JP2508344B2 - Loading equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to a loading device for loading a specified number of a plurality of types of works on a pallet.

[Conventional technology]

For example, as shown in Japanese Patent Laid-Open No. 61-33426, a packing pattern is created by giving arbitrary package dimensions, and packages are received in an arbitrary order according to a packing plan. There is a known loading system.

[Problems to be Solved by the Invention]

The conventional loading device as described above has a plurality of devices for the work of loading a specified number of works for each type on a pallet and is expensive, and is not suitable for processing a large number of works. In addition, there is a problem that the weight of the whole stacked work, which is formed by stacking the light work pieces underneath, becomes high and the stability at the time of conveyance is impaired.

The present invention has been made in order to solve such a problem, and provides a loading device for loading works such that the position of the center of gravity of the entire work on the stacked pallets does not become high with a simple device configuration. The purpose is to get.

[Means for solving the problem]

The loading apparatus according to the present invention is provided with an industrial robot facing a plurality of supply means, a loading instruction means for required workpieces, and a loading order designation means for each workpiece type.

[Action]

In the loading device configured as described above, the type, the number of each type, and the loading procedure of the loaded work are instructed to the industrial robot, and the center of gravity of the stacked work is lowered. The stacking order for each type is specified in the industrial robot.

〔Example〕

1 to 4 are views showing an embodiment of the present invention. In the drawings, (1) to (4) each consist of a supply pallet loaded with works of a specific type and are placed on a conveyor (5). (1) is the first supply means, (2) is the second supply means, (3) is the third supply means, (4) is the fourth supply means, and (6) is the conveyor (5). An industrial robot having a control means (6a) installed close to the vehicle, (7) is a pallet for stowage arranged near the industrial robot (6),
(7 ') is a spare stowage pallet, (8) is a carry-out conveyor of the pallet (7), (9) is a shipping command in which shipping slips and the like are input, and (10) is a shipping command (9). The type of attached work and the number of these types are specified in the industrial robot (6).
And a stacking command means including a program for instructing a stacking arrangement of each work in the stacking work type, a combination of stacking postures, and the like, and (11) is for each assumed work type. The registration list of the packing requirements such as weight, volume, weight per unit volume, packing box strength, stacking limit number of packing boxes, etc., is collated with the packing work type according to the shipping instruction (9) A stacking order that includes a program that specifies the stacking order for each stacking work type, in the order that the center of gravity of all works when stacked Designating means (12) is a control device for instructing the industrial robot (6) to carry out overall loading operation, including an I / O port (12a) and RAM.
A computer (12e) having (12b), CPU (12c) and ROM (12d) is arranged. Fig. 4 shows the pallet (7)
It is a figure explaining an example of the situation where the work was piled up in the 1st order work (13), the 2nd order work (14), the 3rd order work (15), and the 4th order work (16) Has been.

The operation of the loading device configured as described above will be described with reference to the flow chart shown in FIG.

When the shipping instruction (9) is issued in step (101), the stacking order designating means (1
1) operates and the stacking work type instructed by the shipping command (9) is converted into the stacking order. Then, after passing through the step (103), in the step (104), the stowage command means (10) commands the stowage of the first-rank work (13). As a result, the supply means on which the first-order works (13) are loaded via the conveyor (5) is an industrial robot (6).
Opposite to the pallet (7) by the industrial robot (6)
First-ranked works (13) are stacked on top. Then, at step (105), if the stacking of the first-rank work (13) is not completed, the stacking is continued, and if it is completed, the process proceeds to step (106). At step (106), the rank number N If it is not the final one according to the shipping instruction (9), the process returns to the step (104) through the step (107), and the second-order work (14) is placed on the pallet (7) in the same manner as the first-order work (13). The second-rank work (14) is stacked on the first-rank work (13), and the third-rank work (1
As for 5) and subsequent steps, the detailed description is omitted, but they are stacked in the same manner as the second-order work (14). If the rank number N is final in step (106), the required work is finished to be stacked and the state shown in FIG. 4 is reached, and the work is conveyed to the track terminal or the like by the carry-out conveyor (8). With such a simple device configuration, a large number of works can be stacked easily, and the work types having a large weight are stacked on the bottom, and the lightweight work types are sequentially stacked thereon. Therefore, the position of the center of gravity of the whole work stacked on the pallet (7) is lowered, the stability during transportation after stacking is good, and it is possible to prematurely prevent the occurrence of problems such as load collapse and falling. Furthermore, by considering the strength of the work packing boxes when designing the stacking order of the work types, and by considering the stacking number limit of the packing boxes at the time of the loading command, the occurrence of obstacles such as deformation of the underlying work can be prevented. You can

〔The invention's effect〕

As described above, the present invention specifies the stacking order for each work type so that the position of the center of gravity of the entire stacked works is low, and commands the type of stacking work, the number of each work, and the loading procedure. Since the industrial robot is made to operate, the stability of the entire work on the pallet is good, and there is an effect of preventing the collapse of the load and the occurrence of overturning at the time of transportation after stacking.

[Brief description of drawings]

FIG. 1 is a plan view of a conceptual overall structure showing an embodiment of a loading device according to the present invention, FIG. 2 is a circuit diagram of a main part showing an electrical connection of FIG. 1, and FIG. 3 is an operation of FIG. FIG. 4 is a perspective view showing an example of a loading state by the apparatus shown in FIG. (1) to (4) ... Supplying means, (6) ... Industrial robots, (7) ... Pallets, (10) ... Loading instruction means,
(11) …… Stacking order designation means, (13) to (16) …… Work. In the drawings, the same parts are indicated by the same reference numerals.

Claims (1)

(57) [Claims] 1. A plurality of supply means respectively accommodating a work of a specific type, an industrial robot which is provided so as to face the supply means, and which stores at least two kinds of the work on a pallet for storage, and this industrial robot. The robots are loaded with the required types of the above-mentioned works based on the shipping instruction and the number of products for each type, and the loading instruction means for instructing the loading procedure for each of the required work types, and the above-mentioned workpieces stacked on the pallet. A loading device comprising a stacking order designating unit for designating the above-mentioned required stacking order for each work type for lowering the position of the center of gravity for each industrial robot.