JPH08133456A - Cargo sorting equipment - Google Patents

Abstract

PURPOSE: To efficiently load and sort the cargoes of many kinds and small quantity on a mixed cargo pallet by providing a rotary table to feed the necessary pallet to a picking robot equipment in the middle of the circulating transfer route of the cargoes. CONSTITUTION: A circulating transfer route 1 of a single cargo pallet A0 and a transfer route 2 of a mixed cargo pallet B0 are provided, a single cargo side rotary table 15 capable of loading four single cargo pallets A0 is provided in the middle of the single cargo pallet circulating and transfer route 1, and a mixed cargo side rotary table 33 capable of loading four mixed cargo pallets B0 is provided in the middle of the mixed cargo pallet transfer route 2. A robot equipment 4 for the cargo picking is arranged between the rotary tables 15, 33 to pick the cargo on the single cargo side rotary table 15 and load it on the mixed cargo side rotary table 33. A rotary loading table 5 to load the cargo by the case Co is arranged on one side of the robot equipment 4, and two temporary loading tables 6 of the case Co are provided on the other side.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load sorting facility for loading loads of a plurality of items on a pallet, for example.

[0002]

2. Description of the Related Art For example, in a parcel delivery center, parcels of a plurality of items are sorted on a pallet by a designated number according to each delivery destination.

[0003] Conventionally, when a plurality of items and a predetermined number of packages are sorted according to the delivery destination in this way, an automatic warehouse (for example, a case rack) having a space partitioned for each item is used, A robot device for picking pallets loaded with products for each item from the pallet storage area after automatically picking up a specified number of items according to the delivery destination and then transporting them to the loading position and loading them in a box. It was moved to, and a predetermined number of the packages were taken out and loaded in the box.

[0004]

However, the use of the automatic warehouse has a problem that it requires a large space and is uneconomical when handling a large amount of a large number of items and a small amount of packages. For picking by moving the pallet, it is necessary to supply the pallet in accordance with the operating speed of the robot device. In addition, when loading a large number of items and a small amount, the pallet is frequently supplied. There is a drawback that.

Therefore, an object of the present invention is to provide a baggage sorting facility which can solve the above problems.

[0006]

In order to solve the above-mentioned problems, a package sorting facility of the present invention is provided with a single-item pallet circulation transfer route and a mixed loading pallet transfer route, and a single-item pallet circulation transfer route is provided in the middle of the single-item pallet circulation transfer route. A single-sided rotary table on which a plurality of mixed pallets can be mounted is provided, and a mixed-side rotary table on which a plurality of mixed pallets can be mounted is provided in the middle of the mixed pallet transfer path. The robot apparatus for picking up a load is arranged so that a load can be taken out from a single pallet on the side rotary table and placed on the mixed pallet on the mixed side rotary table.

In addition, the above-mentioned package sorting facility is provided with a rotary mounting table for temporary storage of packages.

[0008]

In the above construction, the route for supplying the cargo is made into the circulation transfer route, and at the middle of this circulation transfer route and the transfer route of the mixed pallet for loading,
Since multiple pallets can be placed and rotated to move the necessary pallets to the picking and loading positions of the robot device, even when sorting multiple items or small amounts of luggage, the movement of single pallets is minimized. It is possible to efficiently load the cargo of a predetermined item on the mixed pallet with the limit.

Further, since the rotary mounting table is provided,
By temporarily placing the small-sized load on the single-use pallet on the rotary mounting table, more efficient sorting work can be performed.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the luggage loading facility of the present invention will be described below with reference to FIG. In FIG. 1, reference numeral 1 denotes a single product pallet circulation transfer path for circulatingly transferring the single product pallet A ₀ in a direction of an arrow X. The mixed pallet B ₀ is parallel to the single product pallet circulation transfer path 1 and is separated by a predetermined distance. Is provided in the direction of arrow Y, and a mixed pallet transfer path 2 is provided, and the single pallet circulation transfer path 1 is connected to a single pallet supply / discharge path 3 for supplying and discharging the single pallet A _0. There is.

The above-mentioned single item pallet circulation transfer path 1 has a first
The single-item side transfer conveyor 11, the second single-item side transfer conveyor 12 provided in parallel with the single-item side transfer conveyor 11, both of these conveyors 11,
It is composed of first and second traverses (moving bodies) 13 and 14 that are movably arranged along the conveyors 11 and 12 between the two and can move the load between the conveyors 11 and 12. .

The single product pallet supply / discharge path 3 is composed of a single product side supply conveyor 21 and a single product side discharge conveyor 22, and the single product side supply conveyor 21 is connected to one end side of the first single product side transfer conveyor 11. The single item side discharge conveyor 22 is connected to one end side of the second single item side transfer conveyor 12.

Of course, this single item pallet supply / discharge path 3 is
This is for supplying and discharging a single product pallet to the single product pallet circulation transfer route 1 side. In the middle of the second single product side transfer conveyor 12, a single product pallet A
A single-item side rotary table 15 for supplying ₀ is arranged, and on this single-item side rotary table 15, four support conveyors 16 for supporting single-item pallets are arranged at equal intervals.

The mixed pallet transfer path 2 includes a mixed side supply conveyor 31, a mixed side discharge conveyor 32 arranged in series with the mixed side supply conveyor 31, and a mixed side arranged between the conveyors 31 and 32. Turntable 33
And the mixed loading side rotary table 3
Support conveyors 34 for supporting the four mixed pallets B ₀ are provided on the 3 at equal intervals.

Then, between the above-mentioned transfer paths 1 and 2,
A robot device (also referred to as a picking device) 4 for picking a load on the single-item side rotary table 15 and placing the load on the mixed load side rotary table 33 is provided.

In addition, between the above-mentioned transfer paths 1 and 2, and on one side of the robot apparatus 4, a rotary mounting table 5 for placing a load on each case C ₀ is arranged, and on the other side of the robot apparatus 4. On one side, two temporary holders 6 for the case C ₀ are provided.

An empty pallet discharge conveyor 7 for discharging an empty pallet from the second single product side transfer conveyor 12 is provided on one side of the robot device 4 between the transfer paths 1 and 2.
Is provided, and an empty pallet supply conveyor 8 for supplying an empty pallet to the mixed loading side supply conveyor 31 is further provided, and a pallet supply / discharge conveyor for supplying / discharging pallets to / from the temporary storage area 6 of the case and the rotary mounting table 5. 9
Is provided. This pallet feed / discharge conveyor 9
It is used to supply or discharge pallets in an emergency.

The structures of the single-item side transfer conveyors 11 and 12 and the single-item side rotary table 15 will now be described.
First, the single-piece side transfer conveyors 11 and 12 will be described with reference to FIG.

Each of the single product side transfer conveyors 11 and 12 has a single product pallet A ₀ on which a plurality of loads, that is, cases C ₀ are loaded.
And a roller conveyor section 42 for sequentially moving the single pallet A ₀ on the upper surface thereof. It is composed of a plurality of lifters 43 provided.

Further, the lifter 43 includes an elevating plate 44 for supporting the roller conveyor section 42 and an elevating device for elevating the elevating plate 44 via a link mechanism 45 (a cylinder device or the like is used, not shown). ) And is composed of.

As shown in FIG. 1, nine lifters 43 are arranged on the first single-piece side transfer conveyor 11 and five lifters 43 are arranged on the second single-piece side transfer conveyor 12. Of course, the number of lifters 43 to be arranged may be appropriately increased or decreased. For example, in the portion corresponding to the single-item side rotary table 15 on the first single-item side transfer conveyor 11 side, the traverses 13, 14 are provided.
Is not movable, it is not necessary to provide the lifter 43 at that portion.

As shown in FIG. 2, each of the traversers 13 and 14 has a space between the single-piece-side transfer conveyors 11 and 12 excluding the single-piece-side rotary table 15 and a space between the single-piece-side supply / discharge conveyors 21 and 22. The space part, for example, the guide rail 4
It comprises a traveling body 47 which is made to travel via 6 and the like, and a roller conveyor section 48 which is provided on the upper surface of the traveling body 47 and moves the single pallet A ₀ .

Therefore, each single product side transfer conveyor 11,
12, when the lifter 43 is in the lowered position,
Single-sided pallets placed on the product-side transfer conveyors 11 and 12
To A ₀ Is transferred individually by the chain conveyor unit 42.
It can be moved along the conveyors 11, 12.
On the other hand, the lifter 43 of each individual product side transfer conveyor 11, 12
2 as shown on the left side of FIG.
By projecting above the upper surface of the vane conveyor section 41,
If the roller conveyor unit 42 is driven, one of the individual products will be transferred.
Single item on the roller conveyor section 42 of the conveyor 11 (12)
Pallet A₀ Is a rollerco on the traverser 13 (14)
Move to the inventory unit 48 side,
Then, on the other side, the transfer conveyor 12 (11) side row
It will be moved onto the la conveyor section 42.

The mixed loading side discharge conveyor 32 is simply provided with a chain conveyor section so as to convey the mixed loading pallet B ₀ in the direction of the arrow Y, and the mixed loading side supply conveyor 31 also has a discharge conveyor. A conveyor having a configuration similar to that of 32 is used, but at the connection with the empty pallet supply conveyor 8, a roller is provided on the upper surface as described in the single-piece side transfer conveyor 11.12 so that empty pallets can be delivered. A lifter having a conveyor section is provided.

Next, the rotary table 1 for the single product side and the mixed loading side
5, 33 will be described with reference to FIG. Each of the rotary tables 15 and 33 includes a rotary plate body 52 slidably supported by the rotary support ring 51, a rotary drive device 53 for rotating the rotary plate body 52, and the rotary plate body 52 as described above. Support conveyors (for example, a roller conveyor is used) 16 and 3 for supporting pallets, which are arranged at 90-degree intervals on four pallets.
And 4.

Therefore, the pallet is rotated by the support tables 16, 34 on the turntables 15, 33 and the conveyor parts 41, 42 on the side of the conveyors, which are arranged opposite to the support conveyors 16, 34, in cooperation with each other. It is possible to transfer between 33 and each conveyor 11, 12, 31, 32.

Further, although not shown, the rotary mounting table 5 is for mounting a large number of low-frequency items in each case C ₀ , and a rotary drive device (not shown)
It is configured so that the predetermined case C ₀ can be moved within the picking range of the robot device 4.

Then, each of the above-mentioned conveyors 7, 8, 9, 1
1, 12, 21, 22, 22, 31, 32, traverse 13,
A controller (not shown) having a computer for controlling each device such as 14, the rotary tables 15 and 33, the rotary mounting table 5 and the robot device 4 is provided.

Next, the case of each luggage i.e. material (also referred to as items), in accordance with the specified kind, the single item pallet A ₀ single item pallet circulation transport path 1 side, and picking by the robot device 4, mixed The operation of loading onto the mixed pallet B ₀ on the pallet transfer path 2 side will be described.

This loading operation is, for example, an operation for sorting a specified number of cases of a large number of items (of course, a predetermined number of products) into a certain store for delivery by a specified number.

Normally, the number of cases of which item to be loaded is input to the control device according to each delivery destination, and in this control device, the loading order of the cases of each item is as follows by software. The work procedure determines and the work is performed.

In the single product pallet circulation transfer path 1 of this embodiment shown in FIG. 1, for example, 12 single product pallets A to L can be placed so that the order of the cases can be changed. Therefore, in the control device, among the items to be sorted to each delivery destination, 12 items are grouped in the order of the number of cases. This is called parent grouping. That is, based on the number of items that can be processed at the same time, the mixed pallets having common items are grouped together.

This group of parent groupings is now
As shown in [Table 1] below, fine grouping is performed according to common items (items) and delivery destinations. This is called child grouping.

[0034]

[Table 1]

In this child group, items having the same item and stacking order are treated as the same group, and pallets having a small number of mixed loadings are subordinated to pallets having a large number of mixed loadings, or pallets having no common items are grouped into the same group. To do. The right column of [Table 1] shows the number of mixed pallets.

At this time, the number of cases on the side of the single-item pallet A _{0 to be} loaded is arranged according to each delivery destination, that is, the mixed pallets a to h, as shown in Table 2 below. This is called grandchild grouping.

[0037]

[Table 2]

In this grandchild group, a single item pallet A ₀ ,
The number of items and the number of mixed pallets to be processed simultaneously are determined by the number of mixed pallets B ₀ on the mixed-side rotation table 33. A pallet with a large number of mixed loadings belongs to a plurality of grandchild groups. The grandchild groups are grouped into four groups according to the number of rotary tables to be placed.

By the way, each of the above groups is carried out as a continuous work, but in order to carry out the work efficiently, it is necessary to determine the work order between the groups. For example, since items are different between parent groups, the order is determined such that parent groups having many common items are adjacent to each other.

In the child group, the order of supplying the single item pallet A ₀ can be arbitrarily changed by the pallet loop, but the operation order of the child group is selected in order to efficiently change the order.

That is, in the palette loop, the order of the child groups is determined so that the order is gradually changed. The work order between the grandchild groups is determined when the child groups are formed. That is, the work order within the grandchild group is such that the rotation angle of the single-item side rotary table 15 is minimized and the work of feeding and discharging the single-item pallet A ₀ of the single-item side rotary table 15 affects the work of the robot apparatus 4. Is determined to be the minimum.

Specific examples of the work order and the pallet supply and discharge timings to the rotary table 15 determined by the above procedure are shown in [Table 3] and [Table 4].

[0043]

[Table 3]

[0044]

[Table 4]

The operations in [Table 3] above are:
..., 1, 1, 1 ..., 2, 2, 2 ...
・ The order of supply and discharge to the pallet in [Table 4] is the same as that in [Table 3]. For example, at the time of the work of [Table 3] (when loading the single product pallet A from the mixed pallet a), it is shown that the work of [Table 4], that is, the single product pallet B is being supplied. There is. In addition, [Table 3]
It is shown that the work of [Table 4], that is, the discharge of the single-use pallet A is being performed during the work (1) (when loading the single-use pallet B onto the mixed loading pallet a).

FIG. 4 is a flow chart showing a schematic procedure of the above grouping. Here, the operation of the rotary mounting table 5 will be described.

In principle, high to medium frequency items are taken out from the single item pallet A ₀ and directly loaded on the mixed loading pallet B ₀ , while low frequency items are temporarily placed on the rotary mounting table 5. , Is taken out by the robot device 4 when necessary.

However, work efficiency can be improved by performing the following exceptional measures. That is, prior to determining the work procedure in the parent group, the number of cases for each item is calculated including small frequency items, and which item is to be placed on the rotary mounting table 5.
Temporarily place in or decide for each parent group.

Further, the high to medium frequency items having a small number of cases and included in the preceding parent group are taken out and placed on the rotary mounting table 5 side in advance during the work in the preceding parent group. deep.

In the case where a small number of cases remain on the single-item pallet A ₀ , or when only a small number of cases are required in the subsequent work, if the single-item pallet A ₀ is discharged, the efficiency of the subsequent work is improved. Is temporarily placed by taking out the remaining case from the temporary placing table 6.

Next, a specific procedure for transferring a single-piece pallet in the above-mentioned configuration will be described. As shown in FIG. 5, assuming that 16 single-item pallets A to P are on the single-item pallet circulation transfer path 1, while the single-item pallet B is being taken out by the robot device 4, the single-item pallet A that has been taken out. Is moved onto the second single-item side transfer conveyor 12 as indicated by an arrow. At this time, as shown in FIG. 6, the single-piece pallet A is moved onto the second traverse 14, and also I to P are advanced by one frame.

By repeating this procedure, as shown in FIGS. 7 to 8, for example, the single-piece pallets A, B, and C can be removed from the rotary table 15 side, and the single-piece pallet E can be placed on the single-piece side rotary table 15. Can be moved sequentially.

Further, by appropriately moving the positions of the traverses 13 and 14, it is possible to replace the adjacent _ones in the order in which the single product pallets A ₀ are circulated or to change them in an arbitrary order. Of course, by moving the second traverse 14 to the single product pallet supply / discharge path 3 side, the number of single product pallets A ₀ that can be circulated in the single product pallet circulation transfer path 1 can be increased, or in some cases reduced. In addition, it is possible to increase the degree of change in the order of the single item pallet A ₀ .

The number of single-piece pallets shown in FIG. 1 in the above embodiment can be arbitrarily changed.

[0055]

As described above, according to the configuration of the present invention, a route for supplying a load is a circulation transfer route, and a plurality of packages are provided in the circulation transfer route and in the transfer route of a mixed pallet for loading. Each pallet can be moved by rotating the pallet to the picking position and loading position of the robot device.Therefore, even when sorting a large number of items or a small amount of goods, the movement of a single pallet is minimized. That is, it is possible to efficiently load packages on a mixed pallet and sort them.

Further, since the rotary mounting table is arranged, it is possible to temporarily load the small-sized single-item pallets on the rotary mounting table, so that more efficient sorting work can be performed. You can

[Brief description of drawings]

FIG. 1 is a plan view showing a schematic configuration of a baggage sorting facility according to an embodiment of the present invention.

FIG. 2 is a view on arrow S-S in FIG.

FIG. 3 is a perspective view of a main part of a turntable in the luggage sorting facility of the same embodiment.

FIG. 4 is a flowchart illustrating a procedure for sorting packages in the package sorting facility according to the embodiment.

FIG. 5 is a schematic plan view illustrating a procedure for transferring a load in the embodiment.

FIG. 6 is a schematic plan view illustrating a procedure for transferring a load in the embodiment.

FIG. 7 is a schematic plan view illustrating a procedure for transferring a load in the embodiment.

FIG. 8 is a schematic plan view illustrating a procedure for transferring a load in the embodiment.

[Explanation of symbols]

 1 Single product pallet circulation transfer path 2 Mixed loading pallet transfer path 4 Robot device 5 Rotation platform 6 Temporary storage area 11 First single product pallet transfer conveyor 12 Second single product pallet transfer conveyor 13 First traverse 15 Second single product side rotating table 16 Support Conveyor 31 Mixed-side supply conveyor 32 Mixed-side discharge conveyor 33 Mixed-side rotary table 34 Support conveyor 41 Chain conveyor section 42 Roller conveyor section 43 Lifter

Front page continuation (72) Inventor Yoshihiro Ikoga 5-3 28 Nishi Kujo, Konohana-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd. (72) Koichiro Nakayama 5-3 Nishijojo, Konohana-ku, Osaka City, Osaka Prefecture No. 28 Hitachi Shipbuilding Co., Ltd. (72) Inventor Katsuhiko Yamamoto 5-3-8 Nishikujo, Konohana-ku, Osaka City, Osaka Prefecture (28) Inside Hitachi Shipbuilding Co., Ltd. (72) Hirotoshi Shimoda Nishi-Kujo 5, Osaka, Osaka City 3-28, Hitachi Shipbuilding Co., Ltd. (72) Inventor, Hideaki Uryu 5--3-28 Nishikujo, Konohana-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd.

Claims (4)

[Claims] 1. A single-item pallet circulation transfer route and a mixed-load pallet transfer route are provided, and a single-item side rotary table capable of mounting a plurality of single-item pallets is provided in the middle of the single-item pallet circulation transfer route. In the middle of the process, a mixed-side rotating table capable of mounting a plurality of mixed-loading pallets is provided, and between the rotating tables in the above-mentioned transfer paths, the package is taken out from the single-item pallet on the single-item side rotating table and mixed-loading on the mixed-side rotating table. A baggage sorting facility having a robotic device for picking packages that can be placed on a pallet. 2. A pair of transfer conveyors arranged parallel to each other on a single-item pallet circulation transfer path, and a load transfer arranged on both ends of both transfer conveyors and movably between the transfer conveyors. The baggage sorting facility according to claim 1, characterized in that it is configured with a transporting body. 3. The package sorting facility according to claim 1, further comprising a rotary mounting table for temporary storage of packages. 4. The baggage sorting facility according to claim 1, wherein the single product pallet circulation transfer path is provided with a single product pallet supply path and a single product pallet supply path.