JPS6194930A - Palletizing robot system - Google Patents

Abstract

PURPOSE:To enable a cargo to be loaded on a transport equipment automatically by grasping the leftover condition of cargoes in a temporary depository and the loading condition of cargoes within a cargo transport equipment by the aid of a graphic display terminal equipment so as to permit a robot to operate in response to the conditions grasped. CONSTITUTION:The dimension of a cargo is read by a measuring device 1 through a computer control of a palletizing robot system. Subsequently, the cargo is housed in a temporary depository. Then, the leftover condition of cargoes in the depository and the loading condition of cargoes within a cargo transport equipment for shipment such as a pallet and others are grasped by the aid of a graphic display terminal equipment 6. Then, cargoes to be loaded and the location of cargoes to be loaded in the transport equipment are commanded to a robot 5 allowing the robot 5 to pick up the designated cargo as directed from a loop conveyor 3 and load it on the transport equipment.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention is applicable to air cargo transportation, small parcel delivery transportation, etc., in which containers and shipping boards are The present invention relates to a palletizing robot system that is suitable for a shipping system that performs loading onto transporters such as pallets in a short period of time.

[Background of the invention]

There are two types of cargo shipping systems:

<Form 1> Like a cargo shipping system in a mass production factory, the number of transporters to be shipped per day and the number of cargo dimensions to be loaded on each transporter are set in advance as a shipping plan, and the shipping plan is A shipping system that carries out cargo stowage.

<Form 2> A shipping system where, like a distribution center, the dimensions and quantity of the cargo are determined only after the cargo arrives, and the cargo is then loaded onto a transport vehicle in a short period of time.

Palletizing robot for the above type jm1
I plan to write a book about the system titled ``Automatic Cargo Loading System.''

The present invention is directed to the shipping system of the second embodiment.

The conventional method and its problems in the shipping system of the second embodiment will be described below.

In shipping systems that quickly complete the process from determining the shape of the cargo to loading it onto a transport vehicle, the loading process has traditionally been carried out manually. However, from the viewpoint of increased labor costs9 and worker safety9, it is desired that the loading work be carried out by robots.

In the shipping system to which the present invention is directed, the type and dimensions of the cargo are not known until after the cargo arrives.

The dimensions of the cargo to be stowed and the stowage location vary depending on the transport vehicle. Therefore, in order to realize stowage work by a robot, it is necessary to determine the cargo to be stowed and its stowage position, and teach the robot the movement path, opening and closing of the arm, etc. in a short time.

However, the above-mentioned problem cannot be solved by the conventional teaching play dock method (a method in which a human uses a teaching box to teach the robot the moving route, opening/closing of the arm, etc., and the robot repeats the taught contents).

[Purpose of the invention]

The purpose of the present invention is to enable the robot to load cargo by simply instructing the robot about the cargo to be loaded and its stowage position based on the status of the front layer of cargo in the transporter and the unloaded status of the cargo. The purpose of the present invention is to provide a palletizing robot system that performs the work.

[Summary of the invention]

The present invention is a palletizing robot system for rectangular parallelepiped cargo, and consists of the following five devices.

(1) Device for reading cargo dimensions (2) Loop conveyor device (3) Graphic display device (4) Robot (5) Electronic computer Using these devices, cargo is loaded into the transport vehicle in the following order. .

First, check the dimensions of the cargo (vertical) using the cargo dimension reading device.

The cargo is then temporarily stored on a loop conveyor. The user can
The status of the cargo group stored on the conveyor and the status of the previous layer of cargo in the transporter are grasped through both sides of the graphic display terminal, and the robot is instructed on the cargo to be stowed and its stowage position. 70 Bots sequentially performs eight or more operations of taking out the specified cargo from the loop conveyor and stowing the specified cargo, and stows the cargo into the transporter.

The electronic computer exchanges information between these devices and controls the execution order of each device.

[Embodiments of the invention]

A first embodiment of the present invention will be described below with reference to FIGS. 1 to 10. Figure 1 shows the hardware configuration of this system. 1 is a device for reading the dimensions of cargo. in particular,
This can be achieved with a device that is equipped with an infrared emitter and a receiver and calculates the dimensions of the cargo from the time when infrared rays cannot be received, or with a barcode reader that reads a code that describes the dimensions of the cargo. 2 is a device for conveying cargo onto a loop conveyor. Specifically, the conveyor 211 shown in FIG.
Chain 212. Motor 213. A chain conveyor 21 consisting of a controller 214. Roller 221, motor 222.
This is realized by a device such as a roller conveyor 229 comprising a control device 223, a robot, or the like. 3 is a loop conveyor.

4 is a microcomputer that controls the rotation speed and start/stop of the loop conveyor; 65 is a loading robot that takes out cargo from the loop conveyor and stacks it on a pallet. 6 is a graphic display terminal device. 7 is an electronic computer.

The processing contents of each device will be explained below according to the operational order.

First, we will explain the operations from when cargo arrives until it is set on the loop conveyor.

(The dimensions (length, width, height, and each dimension) of the transported cargo are read by the reading device 1 and transmitted to the computer 7.

The electronic computer 7 stores the received cargo dimension data in a stowage data table (FIG. 3). Further, the consignee transmits an instruction to the conveyance device 2.

Next, the unloaded position of the loop conveyor is transmitted to the loop conveyor control device 4 based on the loop conveyor status table+ (FIG. 4) indicating the presence of cargo on the loop conveyor. In FIG. 4, the address of e in each column of stowed cargo is the unloaded position.

In the conveyance device 2, after receiving the instruction from the computer 7, the cargo is received from the reading device 1, and then the computer 7 receives the cargo.
The receiver sends a completion signal.

The loop conveyor control device 4 stores the final stacking position information received from the computer 7 in a work waiting table (FIG. 5). The unloaded position information is stored in the "cargo position" column indicated by the box 3. This table also stores cargo delivery instructions to the robot, which will be described later. In FIG. The handle 3 indicates the work of receiving goods from the conveying device 2.

In the loop conveyor control device 4, the cargo is received from the conveyance device 2 at the stage when the work or the delivery work to the robot 5 is completed (receiving these completion signals from the computer 7).
The work stored at the head of the work waiting table is retrieved and executed. (For the sake of explanation, in these two sections, it is assumed that the work instructions have been taken out for the cargo received from the transport liquid M2.) In the loop conveyor control device 4, the picked-up cargo receives the work instructions and moves the loop conveyor to the rice storage position. Stop 2 The receiver then sends a position stop signal to the electronic calculator @7 indicating that the receiver has stopped at the position.

In the electronic computer 7, after the receiver receives the position stop signal,
An instruction to start unloading is sent to the transport device 2.

After receiving the unloading start notification, the transport device 2 unloads the cargo onto the loop conveyor. Thereafter, an unloading completion signal is transmitted to the computer 7.

After receiving the unloading completion signal from the conveyance device 2, the computer 7 sends a signal to the reading device 1 to start reading the dimensions of the next cargo, and a receiving operation completion signal to the loop conveyor control device 4.

The above is the operation from the arrival of the cargo to the completion of setting the cargo onto the loop conveyor.

FIG. 6(a) shows the processing flow of a program running on the computer 7. Specifically, cargo dimension data from the reading device 1 is received in step 601, and the received data is stored in the stowage data table in step 602.

Next, in step 603, unloaded positions are extracted from the loop conveyor status table. The extracted unloaded position and job name (receiving is a job) are transmitted to the loop conveyor control device 4 in step 604. Next step 605
The receiver has a position stop signal sent from the loop conveyor control device 4, and this signal is received. When the cargo receiver receives the position stop signal, it transmits an unloading start signal to the transport device 2 in step 606. Next, in step 607, the controller waits for and receives an unloading completion signal from the transport device 2. Next, in step 608, the reading device 1
, a signal is sent to start reading the dimensions of the next cargo.

Furthermore, in step 609, the loop conveyor control table,
Then, the consignee sends a work completion signal. Finally, in step 610, the loop conveyor status table is updated.

This is the processing procedure of the program running on the computer 7 described above.

FIG. 6(b) shows a processing flow of a program operated by the loop conveyor control device 4. This shows the process of storing the work name and unloaded position (or stowage position N) in the work waiting table, and the process of receiving the cargo. First, the former will be explained. It is transmitted from the electronic computer 7. ``The process waits and receives the work name and unloaded position (or stowed position) data in step 611. The received data is stored in the work waiting table in step 612.

Next, the consignment receiving process will be explained. First, in step 613, a work completion signal from the computer 7 is received.

After receiving, in step 614, the work waiting table takes in the contents of the work to be executed next.

In step 615, it is checked whether the imported work is a consignment receiving work or a consignment delivery work. If receiving cargo is work,
In step 616, the loop conveyor is stopped at the unloaded position. After the stop is completed, in step 617, the electronic computer 7
, the receiver sends a position stop signal.

The above is the processing procedure of the program operated by the loop conveyor control device 4.

Next, we will explain the operations from setting cargo on the loop conveyor to stacking the cargo on a pallet.

The electronic computer 7 stores a stowage data table and a planting pattern table (which stores cargo stowage positions on pallets).
7), the loading cargo/stowage position reception screen shown in FIG. 8 is displayed on the graphic display terminal device 6. In Figure 7, the loading position is the back left seat c of the cargo when the left end point of the pallet is taken as the origin (0, O, O).
! (x.

y+Z). Furthermore, the loading direction refers to the side of the cargo that directly faces the left side of the pallet. here.

WIDT is the width direction, and LENG is the length direction.

The user uses a device such as a stylus pen or a light pen attached to the tablet to indicate the cargo to be loaded and its loading position.

The electronic computer 7 uses the loop conveyor status table (fourth
Based on the image shown in the figure), the loading position of the specified cargo on the loop conveyor is transmitted, and the loop conveyor control device 4 is requested to deliver the cargo to the robot.

The loop conveyor control device 4 stores the stowage position information transmitted from the computer 7 in a work waiting table.

The loop conveyor control device 4 takes out the work stored at the head of the work waiting table, and if the work is delivery work to a robot, stops the loop conveyor at the loading position. Thereafter, a delivery position stop signal is sent to the computer 7 indicating that the delivery position has stopped at the delivery position.

After receiving the delivery position stop signal, the computer 7
The robot's movement path and arm opening/closing instructions (FIG. 9) to reach the loading position specified by the user are created and sent to the robot 5.

The robot 5 takes out the cargo from the loop conveyor and stacks it on the pallet according to the operation/route and arm opening/closing instructions received from the computer 7.

Thereafter, a consignment completion signal is sent to the computer 7.

After receiving the cargo receiving completion signal from the robot 5, the computer 7 transmits a cargo transfer completion instruction to the loop conveyor control device 4.

The above is one cycle of work for stacking cargo on a loop conveyor onto a pallet. FIG. 1o(a) shows the control flow of the program running on the computer 7, and FIG. 10(b) shows the control flow of the program running on the loop conveyor control device.

First, FIG. 10(a) will be explained. First, in step 1001, a signal indicating completion of receiving goods from the robot 5 is received. After receiving the data, the content of the stowage data table is fetched in step 1002, and the content of the stowage pattern table is fetched in step 1003.

Next, based on the captured data, a screen showing the stowed cargo and stowage position is displayed on the graphic display terminal device 6 in step 1004. Then step 1005
Then, the stowage cargo and the stowage position are received from the graphic display terminal device 6. Next, ``Where on the loop conveyor is the received cargo loaded?''
, using the loop conveyor state table, Step 1
Extract with 006. In step 1007, the extracted loading position and working angle (handling work) are transmitted to the cooperative conveyor control device 4. In step 1008, the delivery position stop signal sent from the loop conveyor control device F[4 is received. Next, in step 1009, the robot 5
The motion path, instructions for opening and closing the arm, and the respective motion sequences are created and stored in the motion information table. In step 1010, the operation information created in step 1009 is transmitted to the robot 5, and in step 1011, a signal is received from the robot 5 that the receiving of goods is complete. If you receive it,
In step 1012, a receiving completion signal is sent to the loop conveyor control device 4, and in step 1013, a loading data table, a loading pattern table, and a loop conveyor status table are output.

Update each content. The above is the processing flow of the program running on the computer 7.

Next, if the work content taken out from the 6-work waiting table explaining the process flow shown in FIG. Stop at the loading position. Thereafter, in step 1015, a delivery position stop signal is transmitted to the computer 7. The above is the processing flow of the program running on the loop conveyor control device 4.

In this system, the above cycle is repeated until the loading work for one pallet is completed.

The above is the first embodiment of the present invention.

Next, a second embodiment of the present invention will be explained with reference to FIGS. This invention relates to a method for correcting the operation for stowing the next cargo to be stowed, in an automatic cargo loading system that automatically stows the cargo that has already been loaded, in response to a shift in the position of the cargo that has already been loaded.

Conventional automatic cargo loading equipment
−In order to improve the loading effect on the loading space,
In this method, a stowage arrangement (stowage pattern) and a stowage order are determined in advance, and cargo is placed at predetermined positions according to this stowage order. However, (i) errors in cargo dimensions;
(ii) Due to loading errors, the cargo may deviate from the predetermined position, and as a result, the next cargo to be stowed may be misplaced. Therefore, in this case, there is a drawback that the cargo cannot be stowed at a predetermined position.

In the second embodiment, when a request is made to transport cargo by pallet, a stowage distribution @ (stacking pattern) is determined in advance within the limited effective loading space on the pallet, and the cargo is transported according to this stowage pattern. In an automatic loading device for automatic stowage, if the cargo that has already been loaded shifts to the position of the next cargo to be stowed, the operation sequence is corrected and the cargo is loaded. In order to provide a method for correcting the operation of automatic loading Ml, it is composed of the following three devices. The feature is that when the cargo cannot be stowed, the stowage can be continued by (i) modifying only the operation sequence, or (ii) modifying the stowage order and operation sequence.

a) An automatic loading device that automatically loads cargo according to a pre-registered loading arrangement (stacking pattern) on a pallet.

b) A positional deviation detection device for detecting whether or not other cargo has shifted to the position where the next cargo should be stowed due to the misalignment of the already loaded cargo.

C) Control device W6 No. 11 for overall control of the above two devices
The figure is a diagram showing the configuration of the present invention.

IA is an automatic loading device and is realized by a robot or the like that stacks cargo on a loading station at a prespecified position on a pallet according to a prespecified operation sequence.

1B is a misalignment detection device, which is realized by sensors that use infrared rays, ultrasonic waves, etc. to scan the pallet and detect misalignment of cargo.

The IC is a control device, and is realized by a control computer or the like for controlling each device in an integrated manner by exchanging signals with the above two devices.

In the second embodiment, it is assumed that all the cargoes have a rectangular parallelepiped shape, and each dimension is known.

The automatic loading device IA is a palletizing robot that stacks cargo on a loading station at a prespecified position on a pallet according to a prespecified operation sequence. The misalignment detection device is a sensor that can detect misalignment of cargo by scanning infrared rays. The control device IC is a control computer.

FIG. 12 is a diagram showing the positional relationship of cargo 2B on pallet 2A. For example, a Cartesian coordinate system with the left end of the robot as its origin is set to specify the cargo loading position. Strictly speaking, the coordinates of point 2C of the cargo that is closest to the origin are cargo 2.
This is defined as the loading position of B. The cargo loading direction is determined by whether the cargo 2B is oriented in the longitudinal direction (indicated by the symbol L) or in the transversal direction (indicated by the symbol S) of the cargo in the X-axis direction.

FIG. 13 is an example in which each cargo is displayed in the loading order in the plan view. This is an example of stacking according to the following priority rules, as a general rule, as seen from the robot side: (i) from bottom to top, (ii) from back to front, and (iii) from left end to right end.

FIG. 14 is an example showing an operation path in which the robot stows the cargo 4B supplied on the loading station 4A over the cargoes 4E and 4C with storage at the position 4D. 4F
is an example of an operating point and 4G is an example of an operating path. In this way, if each stowage position of cargo with cargo is known, it is possible to determine the optimal route to avoid it as an obstacle. Therefore, if the position of the cargo with cargo is given in the coordinate system as shown in FIG. 12, the operation sequence of the robot can be determined.

FIG. 15 is a diagram showing a situation in which the cargo 1 is stacked on the pallet 5A. A dotted line position 5B indicates the position of cargo 1, which has been specified in advance as a stowage pattern, and a dotted line position 5C indicates the position of cargo 2, which has been specified as 0 in advance as a stowage pattern. As shown in this figure, it is assumed that the cargo 1 is placed at the position 5D indicated by the solid line.

FIG. 16 is an example in which the vicinity of the cargo 2 is scanned by a positional deviation detection device (sensor) to detect the deviation of the cargo 1. 6
A is the scanning range, 6B is the shift position of cargo 1 with cargo, 6
C is an example of a scanning line.

For example, if the robot positioning accuracy is 5 m, the spacing between the scanning lines should be about 1 m. It is a diagram showing that the position should be corrected from the dotted line 7B to the solid line 7C. Judging from the interrelationship of the positions of each cargo in the pre-given loading pattern and the effective loading range of the pallet, it is possible to modify it from 7B to 70 if possible. In this case, all you need to do is modify the operation sequence.

Figure 18 shows that depending on the situation of the cargo with cargo being delayed,
68A is an example in which the planting position cannot be corrected.

8B, 8G, and 8D are the shifted positions of other cargo with cargo. Dotted line 8E is the position of the next cargo to be stowed. If cargo with cargo on four sides is delayed as in this example,
The next cargo to be stowed cannot be stowed. In this case, loading of this cargo is skipped and the next cargo is loaded. However, if there is still unloaded cargo above the skipped cargo, this will also be skipped. In this way, the stowage order is changed by looking at the interrelationship of each cargo in the stowage pattern.

At the same time the operating sequence is modified accordingly, the skipped cargo is taken off the line from the supply station as unloaded cargo. Cargo that has been taken off the line will be inserted manually after loading is completed.

FIG. 19 is a block diagram schematically showing the overall configuration of the control device, in which 10 is a computer, 21 is a positional deviation detection device, and 22 is an automatic loading device.

The computer 10 includes a control section 19 that operates according to a program stored in a storage section 11, and four data storage sections 12-15. 1 in the storage unit 12
For example, as shown in FIG.

Data of stowage patterns registered in advance are stored in a table format. Further, in the storage unit 13, as shown in FIG. 21, for example, pre-registered data on the loading order is stored in the form of a table. FIG. 11 shows information on the current loading status input from the automatic loading device 21 (loading completion + i 1 pt, skip''-) in accordance with the loading order.
1°' incomplete "0") is stored. The storage unit 14 stores pre-recorded robot motion sequence data in the form of a table, as shown in FIG. 22, for example.

This FIG. 22 shows information on the operation status input from the automatic loading device 21 (completed 111 P+) corresponding to the operation number.
, incomplete 110 II) information is stored. Storage part 1
5 includes, for example, information on the supply status for each supply order inputted from the automatic loading device as shown in FIG. 23 (supply station arrival "1", unarrived, 00"').

Loading completion It　9　jl　) is stored.

In FIG. 24, data showing a schematic flowchart of a program stored in the storage unit 11 for performing control operations of the control device IC is set.

Hereinafter, the specific operation of the method of the present invention will be explained in detail following the operation steps 31 to 46 of the flowchart.

Step 31: The computer 10 waits for input of a cargo arrival signal. When the cargo arrives at the loading station, the automatic loading device 22 transmits a cargo arrival signal to the computer 10. When the six transmissions are completed, the process proceeds to the next step 32.

Step 32: The computer 10 searches the supply status set in the storage unit 15, and sets the first supply order among the undelivered status "0" to "work". Next step 3
Proceed to step 3.

Step 33: The computer 10 performs step 32 above.
So, when you search the current supply status, if all loading is completed,
End control. Otherwise, proceed to the next step 34.

Step β4: The computer 10 searches for the stowage number K of the stowage order I set in the storage unit 13. Next, proceed to step 35.

Step 35: The computer 10 stores the stowage arrangement data for the stowage number set in the storage unit 12, that is,
Search for stowage position and orientation. Next, proceed to step 36.

Step 36: The computer 10 performs step 35 above.
The stowage arrangement data searched in is transmitted to the positional deviation detection device 21, and a command signal for positional deviation detection is transmitted. Computer 10 then proceeds to step 37.

Step 37: The computer 10 waits for input of positional deviation information. The positional deviation detection device 21 uses a sensor to scan the vicinity of the predetermined stowage position of the cargo based on the stowage arrangement data input in step 36 above, and detects whether the already stowed cargo has shifted. The test is performed and the results are sent to the computer 10. When the transmission is completed, the process advances to the next step 38.

Step 38: The computer 10 performs step 37 above.
Compare the positional deviation results entered in , with the stowage arrangement data. If the pre-determined stowage position of the relevant cargo has shifted to the pre-determined stowage position of the cargo, the interrelationship between the pre-determined stowage positions of each cargo in the stowage order after the relevant cargo is judged,
Determine whether it is sufficient to simply shift the position of the cargo, or whether the cargo should be skipped. Next, proceed to step 39.

Step 39: The computer 10 performs step 38 above.
As a result of comparing the positional deviation information inputted from the positional deviation detection device 21 and the stowage plan data set in the storage unit 12, if no operation correction is necessary, that is, if the cargo of the relevant stowage number is If the loaded cargo has not shifted within the determined loading position, the process proceeds to step 42. If the loaded cargo has been delayed, the process proceeds to the next step 40.

Step 4o: The computer 10, in step 38,
As a result of comparing the positional deviation information and the stowage plan data, if the already stowed cargo has shifted within the predetermined stowage position of the cargo in the relevant stowage order ■, and operation correction is required, Search the stowage plan data of the cargo in the stowage sequence after the stowage sequence, and if it is OK to move the stowage position a little, for example, as explained in Fig. 17, proceed to the next step 41.
Proceed to. Depending on how the stowed cargo is shifted, for example, if it is not possible to shift the stowage position as explained in Figure 18, or if the cargo is shifted, the stowage order after that stowage order will be changed. If the cargo cannot be stowed, proceed to step 45.

Step 41: The computer 10 corrects the stowage position of the cargo in the stowage sequence concerned and the stowage position of the cargo in the stowage sequence after the stowage sequence affected by the stowage sequence according to the magnitude of the positional deviation, and Reset it to the specified column in 12. The computer 10 further recalculates the operation sequence based on the stowage plan data that has been corrected and set in the storage unit 12 and sets it in a designated column in the storage unit 14. Next, proceed to step 42.

Step 42: The computer 10 transmits the operation sequence set in the storage unit 14 to the automatic loading device 22, and transmits an operation command. The automatic loading device 22 operates the robot according to the above operation sequence. Next, proceed to step 43.

Step 43: The computer 10 searches for the next operation sequence set in the storage unit 14, and if all the operation sequences of the stowage order I are completed, the process proceeds to the next step 44. Otherwise, return to step 42.

Step 44: The computer 10 updates and sets the current loading status in the storage unit 13 to the loading completed status 41111. In addition, the current supply status in the storage unit 14 is displayed as the loading completion state 14.
9 Update to It and perform Sera 1-. Next, the process returns to step 31.

Step 45: Computer] OK, when the cargo of the relevant stowage sequence is skipped, check the cargo to be skipped from the stowage data of the cargo after ■, Current loading status of order I and fl of loading order to be skipped for cargoes in subsequent loading orders
The current loading status n of the loading sequence whose loading status should be skipped is updated to "-1" and set. Next, proceed to Skip 46.

Skip 46: The computer 10 is the automatic fj attaching device 2
A removal command for removing the cargo at the No. 2 loading station from the line is sent to the automatic loading device 22. The automatic loading device 22 removes the cargo from the cargo line. The computer 1o then returns to step 31.

〔Effect of the invention〕

As mentioned above, the present invention has the following effects.

(1) Shipping cost 1~ is reduced.

According to the present invention, the number of workers engaged in loading cargo can be reduced. Therefore, labor costs can be reduced and shipping costs can be reduced.

(2) Safety of stowage work is improved.

Since there is no need for humans to handle the loading process, accidents to humans due to cargo falling apart can be prevented.

(3) Simplification of transportation management work and prevention of troubles with recipients when receiving goods.

The computer reliably knows the cargo loaded on pallets. Therefore, it is possible to create the shipping slip using a computer, and it is possible to prevent discrepancies between the shipping slip and the shipped cargo and mistakes in writing the loading position.

(4) When the automatic loading device loads cargo at a predetermined position on the pallet, it may (i) modify the loading position and operation sequence, or ( IT) Since either the loading order or the operation sequence can be corrected, cargo can be continued to be loaded even if a positional shift occurs, which has the effect of improving reliability. That is, since the above-mentioned modification aims to improve loading efficiency and stacks items in a predetermined loading pattern, it is possible to improve reliability without reducing loading efficiency.

[Brief explanation of drawings]

Figure 1 is an overall configuration diagram of the first embodiment of the present invention, Figure 2 is an overview diagram of a chain conveyor and roller conveyor, Figure 3 is a diagram showing an example of a loading data table, and Figure 4 is a diagram of a loop conveyor. FIG. 5 is a diagram showing an example of a status table, FIG. 5 is a diagram showing an example of a work waiting table, FIG. 6 is a flowchart of processing in the computer 7 of FIG. 1, and FIG. 7 is a diagram showing an example of a stowage pattern table. , FIG. 8 is a diagram showing an example of the loading cargo/loan position reception screen output on the display, FIG. 9 is a diagram showing an example of the operation information table, and FIG. 10 is a diagram showing an example of the operation information table.
The figure is a flowchart of the loop conveyor control process in the computer 7 of FIG. 1, FIG. 11 is a diagram showing the overall configuration of the second embodiment of the present invention, and FIG. 12 is a diagram showing the positional relationship of cargo on a pallet. , Fig. 13 is a diagram showing an example of deciding the loading order, Fig. 14 is a diagram showing an example of deciding the operation sequence, Fig. 15 is a diagram showing an example where the loaded cargo is misaligned, Figure 16 is a diagram showing an example in which displacement of loaded cargo is detected by infrared scanning, Figure 17 is a diagram showing an example in which the position of the cargo is shifted due to displacement of loaded cargo, and Figure 18 is a diagram showing the position of the cargo in all directions. Figure 19 is a block diagram showing the overall configuration of the control device, and Figures 20 to 23 are the memories in the control device, respectively. FIG. 24 is a diagram illustrating an example of a flowchart of control of the control device. IA: Automatic cargo loading device, IB: Positional deviation detection device No. 20, No. 160, No. 17, No. 18, 1U, No. 9, Closed No. 20,

Claims (1)

[Scope of Claims] 1. In a shipping system that performs the process from the time when the shape and number of the cargo is known to the time when the cargo is loaded onto a transport device such as a board (pallet) or container for shipping in a short time, It is equipped with a reading device, a temporary cargo storage, a graphic display terminal, a robot, and a computer, and under the control of the computer, the dimensions of the cargo are read by the dimension reading device, and the cargo is stored in the temporary storage. The system grasps the remaining status of cargo in the temporary storage warehouse and the status of the front layer of cargo in the transport vehicle through a graphic display terminal device, and instructs the robot about the cargo to be stowed and the stowage position within the transport vehicle. , a palletizing robot characterized in that the instructed robot performs the loading operation sequentially for each cargo in accordance with the instructions, thereby realizing the stowage of the cargo into a transporter. system. 2. An automatic cargo loading device for automatically stacking cargo according to a pre-registered loading arrangement on a pallet;
A positional shift detection device for detecting whether or not other cargo has shifted to the position where the next cargo should be stowed due to a shift in the placement of already loaded cargo, and a control for controlling the above two devices in an integrated manner. If the next cargo cannot be stowed at the predetermined position due to a shift in the position of the cargo that has already been stowed, it is necessary to either modify only the operation sequence or change the loading order and operation sequence. A palletizing robot system characterized by being able to continue loading by being modified.