JPS61238613A - Hand-selection type automatic cargo stowage system - Google Patents

Abstract

PURPOSE:To aim at robotization in stowage operations, by determining a stowage configuration in high loading efficiency of different types of cargoes in transport of an air cargo or the like on a transport jig of a pallet or the like, while stowing them in a way of selecting various hands of a stowage device. CONSTITUTION:A hand-selection type automatic cargo stowage system consists of a stowage planning device 2A, a marshalling device 2B, a feeding device 2C, a hand-selection type stowage device 2D and a control unit 2E. When the stowage planning device 2A is given types (form, size, material, weight, etc.) of plural cargoes to be transported, it makes out a stowage configuration of cargoes on a transport jig, stowage sequence, allotment of hand types and acting sequence in the stowage device. The feeding device 2C receives data from the stowage planning device 2A and feeds a place of the transport jig with the cargo. The stowage device 2D stows the supplied cargoes on the transport jig according to the acting sequence. In this device 2D, there are provided with several types of hands, selecting each properly at discretion, thus stowage for a lot of diversified cargoes is made attainable.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a hand-switchable automatic cargo loading system.
More specifically, it relates to a system for automatically stacking cargo of various forms (shape, two dimensions, material weight, etc.) on transport jigs such as pallets and containers by automatically switching between various hands. .

[Background of the invention]

For example, in the transportation of knocked-down parts of automobiles, air freight transportation, etc., there is an increasing demand for robots to perform the work of stacking various cargoes onto transportation jigs (pallets, containers, etc.).

The equipment for automatically stowing cargo on transport jig 2 is as follows:
Conventionally, there are palletizers and palletizing robots (also referred to as robot palletizers). For example, in Machines and Tools Separate Volume, '□83 Industrial Robots (published by Kogyo Research Association), 11 Focus on development of palletizing robots by Okura Yusoki Co., Ltd.' and ``Palletizing Robots - Robots 50'' by Tairi Mizutsu.
An example of a palletizing robot is discussed in the document entitled ``0-''.

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 must be stacked on one pallet increases, it becomes impossible to stack them using conventional palletizing robots. Also 1
Shape, dimensions, and materials of cargo that can be handled by the robot hand.

Weight is limited to a certain range and all shapes.

A palletizing robot with a general-purpose hand that can handle cargo of two dimensions and materials and two weights has not been realized.

With automatic loading equipment such as palletizing robots, -
When cargoes of various shapes, dimensions, and materials are automatically stacked on one transportation jig, the following problems arise.

(1) Conventional loading devices are limited in the cargo they can handle, and cannot handle cargo of all shapes, dimensions, and materials (see literature). for example.

There is no palletizing robot with hands that can handle cardboard boxes (rectangular parallelepipeds) and bags (any shape) at the same time.

Furthermore, even with the same cardboard box, there is a limit to how much it can be handled depending on its volume and the size of stacking. For example, there may be cases where a palletizing robot with a hand for large items and a palletizing robot with a hand for small items is required. In such cases, a system in which multiple palletizing robots are used to load various types of cargo onto a single transport jig has the disadvantage that the area for installing each piece of equipment becomes larger. In order to solve this drawback, a loading device that can automatically switch between various hands is required. At this time, depending on how the loading order of the cargo is determined, the number of times the various hands are switched may increase, which increases the wasted working time for switching. Therefore, when using a hand-switching type stowing device, it is necessary to determine a stowing order that reduces the number of hand-switching operations.

(2) In order to decide on a loading device for loading various types of cargo onto one pallet, the number of combinations of such devices becomes extremely large. For this reason, when deciding the cargo loading device manually, it is not possible to count all the combinations, and the loading efficiency with respect to the effective loading space on the transportation jig is reduced. Therefore, there is a need for a method of producing a stowage device that achieves high loading efficiency even when stowing cargo of different configurations, especially of different dimensions. Hereinafter, the generated cargo stowage device will be referred to as a stowage pattern.

(3) In order to stack cargo one after another using a loading device that can automatically switch between various hands depending on the type of cargo, it is necessary to teach the operation of the loading device. 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 loading order and the operation sequence of the loading device, which are operation teaching data for the loading device, at the same time as generating the loading pattern.

[Purpose of the invention]

The purpose of the present invention is to solve each of the above-mentioned problems, and to achieve high loading efficiency on a transport jig in response to arbitrary loading requirements for cargo of different shapes (i.e., two different shapes, two dimensions, two different materials, two weights, etc.). An object of the present invention is to provide a hand-switching type automatic cargo stowage system that can determine a stowage pattern (stowage device), reduce the number of times the hands are switched, and reduce the man-hours required to teach the operation sequence.

[Summary of the invention]

In order to achieve the above object, the hand-switching automatic cargo loading system according to the present invention allows the transport jig to be A stowage planning device that creates cargo stowage devices, stowage orders, hand type assignments, and operation sequences of the stowage devices; receives data from this stowage planning device;
In accordance with this data, a supply device supplies the delivered cargo to the location of the transportation jig, and a loading device for stowing the supplied cargo on the transport jig according to the operation sequence described in (g). It is composed of an attachment device, and it is impossible to stow cargo with only one type of cargo gripping hand.Multiple types of hands are prepared for handling cargo of various types, and these hands can be switched as appropriate. The present invention is characterized in that the above-mentioned stowage device enables the above-mentioned various types of cargo to be stowed on one above-mentioned transportation jig.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings. In this embodiment, a case will be described in which a pallet is used as a transportation jig.

FIG. 1 shows an example in which cargoes of different shapes (that is, different shapes, dimensions, different materials, etc.) are stacked on one pallet. IA is a palette.

1B is an example of a large cardboard box (cuboid), 1C is an example of a small cardboard box (cuboid), and ID is an example of a bag (non-cuboid). Other types of cargo include cargo packed in wooden boxes and free-form cargo (i.e. cargo that easily deforms due to external force, such as mail bags and wiring coils). do.

This embodiment deals with large cardboard boxes, small cardboard boxes, and bags. We also have a robot hand for large cardboard boxes that can only handle large cardboard boxes, and a robot hand for small cardboard boxes that can only handle small cardboard boxes.
An example of a case where one loading device (such as a palletizing robot) is used to load various cargo onto one pallet by switching between three types of robot hands: a hand, and a bag robot hand that can only handle bags. Toshiki 8) Explain. In this embodiment, it is assumed that given the type of cargo, the type of robot hand to which it is assigned is arbitrarily determined, and the type classification code (large cardboard box, small cardboard box, (3 categories for tubes, 9 bags, and 3 categories) shall be given from the outside as cargo data.

FIG. 2 is a configuration diagram of an automatic cargo stowage system showing one embodiment of the present invention.

The automatic cargo stowage system includes a stowage planning device 2A, a marshalling device 2B, a supply bag W2C, a hand switching type stowage device 2D, and a control bag M2E. Here, 2X is the loading station.

2Y is a palette.

The stowage planning device 2A creates a stowage pattern when the type code (large cardboard box, small cardboard box, bag classification), dimensions, and required amount of the cargo to be transported is given, and also creates a cargo stowage plan. Create a sequence and operating sequence for each loading device.

Specifically, it is a computer that inputs dimensional data of each cargo and calculates stowage plan data, that is, stowage pattern, stowage order, and operation sequence of the stowage device. These results may be output to a typewriter, character display or graphic display.
It may be displayed on a display so that corrections can be made interactively with a human by inputting from a keyboard or the like.

The marshalling device 2B receives the cargo to be transported in an arbitrary order and sends it out according to the loading order. Specifically, the marshalling device 2B is designed to correspond to each cargo type and shelf number, and according to the loading order. This will be realized using automated warehouses or loop conveyors that can supply specified cargo in sequence.

The supply bag [2C is a loading station 2x for loading the cargo received from the marshalling device 2B with the loading device.
Specifically, it is realized by a conveyor or the like.

The hand-switching loading device 2D stacks cargo that has arrived at the loading station onto a pallet according to a designated operation sequence. Specifically, it is a robot that can automatically switch hands. This is realized by etc.

The control device 2E is the above-mentioned devices 2A, 2B, and 2G.

By exchanging signals with the 2D, each device is controlled in an integrated manner, and specifically, it is realized by a control computer or the like.

FIG. 3 is an example of various hands attached to the hand switching type loading device. 3A is an example of a hand for large cardboard boxes, 3B is an example of a hand for small cardboard boxes, and 3C is an example of a hand for bags. The large cardboard box hand 3A has a structure for lifting cargo using nine suction cups 3A1. The small cardboard box hand 3B is a hand structured to lift cargo using four suction cups 3B1. The bag hand 3C has a joint structure that allows it to grasp a bag.

FIG. 4 is a diagram for explaining an example of the structure of hand switching. 4A is an example of a hand, and 4C is an example of a robot arm. A shaft 4D for transmitting and receiving information from the robot control device to the hand is attached to the arm 4C. A bearing 4B for a shaft 4D is attached to the hand 4A. The various hands shown in Figure 3 are stored in fixed positions on the hand storage shelf, and when the robot needs to switch hands, it operates arm 4C and stores the already attached hands in the hand storage shelf. Return the arm 4C to the regular position on the shelf, then move the arm 4C to the required regular position of the hand, and fit the shaft 4D to the shaft 4B.

FIG. 5 is an explanatory diagram showing the position of cargo on the pallet. For example, when placing cargo 5B on pallet 5A,
A Cartesian coordinate system is set with the origin at the left end of the robot side (the robot is in the foreground in Figure 5), and the cargo loading position is specified. Specifically, the coordinates P (xi+Yi+Zt) of the point 5C of the cargo 5B closest to the origin are defined as the loading position of the cargo 5B. Also, the direction in which cargo is stowed depends on whether the cargo 5B is oriented along the X-axis in the longitudinal direction (indicated by the symbol L) or in the transversal direction (indicated by the symbol S). It is determined.

FIG. 6 is a diagram showing an example of determining the stowage order.

This diagram shows the loading order of each cargo on the plane.
), and the stowage planning device 2A creates and displays the stowage front seats according to predetermined rules. As a rule, as seen from the robot side, (i) from bottom to top, (
if ) From the back to the front, (iii) From the left edge to the right edge,
An example of stacking according to the priority rule is shown. In the example in this figure, the stowage order is shown based on the rules for stowing using the same hand stowage device, but if it becomes necessary to stow using different hands, it is recommended to minimize the number of hand changes. It is necessary to decide the loading order. For example, if the third cargo to be stowed in Figure 6 is to be stacked using the hand for small cardboard boxes, and the others are to be stacked using the hand for large cardboard boxes, for example, all the large cardboard boxes are stacked, and then the small cardboard boxes are stacked. It is necessary to change the loading order so that the

FIG. 7 is a diagram showing an example of determining the operation sequence of the loading device.

7F indicates an operating point, and 7G indicates an operating path. Along this path, the robot loads cargo 7B at position 7D. That is, in this case, the cargo 7B supplied on the supply conveyor 7A is the loaded cargo 7E on the pallet 7X,
It passes through 7G and is stowed at position D. In this way, if each stowage position of already loaded cargo can be determined, an optimal route can be determined that avoids them as obstacles. Therefore, if the position of the loaded cargo is given in the coordinate system shown in FIG. 5, the operation sequence of the loading device can be determined.

FIG. 8 is an explanatory diagram for approximating bags with a rectangular parallelepiped when creating a stowage device for bags (non-rectangular parallelepiped) using the stowage planning device. 8A is an example of a bag having a non-rectangular parallelepiped shape. 8
B is the smallest rectangular parallelepiped that is in contact with and surrounds this bag (hereinafter referred to as an envelope rectangular parallelepiped). In this embodiment, the stowage plan data is created using the enveloping rectangular parallelepiped 8B, the stowage device performs positioning, etc. using the enveloping rectangular parallelepiped 8B, and the bags are automatically stacked in the designated position and orientation using the bag hand. shall be taken as a thing.

FIG. 9 is a schematic block diagram showing the configuration of the stowage planning device 2A of FIG. 2. In the example shown in this figure.

It is assumed that the stowage planning data is automatically determined by the stowage planning device 2A. The stowage i-1 drawing device 2A is a computer 10
and a typewriter 21 for data input. 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.

10 to 14 show various types of data stored in the storage unit in the stowage planning device, respectively.

In the storage unit 12 of FIG. 9, specification data for each pallet type registered in advance is stored in the form of a table, as shown in FIG. 10, for example. In the storage unit 13,
For example, as shown in FIG. 11, the type classification code, specification data, and required loading amount for each cargo, which are input by the operator using the typewriter 21, are stored in a table format. In this embodiment, there are three types of form classification codes: S, L, and B, and they are respectively small cardboard boxes, large cardboard boxes, and
shall mean bags. In the storage unit 14, for example,
As shown in FIG. 12, the stowage pattern (i.e. cargo stowage position and stowage direction) calculated by the computer 10 from the data from the storage unit 12-13 and the assigned hand type are stored in a table format. Ru. In this embodiment, the hand type is Hl.

H2 and H3 respectively refer to a hand for large cardboard boxes, a hand for small cardboard boxes, and a hand for bags. For example, the storage units 15 and 16 each have a first
As shown in FIGS. 3 and 14, the storage units 12, 13, 14
The cargo loading order and the operation sequence of each loading device calculated by the computer 10 from the data are stored in a table format.

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

FIG. 15 is a schematic block diagram showing the configuration of the control device 2E in FIG. 2.

The control device 2E includes a computer 30 and a typewriter 41.
Consisting of In addition, there is a stowage planning device 2A, a supply device 2G, and a hand switching type stowage device 2D.

In the embodiment shown in FIG. 2, the marshaling device 2B is considered, but this may be performed manually, and the description below will be made without the marshaling device.

That is, it is assumed that each cargo is sent to the supply device in some way according to the loading order determined by the loading planning device 2A. The typewriter 41 is used to input the contents of the stowage work, that is, the name of the stowage pattern and activation information for starting the stowage work.

The computer 30 includes a control unit 39 that operates according to a program stored in a memory 31 and three data storage units 32 to 34.

FIG. 16 to FIG. 18 are diagrams each showing various types of stored data stored in the storage section within the control device.

In the storage unit 32 of the computer 30 in FIG.
For example, as shown in FIG. 16, the cargo loading order created by the loading planning device 42 and the assigned hand type are stored in a table, and the hand switching type loading device 44
Information on the current loading status is stored by inputting the loading completion signal for each cargo sent from the system.

For example, as shown in FIG. 17, the storage unit 33 stores the robot operation sequence created by the loading planning device 42 in the form of a table, and also stores the robot operation sequence created by the loading planning device 42.
The completion signals of each operation for each cargo sent from 4 are input, and information on the current operation status is stored.

For example, as shown in FIG. 18, the storage unit 34 stores information on the current supply status input from the supply device 43. This supply status is information for checking whether cargo has been supplied to each loading device.

Using the stowage planning device shown in Figure 9, the operator can plan the stowage pattern of the cargo on the pallet, the stowage order, hand assignment, and the operation sequence of the stowage device before starting the stowage work. In order to create each stowage plan data, a necessary type of pallet code is selected from among various pallets and inputted into the computer 10 from the typewriter 21. Next, the operator inputs the data of the cargo to be loaded on that pallet,
That is, the cargo code, type classification code, cargo specifications, and required loading amount are input into the computer 10 from the typewriter 21. The computer 1o sets the data of these cargoes in predetermined columns of the table, as shown in FIG. Next, the computer 10 calculates the device (position and orientation) and hand assignment for each cargo in the effective loading space of the specified pallet, and calculates the loading pattern data and assigned hand type. data 12th
Set it in the predetermined column of the table as shown in the figure. Next, the computer 10 calculates the stowage order for stowing each cargo onto a pallet based on the stowage pattern and hand type data, and sets it in a predetermined column of the table, as shown in FIG. . Furthermore, the computer 10 calculates the operation sequence of the stowage device from each data of the stowage pattern and stowage order, and sets it in a predetermined column of the table, as shown in FIG.

FIG. 19 is a program operation flowchart of the loading planning device of the present invention.

Hereinafter, specific operations of the stowage device of the present invention will be explained in detail following operation steps 50 to 55 of this flowchart.

Step 50: The computer 10 waits for a pallet code to be input. When the operator inputs the pallet code from the typewriter 21, the process proceeds to the next step.

Step 51: The computer 10 waits for input of cargo data. The operator inputs the cargo data on the typewriter 21,
In other words, after entering the cargo code, cargo specifications, and required loading amount, proceed to the next step.

Step 52: The computer 10 sets the input cargo data, that is, the cargo code, type classification code, cargo specifications, and required loading amount, in the predetermined columns of the table shown in FIG. 11 prepared in the storage section 13.

Step 53: The computer 10 determines the device and orientation of each cargo within the effective loading space of the pallet based on the pallet specifications for the pallet code entered in step 50 and the cargo date entered in step 51. calculate,
The result is set as a stowage pattern in a predetermined column of the table shown in FIG. Furthermore, the type of hand to be used for stowing the cargo is determined from the type classification code of the cargo data, and is set in a predetermined column of the table shown in FIG.

In this example, at the time of inputting the cargo data, the specified form classification code and the hand type of the loading device that can handle each cargo are determined one-to-one, so for example, first, if only a large cardboard box is selected, the location and The orientation is determined, then the position and orientation of the small item cardboard box is determined in the remaining space on the pallet, and finally the position and orientation of the bag is determined in the remaining space.

Step 54: The computer 10 calculates the stowage order for the robot to stow based on the stowage pattern calculated in step 53, and sets the result in a predetermined column of the table shown in FIG. In this embodiment, in order to minimize the number of hand changes, first the order of loading large cardboard boxes is determined, then the order of loading small cardboard boxes is determined, and finally the order of loading bags is determined. As a result, the number of times the hands can be switched is a minimum of two. That is, switching from a hand for large cardboard boxes to a hand for small cardboard boxes, and switching from a hand for small cardboard boxes to a hand for bags.
It only takes a few times.

Step 55: The computer 10 calculates the operation sequence of the loading device based on the loading pattern calculated in step 53 and the loading order calculated in step 54, and displays the result in the table of FIG. Set it in the specified field.

In this way, a pattern name is assigned to the set of stowage pattern, stowage order, and operation sequence calculated by the computer 10. For example, in FIGS. 12 to 14, pattern A is stored. The above operations are repeated and calculated, and each pattern name is stored as a different pattern name.

20 and 21 are program operation flowcharts of the control device of the present invention.

Here, it is assumed that each pattern of cargo necessary for the stowage work has been transported to the location of the supply device before the stowage work starts. In addition, when the operator inputs startup information for starting work and a pattern name for specifying which pattern of stowage work is to be performed using the typewriter 41 shown in FIG. 15, the stowage planning device 2A
It is assumed that necessary information among the stowage plan data created in is inputted into the storage units 32 to 34 and registered.

That is, data on the cargo loading order is set in a predetermined column of the table shown in FIG. 16, and data on the operation sequence of the stowage planning device 2A is set in a predetermined column in the table shown in FIG. 17. . Here, since the supply order in FIG. 18 is equal to the stowage order, the supply order is created from the data of the cargo stowage order.

FIG. 20 shows specific operations when cargo is supplied to a transport jig (pallet) according to the above-mentioned loading order.

Here, it is assumed that the cargo transported to the location where the supply device 2C is located is supplied in the above-mentioned loading order. Specifically, the marshalling device may automatically feed the items in the stowage order, or the items may be fed manually by checking the information on the stowage order outputted to the typewriter 41.

Hereinafter, specific operations for supplying cargo will be explained following operations 60 to 62 in the flowchart of FIG. 20.

Step 60: The computer 30 waits for input of a loading station arrival signal indicating whether the cargo has arrived at the loading station.

Step 61: When the cargo arrives at the stowage station via the supply conveyor, a stowage station arrival signal is sent from the supply device 43 to the computer 30. Thereby, the computer 30 searches the current supply status (see FIG. 18) set in the storage unit 34, and searches for the supply status "supplied".
1", the supply status of the first supply order j is updated to the state 119" of "arrived at the station" and set in the table.

Step 62: The computer 30 outputs a loading command signal to the loading device 2D in order to stack the cargo whose arrival was confirmed in step 61 onto a pallet.

The flowchart in FIG. 21 shows specific operations for controlling the loading device 2D in order to stack the cargo that has arrived at the loading station at a predetermined position on the pallet.

Hereinafter, specific operations for controlling the stowage device 2D will be described following operations 70 to 82 in the flowchart of FIG. 21.

Step 70: The computer 30 waits for the loading preparation completion signal to be input. The loading device 2D is
When the loading command signal sent in step 2 is input, the loading preparation completion signal is sent to the computer 3 as the loading of the cargo in the loading order before the cargo that arrived at the loading station is completed.
Send to 0.

When the computer 30 receives this loading preparation completion signal, it proceeds to the next step.

Step 71: The computer 30 searches the current stowage status (FIG. 16) set in the storage unit 32 and searches for the first stowage order i among the unfinished stowage II O++.

Step 72: When the computer 30 searches for the current loading status in step 71, this operation is completed if it is in the complete state "'1". If not, it proceeds to the next step 73.

Step 73: The computer 30 searches for the operation sequence (see FIG. 17) of the loading order i retrieved in step 71 set in the storage unit 33, and initializes the operation point number to 1''.

Step 74: The computer 30 searches for the hand type of the stowage order i set in the storage unit 32, and
Send to D. When the loading device 2D inputs this hand type, if it is different from the currently attached hand type, it returns the hand to its normal position on the hand storage shelf and attaches the designated type of hand to the arm.

Step 75: The computer 30 waits for the robot operation preparation completion signal to be input. The loading device 2D performs step 7
The hand specified in step 4 is attached to the arm, and when the arm position of the robot returns to the standby state, a robot operation completion signal is sent to the computer 30. computer 3
0, when the pot operation completion signal for this day is input, the process proceeds to the next step.

Step 76: The computer 3o transmits the data of the operation sequence corresponding to the operation point number set in the storage unit 33 (see FIG. 17) and the operation command signal to the stowage device 2D.

Step 77: The computer 30 waits for input of an operation completion signal corresponding to the operation point number. When the loading device 2D completes the operation corresponding to the operation point number instructed in step 76, it transmits an operation completion signal to the computer 30. This causes the computer 30 to proceed to the next step.

Step 78: The computer 30 displays the operating status according to the operating point number set in the storage unit 33 (see FIG. 17).
is updated and set to the operation completed state II II II.

Step 79: The computer 30 searches for the operation sequence set in the storage section 33 and sets the next operation point number.

Step 80: When the computer 30 searches for an operation sequence in step 79, if all the operation sequences for the stowage order i set in the storage unit 33 have been completed, the computer 30 proceeds to the next step. If there is even one item left that has not been completed, the process returns to step 76.

Step 81: The computer 30 searches the stowage order set in the storage unit 32 (see FIG. 16), updates the current stowage status of the stowage order i to the stowage completion state It 171, and sets do.

Step 82: The computer 30 updates and sets the current supply status of the supply order j (see FIG. 18) set in the storage unit 34 to the loading complete status 11111.

In this way, if there is a stowage operation for the next pattern, the operation is repeated from step 70.

In this embodiment, a loading device that switches between three types of hands as shown in FIG. 3 is used, but any number of types may be used. for example,
There may also be a hand for gripping wooden boxes or free-form cargo. Furthermore, in this embodiment, an example has been considered in which there is a one-to-one correspondence between a cargo and a hand that can handle the cargo, but a case may also be considered in which one cargo can be handled by a plurality of types of hands. For example, a certain range of sizes of cardboard boxes may be handled by a stowage device that can be handled with either a hand for small cardboard boxes or a hand for large cardboard boxes.

In this embodiment, it is assumed that a plurality of types of hands are handled by one loading device (robot), but a plurality of types of hands may be handled by a plurality of loading devices. For example, the arm of a robot that handles extremely heavy objects must be stronger than the arm of a robot that handles light cargo, and one robot may not be able to handle all the hands.

In this embodiment, as the loading planning device 2A and the control device 2E,
Although separate computers 10 and 30 are used, the same computer may be used to operate each computer in a time-sharing manner.

In the embodiment shown in FIG. 9, a typewriter 21 is used as the data input means of the loading planning device 2A, but an auxiliary storage medium such as a floppy disk may also be used, or other data may be input via a communication line. You can also enter it online on your computer.

〔Effect of the invention〕

As explained above, according to the present invention, since a loading device that can automatically switch between various hands is used, it is possible to expand the range of shapes of target cargo that can be handled simultaneously. Further, according to the present invention, in response to any cargo stowage request, the stowage device (stowage pattern) is determined in advance, the stowage order and the operation sequence of the stowage device are determined, and the stowage device is set in the given order. Therefore, since the cargo is stacked on the transport jig, even when cargo of different types is stowed on one transport jig, the loading efficiency of the transport jig can be significantly improved, and the loading efficiency of the transport jig can be improved. Man-hours can be reduced. Further, according to the present invention, since the type of hand is assigned in advance, it is possible to prevent an increase in working time due to an increase in the number of hand changes.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing examples of various types of cargo handled by the present invention being stacked on pallets, Fig. 2 is an overall configuration diagram of an automatic cargo loading system showing an embodiment of the present invention, and Fig. 3 is a diagram showing cargo of various types handled by the present invention. Figure 4 is a diagram showing the structure of switching the hands of the loading device, Figure 5 is a diagram showing the positional relationship of cargo on the pallet plane, Figure 6 is a diagram showing examples of various hands depending on the form of the Figure 7 is a diagram showing an example of determining the loading order of cargo on a pallet plane, Figure 7 is a diagram showing an example of determining the operation sequence of the loading device, and Figure 8 is an example of approximating bag cargo with an enveloping rectangular parallelepiped. 9 is a configuration diagram of an embodiment of the loading planning device in FIG. 2, and FIG.
14 to 14 are explanatory diagrams of various data stored in the storage unit in the loading planning device, FIG. 15 is a configuration diagram of an embodiment of the control device in FIG. 2, and FIGS. 18 are explanatory diagrams of various data stored in the storage unit in the control device, FIG. 19 is an operation flowchart of the loading planning device of FIG. 9, and FIGS.
Control operation flowchart of the control device shown in Figure 1. Mouth switch 2 Figure 3 Figure 3AI
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Claims (1)

[Claims] 1. By giving the form (shape, size, material weight, etc.) of a plurality of cargoes to be transported, it is possible to determine the cargo loading device, loading order, and hand type on the transportation jig. a stowage planning device that generates an assignment of the stowage device and an operation sequence of the stowage device; a control device that generates a control signal according to data received from the stowage planning device; It consists of a supply device that supplies the cargo to the location of the transportation jig, and a loading device that stacks the supplied cargo on the transportation jig according to the operation sequence described above. 1. A hand switching type automatic cargo loading system comprising a plurality of types of hands for grasping cargo and a loading device capable of switching the hands as appropriate. 2. The loading calculation device includes a device that plans in advance a cargo loading device, a loading order, and hand type assignment that minimizes the number of hand changes of the loading device. An automatic cargo loading system according to claim 1. 3. The supply device includes a marshalling device that receives the cargo in an arbitrary order and sends out the cargo in accordance with the loading order from the control device. Automatic cargo loading system.