is
If there is no shipping order for group goods (11), empty shipping pallets (1
3) is selected and placed at the stowage location (2) by the feeder (3). And the stacker crane (7) operates,
Supply pallet (1) for the required second group goods (15) from the hangar (8)
4) is placed at the position opposite to the industrial robot (1). And
The industrial robot (1) operates to transfer the required number of second group articles (15) of the supply pallet (14) onto the empty shipping pallet (13) and to the shipping site by the transfer conveyor (4). Be transferred.
In addition, a supply pallet on which the remaining second group articles (15) are placed
(14) is transferred by the storage conveyor (6) and stored at a predetermined position in the storage box (8) by the stacker crane (7).

Example 2. FIG. 2 is an overall configuration diagram conceptually showing another embodiment of the present invention. In the figure, the same reference numerals as those in FIG. 1 indicate corresponding parts, (1) is a traveling type industrial robot having a traveling platform (1a), and (2) is provided facing the operation area of the industrial robot (1). It is a stowage place where stowage work can be performed on a plurality of shipping pallets (12).

Also in the automatic loading method with the above-mentioned configuration, the shipping pallet (12) in which a predetermined number of the first group articles (11) having a large number of shipments are pre-loaded on one shipping pallet (12). ), The optimum shipping pallet (12) is selected, and on the flat surface of the upper surface of the first group article (11) of the shipping pallet (12),
The second group of articles (15) with a small number of shipments are stowed. Therefore, although detailed description is omitted, it is clear that the same operation as that of the embodiment of FIG. 1 can be obtained in the embodiment of FIG.

In the embodiment of FIG. 2, the order information from a plurality of customers, that is, the shipping destinations, for example, the order information from four shipping destinations as shown in FIG. 2, is input to the shipping command device (10). Then, the control device (9) operates to calculate the types of articles to be shipped at each shipping destination, the number of each type, the stacking order and the stacking position, and the industrial robot (1) and the supply device (3). , A transfer conveyor (4), a supply conveyor (5), a storage conveyor (6) and a stacker crane (7). As a result, from the first group of articles (11), the shipping pallet (12) of the article type corresponding to each shipping instruction and the optimum predetermined number of articles
Are selected for each shipping destination and placed in the stowage location (2) by the supply device (3).

Further, the stacker crane (7) and the supply conveyor (5) are operated to move the required second group articles from the hangar (8).
A required supply pallet (14) for each shipping destination (15) is arranged at a position facing the industrial robot (1). Then, the industrial robot (1) operates and the second group of articles (1
The required number of 5) is transferred onto the flat surface of the upper surface of the first group article (11) of each shipping pallet (12) for each shipping destination. When the transfer of the required number of the second group goods (15) is completed, the packing corresponding to the shipping instruction for each shipping destination is completed, and the shipping pallet (12) is transferred to the shipping site by the transport conveyor (4). To be done.

The supply pallet (14) on which the remaining second-group articles (15) are placed is transferred by the storage conveyor (6) and stored at a predetermined position in the storage box (8) by the stacker crane (7). It In this way, with the small travel distance of the industrial robot (1), it is possible to simultaneously load the required articles on the respective shipping pallets (12) for multiple shipping destinations, further speeding up the loading and increasing the efficiency. Can be converted.

Example 3. FIG. 3 is also an overall configuration diagram conceptually showing another embodiment of the present invention. In the figure, the same reference numerals as those in FIG. 1 indicate corresponding parts, and (11) is a first type article similar to the first type article (11) in the embodiment of FIG.
It is accumulated near (1) and is moved to the loading place (2) by manual work as needed. Reference numeral (16) is a first-group article movement display device which is connected to the control device (9) and displays a movement of a required first-type article (11) to the stowage location (2).

In the automatic loading method with the above-mentioned configuration, the order information from a specific customer is sent to the shipment command device (1
When input to (0), the control device (9) operates to calculate the types of articles to be shipped, the number of each type, the stacking order and the stacking position, and the industrial robot (1) and the supply conveyor (5 ), The storage conveyor (6), the stacker crane (7), and the first group article movement display device (16). By this, the first
From the group of articles (11), an article type corresponding to a shipping instruction and an optimal predetermined number of articles of the shipping pallet (12) are selected and displayed on the first group article movement display device (16). Then, the first-class articles (11) displayed on the first-group article movement display device (16) are placed at the stowage location (2) by artificial work using a forklift or the like.
Be moved to.

Further, the stacker crane (7) and the supply conveyor (5) are operated to move the required second group articles from the hangar (8).
The required supply pallet (14) of (15) is arranged at a position facing the industrial robot (1). Then, the industrial robot (1) operates so that the required number of second group articles (15) of the supply pallet (14) is on the flat surface of the upper surface of the first group article (11) of the shipping pallet (12). Reprint. When the transfer of the required number of the second group goods (15) is completed, the packing corresponding to the shipping instruction is completed and the shipping pallet is completed.
(12) is transferred to the shipping site by manual work. Also,
The supply pallet (14) on which the remaining second group articles (15) are placed is transferred by the storage conveyor (6) and stored in a predetermined position of the storage (8) by the stacker crane (7).

Even in the automatic loading method as described above,
An optimal shipping pallet (12) is selected from the shipping pallets (12) in which a predetermined number of the first group articles (11) with a large number of shipments are pre-loaded on one shipping pallet (12), and the shipping pallet is selected. On the flat surface of the upper surface of the first group article (11) of (12), the second group articles (15) with a small number of shipments are stacked. Therefore, although detailed description is omitted, it is apparent that the same operation as that of the embodiment of FIG. 1 can be obtained in the embodiment of FIG.

Further, in the embodiment of FIG. 3, the first group article (1
Optimal shipping pallet corresponding to the shipping instruction from (1) (12)
Is displayed on the 1st group article movement display device (16), and according to this indication, the 1st kind article (11) is placed at the stowage place by artificial work
Moved to (2). Therefore, the device can be configured more simply and the facility cost can be reduced.

Example 4. FIG. 4 is also an overall configuration diagram conceptually showing another embodiment of the present invention. In the figure, the same reference numerals as those in FIG. 1 indicate corresponding parts, (1) is a traveling type industrial robot having a carriage (1a), and (2) is provided facing the operation area of the industrial robot (1). It is a stowage place where stowage work can be performed on a plurality of shipping pallets (12). Reference numeral (11) is a first-class article similar to the first-class article (11) in the embodiment of FIG. 1, which is accumulated near the industrial robot (1) and is loaded manually (2) at a stowage place by artificial work. Be moved to. (16) is a control unit (9)
Is a first group article movement display device which is connected to and displays the movement of a required first type article (11) to the stowage location (2).

In the automatic loading method having the above-mentioned configuration, the ordering information from a plurality of customers, that is, the shipping destinations, for example, the ordering information from the seven shipping destinations as shown in FIG. Control device (9) operates to calculate the type of goods to be shipped at each shipping destination, the number of each type, the stacking order and the stacking position, and the industrial robot
An operation command is issued to (1), supply conveyor (5), storage conveyor (6), stacker crane (7) and first group article movement display device (16). As a result, from the first group of articles (11), the type of article corresponding to the shipping command and the optimum predetermined number of shipping pallets (12) are selected for each shipping destination. ) Is displayed. Then, the first type articles (11) displayed on the first group article movement display device (16) are moved to the stowage location (2) by an artificial operation using a forklift or the like for each customer.

Then, the stacker crane (7) and the supply conveyor (5) are operated so that the required supply pallet (14) of the required second group articles (15) from the hangar (8) faces the industrial robot (1). Placed in position. Then, the industrial robot (1) operates to determine the required number of second group articles (15) of the supply pallet (14) for each shipping destination from the nearest shipping pallet (12) to the first shipping pallet (12). It is transferred onto the flat surface of the upper surface of the first group article (11). When the transfer of the required number of the second group goods (15) is completed, the packing corresponding to the shipping instruction is completed, and each of the shipping destinations of the shipping pallet (12) is transferred to the shipping site by the artificial work. It Further, the supply pallet (14) on which the remaining second-group articles (15) are placed is transferred by the storage conveyor (6) and stored in a predetermined position of the storage (8) by the stacker crane (7).

Even in the automatic loading method as described above,
An optimal shipping pallet (12) is selected from the shipping pallets (12) in which a predetermined number of the first group articles (11) with a large number of shipments are pre-loaded on one shipping pallet (12), and the shipping pallet is selected. On the flat surface of the upper surface of the first group article (11) of (12), the second group articles (15) with a small number of shipments are stacked. Therefore, although detailed description is omitted, it is clear that the same operation as that of the embodiment of FIG. 1 can be obtained in the embodiment of FIG.

In the embodiment of FIG. 4, the first group of articles (1
Optimal shipping pallet corresponding to the shipping instruction from (1) (12)
Is displayed on the 1st group article movement display device (16), and according to this indication, the 1st kind article (11) is placed at the stowage place by artificial work.
Moved to (2). Therefore, the device can be configured more simply and the facility cost can be reduced. Also,
Due to the small travel distance of the industrial robot (1), it is possible to simultaneously load the required items on each shipping pallet (12) for multiple shipping destinations, which makes the loading even faster and more efficient. it can.

Example 5. FIG. 5 is also an overall configuration diagram conceptually showing another embodiment of the present invention. In the figure, the same reference numerals as those in FIG. 1 indicate corresponding parts, (1) is a traveling type industrial robot having a traveling platform (1a), and (2) is provided facing the operation area of the industrial robot (1). It is a stowage place where stowage work can be performed on a plurality of shipping pallets (12). (11) is a first-class article similar to the first-class article (11) in the embodiment of FIG. 1, which is stored near the industrial robot (1) and is stowed by a manual operation using a forklift or the like. It is moved to (2) and placed in the stowage location (2) in a fixed order according to the type of articles and the number of each type.

In the automatic loading method having the above-mentioned configuration, when the order information from a plurality of customers, that is, the shipping destinations, is input to the shipping command device (10), the control device (9) operates to ship the products. The industrial robot (1), supply conveyor (5), storage conveyor (6) and stacker crane (7) are calculated by calculating the type of goods to be shipped for each destination, the number of each type, the stacking order and the stacking position. Issue an operation command to. by this,
From the 1st group of articles (11), the article type corresponding to the shipping instruction,
An optimal predetermined number of shipping pallets (12) are selected for each shipping destination, and the industrial robot (1) operates for each shipping destination with respect to the selected shipping pallets (12).

Further, the stacker crane (7) and the supply conveyor (5) are operated, and the required second group of articles from the hangar (8).
The required supply pallet (14) of (15) is arranged at a position facing the industrial robot (1). Then, the industrial robot (1) operates to sequentially determine the required number of second group articles (15) of the supply pallet (14) for each shipping destination from the shipping pallet (12) selected for each nearest shipping destination. Each shipping pallet (12) is transferred onto the flat surface of the upper surface of the first group article (11).

When the transfer of the required number of the second group articles (15) for each shipping destination is completed, the packing corresponding to the shipping instruction is completed and each shipping destination of the shipping pallet (12) is artificially created. It is transferred to the shipping site by work. Also, the remaining second group articles
The supply pallet (14) on which (15) is placed is the storage conveyor (6)
Are transported by the stacker crane 7 and stored in a predetermined position in the storage case 8 by the stacker crane 7.

Even in the automatic loading method as described above,
An optimal shipping pallet (12) is selected from the shipping pallets (12) in which a predetermined number of the first group articles (11) with a large number of shipments are pre-loaded on one shipping pallet (12), and the shipping pallet is selected. On the flat surface of the upper surface of the first group article (11) of (12), the second group articles (15) with a small number of shipments are stacked. Therefore, although detailed description is omitted, it is apparent that the same operation as that of the embodiment of FIG. 1 can be obtained in the embodiment of FIG.

In addition, in the embodiment of FIG.
1) is moved to the stowage location (2) by artificial work using a forklift, etc., and is placed in the stowed location (2) in a fixed order according to the type of articles and the number of each type. Then, from the first group of articles (11) arranged at the stowage location (2), the control device (9) delivers the shipment pallet (12) of the article type corresponding to the shipping instruction and the optimum predetermined number of articles. The industrial robot (1) operates for each shipping destination for the shipping pallet (12) selected for each shipping destination.

Therefore, the apparatus can be constructed more simply and the facility cost can be reduced. In addition, due to the small travel distance of the industrial robot (1), it is possible to simultaneously load the required articles on the respective shipping pallets (12) for a plurality of shipping destinations, thereby further speeding up the loading and increasing the efficiency. be able to.

[0047]

As described above, the invention according to claim 1 of the present invention prepares a predetermined number of the first group articles that are shipped a lot by forming a flat surface on the upper surface and pre-loading them on a shipping pallet. The first stacking step, the supply step of supplying the required shipping pallets on which the first group of articles are stacked, and the second group of articles with few shipments on the flat surface of the supplied shipping pallets of the first group of articles The second stowage step of stowing the required number of is carried out by the industrial robot.

Thus, a predetermined number of the first group of articles are stacked and prepared on the shipping pallet in the first stacking step, and the first group of articles in the supply step of supplying the shipping pallet is
By the second stowage step, the required number of second group articles for each shipping destination is stowed by the industrial robot. Therefore, it is possible to simplify the shipping pallet for packing and the traveling route of the articles, shorten the loading time of the required articles on one shipping pallet, and have the effect of speeding up the loading and increasing the efficiency. In addition, the device can be simply configured, which has an effect of reducing the facility cost.

As described above, the invention according to claim 2 of the present invention is prepared by stacking a predetermined number of the first group articles, which are shipped in large numbers, on the shipping pallet in advance by forming a flat surface on the upper surface. A first stowage step, a supply step of supplying a required shipping pallet on which the first group of articles are stacked, a fractional receipt and delivery step of delivering and shipping a second group of articles with a small number of shipments by a fractional accounting means, A second stowage step is set on the flat surface of the first group of articles of the shipping pallet to stow the required number of second group articles submitted by the fraction counting means by the industrial robot.

As a result, a predetermined number of the first group of articles are stacked and prepared on the shipping pallet in the first stacking step, and the first group of articles in the supply step of supplying the shipping pallet are
The required number for each shipping destination of the second group of articles submitted by the fraction counting means in the second loading step is loaded by the industrial robot. Therefore, it is possible to simplify the shipping pallet for packing and the traveling route of the articles, shorten the loading time of the required articles on one shipping pallet, and have the effect of speeding up the loading and increasing the efficiency. In addition, the device can be simply configured, which has an effect of reducing the facility cost.

Further, as described above, the invention according to claim 3 of the present invention prepares a predetermined number of the first group articles, which are shipped a lot, by forming a flat surface on the upper surface and pre-loading them on a shipping pallet. The first stowage step, the supply step of supplying the required shipping pallets of the respective shipping destinations, in which the required first group goods are respectively stacked to the plurality of shipping destinations, and the second group goods with a small number of shipments. The fraction input / output process performed by the fraction input / output unit, and the second fraction submitted by the fraction input / output unit on the flat surface formed by the first group articles of the supplied shipping pallets.
A second stowage step is performed in which the required number of each group of shipping destinations is stowed by the industrial robot.

As a result, a predetermined number of the first group of articles are stacked and prepared on the shipping pallet by the first stacking step, and the first group of articles of each of the plurality of shipping destinations are supplied by the supply step of supplying the shipping pallet. The required number for each shipping destination of the second group of articles submitted by the fraction counting means in the second loading step is loaded by the industrial robot.

Therefore, it is possible to simplify the shipping pallet for stowage and the traveling route of the articles, and shorten the time required to stow the required articles on one shipping pallet, which has the effect of speeding up the loading and increasing the efficiency. is there. In addition, the device can be simply configured, which has an effect of reducing the facility cost.
Further, due to the small movement distance of the industrial robot, required goods can be simultaneously loaded on the respective shipping pallets for a plurality of shipping destinations, and the loading speed can be further increased and the efficiency can be improved.

Further, as described above, the invention according to claim 4 of the present invention prepares a predetermined number of the first group articles, which are shipped a lot, by forming a flat surface on the upper surface and pre-loading them on a shipping pallet. A first stacking step, a supply step of supplying a plurality of shipping pallets, each of which is loaded with a specific type of the first group of articles and a specific predetermined number of the type, to a predetermined position in a predetermined order; A fractional receipt / delivery process of depositing / discharging a small number of second group articles by a fractional accounting unit, and a shipment pallet in which required first group articles are stacked for a plurality of shipping destinations from the supplied shipping pallets, and shipped. A second stacking step of stacking, by an industrial robot, a required number of each of the shipping destinations of the second group articles submitted by the fraction counting means on the flat surface of the first group articles of the shipping pallet selected for each destination. Those was boss.

As a result, a predetermined number of the first group of articles are loaded and prepared on the shipping pallet in the first loading step, and a plurality of the first group of articles are placed at predetermined positions according to the type and the predetermined number of the placed first group of articles. Shipping pallets corresponding to each of a plurality of shipping destinations are selected from the shipping pallets, and the shipping destinations of the second group articles submitted by the fractional delivery means by the second loading process on the first group articles of the shipping pallets. Another respective required number is stowed by the industrial robot. Therefore, it is possible to simplify the shipping pallet for packing and the traveling route of the articles, shorten the loading time of the required articles on one shipping pallet, and have the effect of speeding up the loading and increasing the efficiency.

Further, a shipping pallet corresponding to each of a plurality of shipping destinations is selected from a plurality of shipping pallets arranged at a predetermined position according to the type and the predetermined number of the placed first group articles, and the first of the shipping pallets is selected. The required number of the second group articles for each shipping destination is stacked on the first group articles by the industrial robot. For this reason, the device can be configured more simply, and there is an effect of reducing the equipment cost. Further, due to the small movement distance of the industrial robot, required goods can be simultaneously loaded on the respective shipping pallets for a plurality of shipping destinations, and the loading speed can be further increased and the efficiency can be improved.

As described above, the invention according to claim 5 of the present invention prepares a predetermined number of the first group articles that are shipped a lot by forming a flat surface on the upper surface and pre-loading them on a shipping pallet. The first stacking step, the supply step of supplying the shipping pallet on which the required first group articles are stacked by artificial work according to the display of the first group article movement display device, and the second group article having a small number of shipments Second rounding process in which the required number of second group goods submitted by the fractional balance means is loaded on the flat surface of the first group goods of the supplied shipping pallet by the industrial robot. The process and are set.

Thus, a predetermined number of the first group of articles are loaded and prepared on the shipping pallet in the first loading step, and the required first group of articles are manually operated according to the display of the first group article moving display device. The stowed shipping pallets are supplied. Then, on the supplied first group of articles on the shipping pallet, a required number of second group articles for each shipping destination submitted by the fraction counting means in the second loading step are loaded by the industrial robot. Therefore, it is possible to simplify the shipping pallet for packing and the traveling route of the articles, shorten the loading time of the required articles on one shipping pallet, and have the effect of speeding up the loading and increasing the efficiency.

Further, according to the display of the first group article moving display device, the shipping pallet on which the required first group articles are stacked is supplied by an artificial work. Then, on the supplied first group of articles on the shipping pallet, a required number of second group articles for each shipping destination submitted by the fraction counting means in the second loading step are loaded by the industrial robot. For this reason, the device can be configured more simply, and there is an effect of reducing the equipment cost.

[Brief description of drawings]

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

FIG. 2 is a conceptual overall configuration diagram showing a second embodiment of the present invention.

FIG. 3 is a conceptual overall configuration diagram showing a third embodiment of the present invention.

FIG. 4 is a conceptual overall configuration diagram showing a fourth embodiment of the present invention.

FIG. 5 is a conceptual overall configuration diagram showing a fifth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Industrial robot 3 Supply device 11 1st group goods 12 Shipping pallet 15 2nd group goods 16 1st group goods movement display device 81 Fractional balance means

Claims (5)

[Claims] 1. A first stacking step of preparing a predetermined number of first-shipped articles having a large number of shipments by forming a flat surface on an upper surface and preliminarily stacking them on a shipping pallet, and the first-group goods are stacked. And a supply step of supplying the required shipping pallet, and a flat surface of the supplied shipping pallet by the first group article,
An automatic loading method comprising a second loading step of loading a required number of second group articles with a small number of shipments by an industrial robot. 2. A first stacking step of preparing a predetermined number of the first group articles that are shipped a lot by forming a flat surface on the upper surface and pre-packing them on a shipping pallet, and the first group articles are stacked. A supply step for supplying the required shipping pallets, a fractional accounting step for accounting for the second group articles with a small number of shipments by a fractional accounting means, and a flat surface of the supplied shipping pallets for the first group articles, An automatic loading method comprising a second loading step of loading the required number of the second group of articles submitted by the fraction counting means with an industrial robot. 3. A first stowage step of preparing a predetermined number of the first group articles that are shipped a lot by forming a flat surface on the upper surface and pre-stucking them on a shipping pallet, and a plurality of shipping destinations, respectively. A supply step of supplying the required shipping pallets for each of the shipping destinations on which the first group of articles are stacked, and a fraction accounting step of accounting for the second group of articles with a small number of shipments by the fraction accounting means. And a second stacking step of stacking, by an industrial robot, a required number of each of the shipping destinations of the second group of articles submitted by the fraction counting means on a flat surface of the first group of articles of each of the shipping pallets. Automatic loading method. 4. A first stacking step of preparing a predetermined number of the first group articles, which are shipped a lot, by forming a flat surface on the upper surface and pre-packing them on a shipping pallet; Supply process of supplying a plurality of the above-mentioned shipping pallets in which a predetermined number of types and a specific predetermined number of the types are stacked to a predetermined position in a predetermined order, and a fraction receipt / delivery in which a second group article having a small number of shipments is deposited / distributed by a fraction dispensing means. From the process and the supplied shipping pallet, select the shipping pallet in which the required first group articles are stacked for a plurality of shipping destinations,
Secondly, the required number of each of the shipping destinations of the second group of articles submitted by the fraction counting means is stacked on the flat surface of the first group of articles of the shipping pallet selected for each shipping destination by the industrial robot. An automatic loading method consisting of a loading process. 5. A first stacking step of preparing a predetermined number of the first group articles that are shipped a lot by forming a flat surface on the upper surface and pre-packing them on a shipping pallet, and a display of the first group article movement display device. According to the above, a supply process for supplying the shipping pallet on which the required first group products are stacked by a manual operation, and a fraction delivery process for delivering the second group products having a small number of shipments by the fraction delivery means are supplied. The first of the above shipping pallets
An automatic loading method comprising a second loading step of loading a required number of the second group articles submitted by the fraction counting means with an industrial robot on a flat surface of the group articles.