JPS61155128A - Automatic cargo stowage system with cargo-form classified storage unit group - Google Patents

Abstract

PURPOSE:To improve cargo loading efficiency for a transport jig, by installing a stowage planning device which makes out a series of stowage arrangement and sequence for cargoes on the transport jig, allotment of types of a stowage unit and operating sequence of each stowage unit according to form, size and material in plural cargoes. CONSTITUTION:Various forms of plural cargoes to be transported are inputted into a stowage planning device 2A, and a series of stowage arrangement and sequence of cargos on a transport jig 2Z, allotment of types of a stowage unit and operating sequence of each stowage unit are make out. Data out of this stowage planning device 2A are inputted into a control unit 2B, and according to the stowage sequence out of the control unit 2B, cargoes received with a marshalling device 2C are delivered. These delivered cargoes are fed to each spot of stowage units 2E1-2E3 alloted by the stowage planning device by a feeder 2D. On the other hand, a transport jig 2Z is moved to each spot of these stowage units 2E1-2E3 by a transport jig conveying device 2F, while multifarious cargoes supplied are stowed onto the transport jig 2Z by these cargo-form classified stowage unit groups 2E1-2E3 in conformity with the operating sequence.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an automatic cargo stowage system using a group of cargo type-specific stowage devices. This relates to a system for automatically stowing cargo.

[Background of the Invention] Conventionally, for example, in the transportation of knocked down parts of automobiles, the transportation of air cargo, etc., there has been an increasing demand for robotization of the work of loading cargo onto transportation jigs such as pallets and containers. Conventionally, there are automatic palletizers and palletizing robots (also called robot palletizers) as equipment for automatically stacking cargo on transport jigs. Published by Okura Yusoki Co., Ltd.
Examples of palletizing robots are discussed in the literature entitled ``Focusing on Development of Palletizing Robots'' and ``Palletizing Robots - Robot 500'' by Hirotoshi Mizutsu.

However, these automatic palletizers and palletizing
Robots can only load cargo of the same shape, size, and material onto a single pallet. Therefore, as the transportation of a wide variety of products in small quantities progresses and the number of products that need to be stacked on one pallet increases, it becomes impossible to stack them using conventional palletizing robots and the like.

With automatic loading equipment such as palletizing robots, 1
When automatically stacking cargoes of various shapes, sizes, and materials on one transportation jig, the following problems arise.

(i) Conventional loading devices are limited in the cargo they can handle, and cannot handle cargo of all shapes, dimensions, and materials (see the above-mentioned document).

For example, there are no palletizing robots with hands that can simultaneously handle cardboard boxes (rectangular parallelepipeds) and bags (any shape). Furthermore, even with the same cardboard box, there is a limit to how much it can be handled depending on its volume and weight. For example, there may be cases where palletizing robots for large items and small items are required. In such cases, it is necessary to use multiple types of loading devices to load various types of cargo onto one pallet.

At this time, depending on the loading order, the pallet may need to be moved back and forth between several loading devices, increasing wasted working time for moving the pallet. Therefore, it is necessary to determine a stowage order that reduces the number of times pallets are moved between stowage devices.

(i) Since the number of combinations of cargo stowage arrangements is extremely large, if a single person decides the cargo stowage arrangement, it is not possible to count all the combinations, resulting in a decrease in loading efficiency with respect to the effective loading space on the transport jig. Therefore, there is a need for a method of creating a stowage arrangement that achieves high loading efficiency even when cargoes of different dimensions are stowed. Hereinafter, the generated stowage arrangement will be referred to as a stowage pattern.

(■) In order to stack cargo one after another using a loading device for each cargo shape, it is necessary to teach each cargo the operation of the loading device to which that cargo is assigned. In that case, since the content of the movement differs for each cargo, the conventional playback type movement teaching method requires a large number of man-hours for teaching.

Therefore, there is a need for a method of automatically determining the cargo stowage order and the operation sequence of the stowage device, which are operation teaching data for the stowage device, at the same time as generating the stowage pattern.

[Purpose of the invention]

The purpose of the present invention is to solve such conventional problems and to improve the loading efficiency of loading cargo onto transport jigs for cargoes of different shapes, two different dimensions, and materials, and for arbitrary cargo loading requirements. , reduce the number of times the transport jig is moved between the stowage arrangement on the transport jig and the cargo type stowage device, and
An object of the present invention is to provide an automatic cargo loading system using a group of cargo type-specific cargo loading devices capable of reducing the man-hours required for teaching operation sequences.

[Summary of the invention]

In order to achieve the above object, the automatic cargo loading system using a group of cargo type-specific loading devices according to the present invention is provided with various types of cargo to be transported (i.e., shape, two dimensions, and materials). A stowage planning device that creates the stowage arrangement and stowage order of cargo on transport jigs, the assignment of types of stowage devices, and the operation sequence of each stowage device, and receives data from the stowage planning device. , a control device that controls each device in the system according to the data, a marshalling device that receives the cargo in an arbitrary order and sends out the cargo according to the loading order from the control device, and a marshalling device that controls the cargo from the marshaling device in the loading order. a supply device that supplies the stowage device to the location of the stowage device assigned by the stowage planning device; a transportation jig conveyance device that moves the transportation jig to the location of the stowage device assigned by the stowage planning device; The present invention is characterized in that it includes a group of cargo type-specific loading devices for stacking various types of cargo on the transport jig according to the operation sequence described above.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the drawings.

In this embodiment, a pallet is used as the transportation jig.

Figure 2 shows different shapes on one pallet.

This is an example of cargo loaded with various sizes and materials.

In FIG. 2, 2Z is a pallet. IB is an example of a large cardboard box (cuboid), IC is an example of a small cardboard box (
ID is an example of a bag (non-cuboid). In addition, there are also cargoes that are easily deformed by external forces (for example, mail bags, wiring coils, etc.), that is, free-form cargoes.

In this example, large cardboard boxes, small cardboard boxes,
There are three types of automatic loading equipment for large cardboard boxes, which handles large cardboard boxes, automatic loading equipment for small cardboard boxes, which handles small cardboard boxes, and automatic loading equipment for bags, which handles bags. An example will be explained in which various types of cargo are stacked onto one pallet using a loading device. Furthermore, in this embodiment, when the type of cargo is given, which type of loading device should be assigned to it is determined as follows:
- It shall be determined arbitrarily and shall be provided externally as cargo data in the form of type classification codes (3 classifications: large cardboard boxes, small cardboard tubes, and 1 bag) 6 Figure 1 shows the following: BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the automatic stowage system which shows one Example of this invention.

The automatic loading system includes a loading planning device 2A and a control device 2.
B, marshalling device W2C, supply device 2D, loading devices 2E1, 2E2, 2E3, and pallet transport device 2F
It consists of Here, 2E1 is a loading device for large cardboard boxes, 2E2 is a loading device for small cardboard boxes, and 2E2 is a loading device for small cardboard boxes.
E3 is a bag loading device. Further, 2Z is a pallet.

The loading planning device 2A determines the type classification code of the cargo to be transported (large cardboard box, small cardboard box).

When the bag classification, dimensions, and required loading amount are given, a loading pattern is created, as well as the cargo loading order and the operation sequence of each loading device. Specifically, it is a computer that inputs the dimensional data of each cargo and calculates the stowage plan data, that is, the stowage pattern, the stowage order, and the operation sequence of each stowage device. It is displayed on a display or a graphic display, and stowage plan data is created in an interactive format with humans through input from a keyboard or the like.

The marshalling device 2C receives the cargo to be transported in any order and sends it out according to the loading order. Specifically, the marshalling device 2C is designed to correspond to each cargo type and shelf number, and to specify the cargo according to the loading order. This will be realized using an automatic tug or loop conveyor that can sequentially supply the cargo.

The supply bag f12D supplies the cargo received from the marshaling device 2C to each positioning station for stacking the cargo in each stacking device, and is specifically realized by a conveyor or the like. 2X is a sorting device for sending the cargo received from the marshaling device E2G to a specified stowage device according to the type classification code, and 2Y is a positioning station.

Each of the stacking devices 2El, 2E2, and 2E3 stacks cargo that has arrived at each positioning station 2Y onto a pallet 2Z according to a designated operation sequence, and is specifically realized by a robot or the like. When handling one bag of large cardboard boxes and one small cardboard box as in this example, for the safety of the cargo, stack the large cardboard box on the bottom, the small cardboard box on top, and the bags on the top shelf. 2E1 as shown in Figure 1.
, 2E2, and 2E3 are arranged in series.

The pallet transport device 2F receives an empty pallet and transfers the pallet to the loading devices 2E1, 2E2, 2E3 according to the specification.
It is a device for moving between objects, and is specifically realized by a conveyor or the like.

The control device 2B includes the seven devices 2A of the five types described above.

By exchanging signals with 2G, 2D, 2E1, 2E2, 2E3, and 2F, each device is centrally controlled, and specifically, it is realized by a control computer.

FIG. 3 is an explanatory diagram showing the position of cargo on a pallet.

When placing cargo 3B on pallet 2Z 1 For example, set a Cartesian coordinate system with the origin at the left end of the loading device side (the loading device is in front in Figure 3), and set the cargo loading position. Specify. in particular.

Coordinates P (xit
yip zi) is defined as the loading position of cargo 3B.

In addition, the cargo is stacked in the X-axis direction, with cargo 3B oriented in the longitudinal direction of the cargo (indicated by the symbol L).
It is determined by whether it is in the transverse direction (indicated by the symbol S).

FIG. 4 is a diagram showing an example of determining the stowage order.

This is because the numbers 1 to 10 on the plane indicate the loading order of each cargo, and the loading planning device 2A creates the loading order according to a predetermined principle and displays 1. As a general rule, when viewed from the loading device side (i) from bottom to top,
An example is shown in which items are stacked using the following priority rules: (...) from the back to the front, and (m) from the left end to the right end.

The example in this figure shows the stowing order based on the principle when stowing using the same stowing device. However, when stowing using different stowing devices, it is important to minimize the number of times the pallet moves between those stowing devices. It is necessary to decide the loading order such that
For example, in Figure 4, if only the third cargo to be stowed is to be stowed using the stowing device for small cardboard boxes, and the others are to be stowed using the stowing device for large cardboard boxes, for example, all the large cargoes should be stowed first, then The loading order should be such that small cargo is stowed on the

FIG. 5 is a diagram showing an example of determining the operation sequence of the loading device.

Here, 5F indicates the operating point, 5G indicates the operating path,
Along this path, the stowage device stows cargo 5B at position 5D. That is, in this case, the cargo 5B supplied onto the supply conveyor 5A climbs over the cargoes 5E and 5C with storage on the pallet 2Z and is stacked at the position 5D. In this way, if the respective stowage positions of the loaded cargoes 5E and 5G can be determined, an optimal route can be determined that avoids them as obstacles. Therefore, if the positions of the cargo with cargo 5E and 5G are given in the coordinate system as shown in FIG. 3, the operation sequence of the loading device can be determined.

FIG. 6 is an explanatory diagram for approximating a bag with a rectangular parallelepiped.

In FIG. 6, 6A is an example of a bag having a non-rectangular parallelepiped shape. 6B is an envelope rectangular parallelepiped that is in contact with and surrounds the bag 6A.

In this embodiment, the stowage plan data is created using this enveloping rectangular parallelepiped 6B, and the bag stowage device 2E3 uses this enveloping rectangular parallelepiped 6B.
The items will be automatically stacked in the specified position and orientation.

FIG. 7 is a schematic block diagram of the stowage planning device 2A shown in FIG. 1.

The stowage planning device 2A includes a computer 10 and a typewriter 21 for inputting data. The computer 10 includes storage units 11 to 16 and a control unit 19, and the control unit 19 operates according to a program stored in the storage unit 11.

FIGS. 8 to 12 are diagrams showing examples of various data stored in the storage unit in the stowage planning device 2A, respectively.

For example, as shown in FIG. 8, the storage unit 12 in FIG. 7 has pre-registered specification data for each pallet type (data such as pallet code, pallet effective loading space, and weight limit) in the form of a table. is recorded and memorized. The storage unit 13 stores, for example.

As shown in FIG. 9, the cargo code indicating the cargo number inputted by the operator from the typewriter 21, the type classification code for each cargo, and specification data (longitudinal length of the cargo, widthwise length, In this embodiment, the data such as height, weight, etc.) and required loading amount are stored in a tabular form.

There are three types: S, L, and B, each with small cardboard boxes,
shall mean large cardboard boxes and bags. For example, as shown in FIG.
．． The stowage pattern calculated by the computer 10 from the data from 13, that is, the cargo stowage position, stowage direction, and assigned stowage device number, is stored in a table form.
In this embodiment, the loading device numbers are 1, 2.3, and the loading devices for large cardboard boxes 2E1. It refers to the small item cardboard box stowage device 2E21 and the bag stowage device 2E3. For example, as shown in FIGS. 11 and 12, the storage units 15.16 store the cargo loading order and the operation sequence of each loading device calculated by the computer 10 based on the data from the storage units 12, 13.14. are stored in a table format.

It should be noted that a plurality of sets of calculated data on the stowage pattern, stowage order, and operation sequence are stored, and a pattern name is stored for each pattern.

FIG. 13 is a schematic block diagram of the control device 2B of FIG. 1.

The control device 2B includes a computer 30 and a typewriter 41.
It consists of Note that in order to explain the control operations between the control device 2B and each device, the stowage planning device 2A, marshalling device 2C1 supply device 2D, stowage device group 45, and pallet transport device 12F are added. Further, numeral 45 represents the loading devices 2E1, 2E2, and 2E3 in one block. The typewriter 41 is used to input the contents of the stowing work, that is, the name of the stowing pattern and start information for starting the stowing work.

The computer 30 includes a control section 39 that operates according to a program stored in a storage section 31, and five data storage sections 32-36.

FIG. 14 to FIG. 18 are diagrams showing examples of various types of data stored in the storage section in the control device 2B, respectively.

For example, as shown in FIG. 14, the storage unit 32 in FIG. 13 stores the contents of the stowage work input from the typewriter 41, that is, the work order, stowage pattern name, and work status. The current status is information input from the marshaling device 2C.

This shows how far the work has progressed.

For example, as shown in FIG. 15, the storage unit 33 stores the stowage order created in the stowage planning bag [2A, the assigned stowage device number, the stowage number indicating the stowage order, and the cargo code. etc. are stored in a table format, and the loading device group 45
Information on the current loading status is stored by inputting the loading completion signal for each cargo sent from the system.

In the storage unit 34, for example, as shown in FIG. 16, the operation sequence of the stowage device created by the stowage planning device 2A is stored in the form of a table.

Information on the current state of the operation is stored by inputting the completion signal of each operation for each cargo sent from the loading device group 45.

The storage unit 35 stores the cargo code of the cargo that has been stored in advance in the marshaling device f2G and the shelf number of the storage light.
Marshalling device [by input from t2G,
If you eat an octopus, as shown in Figure 17.

Registered and stored in advance. In addition, the current status of the nighthawk is updated and stored using the entry/exit signal inputted from the marshaling device N2G each time the vehicle enters or exits the warehouse.

For example, as shown in FIG. 18, the storage unit 36 stores information such as the supply order, cargo code, and supply status input from the marshalling device [2G and the supply device ff12D]. This supply status is information for checking whether cargo has been supplied to each loading device.

In FIG. 7, before starting the stowage work, the operator first uses the stowage planning device 2A to determine the stowage pattern of the cargo on the pallet, the stowage order, the allocation of stowage devices, and the stowage planning device 2A. #
In order to create each loading plan data for the operation sequence of N positions, the necessary type of pallet code is selected from among various pallets, and the data is transferred from the typewriter 21 to the computer 1.
Next, the operator inputs the data of the cargo to be stowed on the pallet, that is, the cargo code, type classification code, cargo specifications, and required loading amount, into the computer 10 from the typewriter 21. The computer 10 is
The data of these cargoes are set in the predetermined columns of the table, as shown in FIG.

- Next, the computer 10 calculates the distribution Wt (position and orientation) of each cargo in the effective loading space of the specified pallet and the assignment of the loading device, and calculates the loading pattern data and the assignment. Loading device number data and
, as shown in FIG. 10, in a predetermined column of the table. Next, the computer 10 calculates the stowage order for stowing each cargo onto a pallet based on the stowage pattern and stowage device number data, and enters the stowage order in the predetermined column of the table as shown in FIG. set. Furthermore, computer 1
0 calculates the operation sequence of each stowage device from each data of stowage pattern and stowage order, and sets it in a predetermined column of the table as shown in FIG.

Figure 19 is a loading planning device! 2A (computer 10
) is a diagram showing a working broach yard.

First, wait for input of palette code (step 50),
Waiting for input of cargo data (step 51),
When the pallet code and cargo data are input, computer 10 registers the cargo data (step 52).

Next, computer 10 determines the pallet specification for the pallet code entered in step 50.

Based on the cargo data entered in step 51 (cargo code, type classification code, cargo specifications, and required loading amount),
The arrangement and orientation of each cargo within the effective loading space of the pallet are calculated, and the results are set in the designated columns in Figure 10 as a stowage pattern (step 53). First, the computer 10 determines and registers the stowage order (step 54) and determines and registers the stowage device operation sequence (step 55).

In this example, there is a one-to-one correspondence between the type classification code specified at the time of inputting the cargo data and the loading device that can handle each cargo. Then, in the remaining space, the position and orientation of the small item cardboard box is determined, and finally, the position and orientation of the bag is determined in the remaining space.

In this way, a pattern name is assigned to a set of stowage patterns, stowage device assignments, stowage orders, and operation sequences calculated by the computer 10. For example, in FIGS. Zero or more operations for which A is stored are performed repeatedly, calculated, and each stored as a different pattern name.

FIGS. 20(a), 20(b) to 23 are operation flowcharts showing specific operations of the control device 2B (computer 30), respectively.

FIGS. 20(a) and 20(b) show specific operations from the start of the loading operation to the unloading of cargo by the marshalling device 2C.

First, it waits for input of work data (step 60) 6
If there is work data, the work order and stowage pattern name are registered (step 61). Repeat steps 60 and 61 until the registration is completed.Next, the process waits for the input of loading work start information (step 63), and when the information is input, the work status is searched and the pattern name of creation order N is entered. P is searched (step 64), it is checked whether all the stowage work is completed (step 65), and if all the stowage work is completed, the process is ended. If the stowage work is not completed yet, a request signal for stowage plan data of pattern P is output to the stowage planning device (step 66).Next, the system waits for input of stowage plan data (step 67). ), when input, among the stowage plan data of pattern P,
Register the loading order and operation sequence data (Step 68). Next, register the supply order data from the loading order data. Step 69). Wait for the input of the output preparation completion signal (Step 70). When there is an input, the current supply status is searched to find the cargo code S for the corresponding supply order (step 71), and it is checked whether the supply of the corresponding pattern has been completed (step 72).
. If the supply of that pattern is not completed, search the current inventory status, search for the shelf number J where the corresponding cargo code S is in stock (step 73), and marshal a shipping command for shipping from the corresponding shelf number J. Transmit to the device (step 74).Next, the system waits for the input of a shipping completion signal (step 75), and when the input is received, the inventory status of the corresponding shelf number J is updated to "out of stock" (step 76). .

In addition, the current supply status for the corresponding supply order is shown as Supplied 1″1.
Step 77) Waits for the input of the first delivery preparation completion signal, that is, returns to Step 70.

If the supply completion of the corresponding pattern is confirmed in step 72 and a pallet loading preparation completion signal is input (step 78), the current work status of the corresponding work order N is completed"1
” (step 79), and returns to step 64.

FIG. 21 shows a specific operation for transporting the cargo taken out from the marshalling device 12G to the positioning station 2Y of the loading device designated by the loading planning device 2A, by the sorting device 2x of the feeding device 2D. It shows.

First, it waits for the input of a cargo supply acceptance signal (step 8).
0), if there is an input, the stowage device number M is searched from the stowage order in the corresponding supply order (step 81
). Next, a command is sent to the supply device 2D to sort the cargo to the positioning station with the corresponding loading device number M (
Step 82).

Figure 22 shows that after cargo loading is completed, in order to stack the first cargo onto the pallet, it is checked whether the pallet has arrived at the designated loading device, and if it has not arrived, the pallet transport bag ff12F is loaded. This figure shows specific operations for controlling and moving a pallet to a designated location of a loading device.

First, it waits for input of the cargo loading completion signal (step 9).
0), if there is an input, the current loading status is searched and the loading order i is retrieved (step 91).

Next, the stowage device number M of the corresponding stowage order i is searched (Step 92), the current position of the pallet is searched, and the stowage device number MM is detected (Step 93). Check to see if the search is complete (step 94), if the search is not complete.

Pallet transport device sends a pallet movement command signal to the corresponding loading device number M! It is transmitted to 2F (step 95). Next, the input of the pallet arrival signal to the corresponding stowage group [M is waited for (step 96), and if there is that input signal,
Alternatively, if the search is completed in step 94, a loading command signal is transmitted to the loading device M (step 97).

FIG. 23 shows the specific operation of the specified stowage device to stow cargo according to the operation sequence determined by the stowage device.

First, it waits for the loading preparation completion signal to be input (step Z).
oo) If there is an input, the current loading status is searched to find the loading order i (step 101).

Check whether the stowage work of the applicable work order N is completed (step 102). If the stowage work is not completed yet, search for the operation sequence of the relevant stowage order i, and set the operating point number to 1. (step 103)
). Next, the system waits for input of a loading device operation preparation completion signal (step 104).

If it has been input, a motion command corresponding to the corresponding operating point number is output to the robot (step 105), and an operation completion signal corresponding to the corresponding operating point number is waited for input (step 10).
6) If it is input, update the current operating status of the corresponding operating point number to "operation complete" (step 107), advance the operating point number to the next step (step 108), and then update the operating status of the corresponding operating point number to "1". It is checked whether the operation of the assigned order i has been completed (step 109), and if it has not been completed, the process returns to step 105. In addition, if the loading is completed, the current loading status of the corresponding loading order i is updated to loading completed "1" (step 110),
The current supply status of the corresponding supply order i is updated to "-1" indicating loading completion (step 111).

In the embodiment shown in FIG. 7, the typewriter 21 is used as the data input means for the loading planning device (2A), but an auxiliary storage medium such as a floppy disk may also be used. In this embodiment, the large cardboard box stower 2E1. Loading device for small cardboard boxes 2E2
゜A robot is used as the bag loading device 2E3. In this embodiment, a loading planning device is used! ! 2A and control device 2
Although separate computers 10 and 30 are used for B and B, the same computer may be used to operate each in a time-sharing manner. In this embodiment, information on which stowage device should be used to stow various types of cargo is entered from the outside, but it is also possible to automatically allocate the stowage device within the computer 10. Also, in one embodiment, it can be used as a marshalling device! Although an automated warehouse is used as 2G, a multi-stage loop conveyor or multi-stage rotary rack in which multiple loop conveyors or rotary racks are stacked may be used to improve the cargo supply speed. Furthermore, in order to improve reliability, the supply device 2D is equipped with a device that uses barcodes, etc. to identify the type of cargo that has been delivered, and if there is an abnormal delivery, the device can be stopped. At each positioning station 2Y of the supply device 2D, a button or the like may be used to fix the loading position in order to improve positioning accuracy.Even if the pallet is placed on the conveyor, it cannot be placed at a fixed station. In this example, three types of cargo loading devices, 2El, 2E2, and 2E3, were considered, but any number of cargo loading devices may be used.In other words, any shape can be handled, not just bags. In the control operation of the control device 12B shown in FIGS. 20 to 23, it is preferable to stack the objects on one pallet for simplicity. Marshaling equipment without supplying cargo! It is assumed that the cargo is waiting in 2C, but in order to speed up the processing of loading operations, the system is designed to start supplying cargo for the next pallet in advance even while loading the previous pallet. It's okay.

In the embodiment shown in FIG. 7, the computer 10 calculates the stowage pattern from the storage section 12 (pallet specification data) and the storage section 13 (cargo specification and stowage request - quantity data). The loading pattern may be determined step by step through human interaction by illustrating the loading situation on a graphic display.

In this way, according to this embodiment, the stowage arrangement (stowage pattern) is determined in advance in response to any cargo stowage request, and the stowage order and the operation of the stowage device are automatically determined. Since the sequence is determined and the cargo is automatically fed to the stacking equipment group in accordance with the given order, pallet loading efficiency can be significantly improved even when cargo of different dimensions is loaded. The number of man-hours required to teach the attached equipment group.

It is also possible to reduce the number of man-hours required to supply cargo that arrives in any order. Further, since the allocation of the stowage devices is determined in advance, it is possible to prevent an increase in working time due to an increase in the number of times pallets are moved between the respective stowage devices.

〔Effect of the invention〕

As explained above, according to the present invention, cargoes of different shapes, ie, different shapes, dimensions, and materials.

In addition, in response to arbitrary cargo loading requests, it improves the loading efficiency of loading onto transportation jigs and reduces the number of times transportation jigs are moved between the stowage arrangement on the transportation jigs and the cargo type-specific loading device. Moreover, the number of man-hours required for teaching the operation sequence can be reduced.

[Brief explanation of drawings]

Figure 1 is an overall configuration diagram of an automatic loading system showing an embodiment of the present invention, Figure 2 is a diagram showing examples of various types of cargo handled by the present invention being planted on pallets, and Figure 3 is a diagram showing the plane of the pallet. Figure 4 is a diagram showing an example of determining the loading order of freight on a pallet plane, Figure 5 is a diagram showing an example of determining the operation sequence of the loading device, Figure 6 is a diagram showing an example of determining the operation sequence of the loading device. The figure shows an example of approximating baggage cargo with an envelope rectangular parallelepiped, Figure 7 is a schematic block diagram of the loading planning device shown in Figure 1, and Figures 8 to 12 are each a memory in the loading planning device. A diagram showing examples of various data stored in the section,
FIG. 13 is a schematic configuration block diagram of the control device in FIG. 1, FIGS. 14 to 18 are diagrams showing examples of various data stored in the storage section in the control device, and FIG. 19 is the diagram shown in FIG. 7. A diagram showing an operation flowchart of the stowage planning device, Fig. 20~
FIG. 23 is a diagram showing a specific operation flowchart of the control device shown in FIG. 13. 2A...Loading planning device, 2B...Control device, 2G.
... ÷ - Jarring device, 2D... Supply device, 2E1
~2E3...Stowage by cargo type #MI! , 2F...Pallet transport device, 10.30...Computer, 21
．． 41...Typewriter, 11-16.31-36.
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Claims (1)

[Claims] 1. Given the various forms of a plurality of cargoes to be transported, it is possible to stow the cargo on a transport jig, the stowage order, assign the type of stowage device, and each stowage device. a loading planning device that receives data from the loading planning device and controls each device in the system according to the data; a loading planning device that receives the cargo in any order, and a marshalling device that sends out the cargo according to the loading order from the control device, a supply device that supplies the cargo from the marshalling device to the stowage device location allocated by the stowage planning device, and the stowage plan. a transport jig transport device that moves the transport jig to the location of the stowage device assigned by the device, and stows the supplied cargo in various different forms on the transport jig according to the operation sequence described above; An automatic cargo loading system using a cargo type-specific loading device, characterized by being equipped with a cargo type-specific loading device group. 2. The above-mentioned stowage planning device uses the data of various transport jigs inputted before starting the stowage work, the data of the cargo to be transported, and the data of each cargo on the specified transport jig created from these data. claim 1, further comprising a data storage unit that stores a table of the arrangement of cargoes, the stowage order of each cargo, the assignment of each stowage device, and the operation sequence of each stowage device. An automatic cargo loading system using a group of cargo type-specific loading devices as described in Section 1. 3. The control device includes a first storage section that stores the work order and stowage pattern name inputted from the outside, and work status information inputted from the marshalling device; a second storage section that stores information on the loading order, the assigned loading device number, and the current status of loading based on signals from the loading device; and a second storage section that stores information on the current operating status based on the signal from the loading planning device. a fourth storage section that stores information on the cargo receiving destination and current inventory status from the marshalling device; and a fifth storage section that stores information on the current supply status from the marshalling device and the supply device. An automatic cargo loading system using a group of cargo type-specific loading devices according to claim 1 or 2, characterized in that the system comprises: 4. The stowage planning device plans the stowage pattern, stowage order, and allocation of stowage devices in advance so that the cargo type-specific stowage devices arranged in series can stow cargo in the order in which they are lined up. An automatic cargo loading system using a group of cargo type-specific loading devices according to claim 1, 2, or 3, characterized in that: