JPH08267382A - Teaching method for palletizer device - Google Patents

Abstract

PURPOSE: To provide a teaching method for palletizer devices, which facilitates the determination of stowage pattern, increases the efficiency of the determination of stowage order, shortens teaching time, and simplifies the modification of position of a palletizer device. CONSTITUTION: After specified parameters are set and displayed on the computer screen, setting and modification of a palletizing pattern, setting of palletizing order, and setting of a position of a palletizer, are performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching method for a palletizing device for efficiently stacking products of the same shape on a pallet.

[0002]

2. Description of the Related Art Robots are used in order to reduce the number of workers and shorten the working time when loading and unloading or storing products in a warehouse in the field of physical distribution. In this case, when the robot performs the work such as loading the product on the pallet (palletizing work), the following processing procedure is adopted. In other words, (1) production / determination of stowage shape (stowment pattern) on pallet, (2) determination of stowage order of products, (3) stowage position calculation determination, (4) stowage to robot controller The position information is transmitted and (5) the robot operation is determined.

However, the method generally used in the above procedure has the following problems. That is, <Regarding creation / decision of stowage pattern> A large number of stowage patterns are conceivable depending on the pallet and product size. Therefore, the operator creates and decides the stowage pattern through trial and error. However, this stowage pattern created is not always the best pattern in terms of efficiency. <Determination of stowage order> When deciding on the stowage order, even if the stowage pattern is decided, it is not uniquely decided based on the pattern, but it depends on the palletizing robot, the pickup position, and the pallet position. The order is decided after trial and error. <Regarding calculation / determination of stowage position> When deciding stowage positions that match the stowage pattern, all positions are taught, but after teaching several positions, it is necessary to shift to determine the position. And it takes a lot of time. Further, even if the position of the pallet is changed, it is necessary to teach all the positions, and it takes a lot of time to correct the position. <Regarding changing the stowage pattern> If you want to change the stowage pattern, determine the stowage order again by trial and error,
It is necessary to teach the stowage position, and it takes a lot of time each time it is changed.

In view of the above problems, the present invention provides a teaching method for a palletizing apparatus which simplifies the decision of the stowage pattern, makes the stowage order efficient, shortens the robot teaching time and simplifies the position correction. For the purpose of provision.

[0005]

The present invention which achieves the above-mentioned object, when the product is loaded on a pallet by a robot,
When giving processing information from the computer to the controller that controls the robot, after setting the predetermined parameters on the computer screen, set and correct the palletizing pattern, set the palletizing order, and set the palletizing position. Basically.

[0006]

The stowage pattern, stowage sequence, and the like can be set easily and in a short time by the processing on the screen by the computer.

[0007]

EXAMPLES Examples of the present invention will now be described with reference to FIGS. FIG. 1 shows the overall configuration of a palletizing device, 1 is a palletizing robot, 2 is this robot 1
Controller 3 is a computer for giving processing information to the controller 2 by communication, 4A and 4B are pallets, 5 is a conveyor for carrying in products, and 6 is a safety fence. Then, the products carried in on the conveyor 5 are stacked on the pallets 4A and 4B by the robot 1. In the processing items as shown in FIG. By inputting various conditions to the computer 3, the work of loading the products on the pallets 4A and 4B is determined, and the robot 1 is operated via the controller 2.

FIG. 2 shows processing items of the computer 3,
Position data communication, condition setting, system layout setting,
It handles palletizing pattern selection, patiling pattern user creation, palletizing order setting, palletizing position correction, and file operation. Specifically, when the computer 3 starts up, various processes shown in FIG. 3 are displayed on the screen. Of these, the condition setting screen is shown in FIG. 4, and a screen for inputting parameters necessary for system configuration and processing is displayed. Then, on this screen, necessary information for determining the stowage pattern, such as pallet size and robot operation range, is input.

FIG. 5 shows a system layout setting screen. Since the robot has a movable range, it is necessary to install a pallet and a product carry-in conveyor within that range. While confirming such a state, the screen can be displayed. Set the layout above.

FIG. 6 shows a palletizing pattern selection screen. This palletizing pattern (stuck pattern) is selected / determined by the parameter information and the product size shown in FIG. In this case, regarding the selection of the pattern, several patterns are shown in the Japanese Industrial Planning JISZO105, but the stowed pattern which is a modification of the stowed pattern of this JIS is registered in advance, and the stowed pattern with good area efficiency is obtained. Are displayed in order and selected. A screen shown in FIG. 11 is also prepared so that the user can sequentially add and delete this stowage pattern.

After the stowage pattern is determined, the face for determining the palletizing order is displayed as shown in FIG. On this screen, the order of palletizing, the simultaneous unloading of products, the determination of the number of packages, and the setting of the approach direction are input.

By the end of the above processing, the position data is created in the order of palletizing. In this case, the palletizing position may be changed in units of several mm depending on the shape of the product.
Screen.

Since the stowage pattern and position information are reusable information, it is necessary to have a function of storing them in an auxiliary storage device (for example, a floppy disk) of a computer, and the file operation shown in FIG. File operations are performed on the screen.

Finally, the stowage pattern and the position information are transmitted to the robot controller via the communication means so that the robot can perform a predetermined operation. FIG. 10 is a communication screen for palletizing data. Thus, the computer calculates the stowage position from the stowage pattern determination and transmits it to the robot controller via the communication means to cause the robot to perform a predetermined palletizing operation.

[0015]

As described above, according to the present invention, when selecting a stowage pattern, a stowage pattern having a high area efficiency can be sequentially selected and displayed by a computer to facilitate pattern determination, and the stowage shape can be determined. It can be displayed on the screen, and the pattern can be changed quickly. Further, the stacking order is determined while viewing the screen, efficient robot operation can be performed, and the teaching time of the palletizing robot for determining the order is shortened. Furthermore, the layout of the system can be set while looking at the computer screen, eliminating layout mistakes. Further, since the stowage pattern and stowage position information of each product can be stored separately, they can be repeatedly used. Further, the position can be easily corrected on the computer in consideration of the variation of the product and can be confirmed on the screen.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a palletizing device.

FIG. 2 is a diagram showing a computer processing procedure.

FIG. 3 is a diagram showing a menu screen display of a computer.

FIG. 4 is a view showing a condition setting screen display of a computer.

FIG. 5 is a diagram showing a system layout setting screen display of a computer.

FIG. 6 is a view showing a palletizing selection drawing display of a computer.

FIG. 7 is a diagram showing a palletizing order setting screen display of a computer.

FIG. 8 is a diagram showing a palletizing position correction screen display of the computer.

FIG. 9 is a diagram showing a file operation screen display of a computer.

FIG. 10 is a view showing a palletizing data communication screen display of a computer.

FIG. 11 is a diagram showing a display of a palletizing pattern user creation screen of a computer.

[Explanation of symbols]

 1 Robot 2 Controller 3 Computer 4A, 4B Pallet 5 Conveyor

Claims (2)

[Claims] 1. When a product is loaded on a pallet by a robot, a predetermined parameter is set on a computer screen in order to give processing information from a computer to a controller for controlling the robot, and then a palletizing pattern is set and A teaching method for a palletizing device that performs correction, palletizing order setting, and palletizing position setting. 2. A teaching method for a palletizing device according to claim 1, wherein a file operation is performed on a computer screen.