JP2848087B2 - Automatic loading equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic loading apparatus for loading a required number of articles having different weights on an empty pallet by an industrial robot.

[0002]

FIG. 6 is a view showing a conventional automatic loading apparatus. In the figure, 1 is an industrial robot having a handle 2, 3 is an empty pallet arranged near the industrial robot 1, 4 is an article having a fixed outer shape to be loaded on the empty pallet 3 by a loading command, and 5 is an industrial robot 1. This is a control device that commands a stowage operation.

A conventional automatic loading apparatus is constructed as described above, and articles 4 supplied from a supply apparatus (not shown) are gripped by a handle 2 and loaded on an empty pallet 3 by an industrial robot 1 according to a loading command. Can be In this stowage, a stowage work sequence such as a stowage order, a stowage position, and a flow line 6 indicated by an arrow in FIG. Thereby, the required number of articles 4 according to the stowage command is stowed on the empty pallet 3 by the industrial robot 1. In this case, since the goods 4 are not collapsed after the packing and the goods 4 are stowed so that the gaps between the goods 4 are small and the goods 4 can be efficiently transported, the stowage operation by the load handling operation in the horizontal direction like the flow line 6 is performed. Done. It should be noted that the stowage that makes heavy use of the load handling operation along the vertical line may cause the articles 4 to collide with each other when handling the load,
There is a problem in that the clearance between them increases and the loading efficiency decreases.

[0004]

In the conventional automatic loading apparatus as described above, the loading operation is performed in accordance with the order of loading, the loading position, the fixed loading operation such as the flow line indicated by arrow 6 in FIG. Is instructed from the control device 5. For this reason, the required number of articles 4 having different weights or the like is determined by the industrial robot 1 on the empty pallets 3 .
There is a problem that the work of stacking at the position causes a position error .

The present invention has been made to solve such a problem, and an object of the present invention is to provide an automatic loading apparatus capable of loading articles having different weights or the like according to a loading command in a required state.

[0006]

In the automatic loading apparatus according to the present invention, an instruction device for inputting at least the weight of a plurality of articles having different outer shapes according to a loading command and outputting a loading procedure, and sequentially loading the articles. a supply device for supplying, and industrial robots performing loading work opposite empty pallet the supplied goods provided to the supply device, the operation result of the output of instructions device, is critical stowage article when the control device and is provided for emitting a low-speed cargo handling operation command to the industrial robot than when stowed article is a light small.

[0007]

In the automatic loading device configured as described above,
Against industrial robot by the output manner with the product of different articles of the weight due to the command stowage when stowage article is critical, the low-speed cargo handling operation command than when stowed articles are light small Is issued to industrial robots.

[0008]

[Embodiment 1] 1 to 5 are views showing an embodiment of the present invention. In the figure, 1 is an industrial robot having a handle 2, 3 is an empty pallet arranged near the industrial robot 1, 4 is a shape,
Articles 5 having different external dimensions and weights are designated by the industrial robot 1 as a stow position command for the articles 4 to be stowed, and four straight lines which intersect at an angle of 45 ° with each other at predetermined points along the empty pallet 3 plane at predetermined points on the empty pallet 3 plane. A control device having a program for instructing a stowage operation such as a high stowage efficiency cargo handling operation instruction along one of five vertical lines consisting of a vertical line hanging down at a predetermined point, comprising: an I / O port 51; a RAM 52; It comprises a computer 55 comprising a CPU 53 and a ROM 54. Also after
The stowed article 4 is important due to the output of the indicating device 8 described above.
When loading goods 4 is lighter and smaller than when handling
Issue an operation command to the industrial robot 1. Reference numeral 7 denotes a stowage command for the articles 4 based on one shipping command based on the order information, which is issued from a host computer (not shown). 8 is stowage command 7
An instruction device for inputting the weight, shape, external dimensions, and weight of a plurality of articles 4 having different external shapes according to the input, and outputting a stowage procedure,
A database 9 and a calculation unit 10 are provided. Reference numeral 11 denotes a supply device which is provided near the industrial robot 1 and comprises a conveyor for supplying the articles 4 according to the stowage instruction 7;
Is the predetermined point 1 on the empty pallet 3 plane along the empty pallet 3 plane
The four straight lines intersecting each other at an angle of 45 ° at 7 and the predetermined point 17
, 12 is a first flow line, 13 is a second flow line, 14 is a third flow line, 15 is a fourth flow line, and 16 is a fifth flow line.

The operation of the automatic loading device configured as described above will be described with reference to the flowchart shown in FIG. That is, when the stowage of a plurality of articles 4 according to the stowage command 7 is input in step 101, the indicating device 8 operates,
Proceed to step 102. In step 102, the stowage procedure of the stowed articles 4 is output from the instruction device 8 to the control unit 5, and the process proceeds to step 103, where the control unit 5 operates and the stowage procedure of the stowed articles 4 on the empty pallet 3 is performed. The loading position is selected. Next, proceeding to step 104, the control device 5 is operated, and for the selected loading position, if necessary, the load handling operation for loading in consideration of the status of the loaded articles 4 on the empty pallet 3 Is selected. And step 10
Then, as shown in FIG. 3, for example, as shown in FIG. 3, the goods 4 to be stowed by the selected stow position and the second flow line 13 for the cargo handling operation.
Is instructed from the control device 5 to the industrial robot 1. When the loading is completed, the process proceeds to step 106, where the control device 5 is operated to move the industrial robot to the loading position, if necessary, taking into account the status of the loaded articles 4 on the empty pallet 3. A flow line for the luggage handling operation for leaving the first handle 2, for example, a fifth flow line 16 as shown in FIG. 3 is selected. Then, the process proceeds to step 107, and the controller 5 instructs the industrial robot 1 to perform a retreat operation based on the selected luggage handling operation flow line. And step 108
Unless the stowage of the articles 4 is completed by the stowage command 7, the process returns to Step 103, and Steps 103 to 10 are executed.
8 are repeated, and if the stowage of the articles 4 by the stowage command 7 is completed in step 108, the stowage operation for one stowage command 7 is completed, and the next stowage command 7 stand by.

As described above, the stowage command of the stowage command for the empty pallet 3 and the stowage position command for the empty pallet 3 are given by the output of the stowage instruction of the pointing device 8 for the plurality of articles 4 having different outer shapes according to the stowage instruction 7. A load handling operation command is issued to the industrial robot 1 based on the selected flow line of the goods 4 to be stowed. For this reason, the required number of articles 4 having different outer shapes and the like according to the stowage command 7 is set by the industrial robot 1 to the empty pallet 3.
It can be loaded in a required state with high efficiency and high load efficiency without load collapse.

Further , as shown in the flowchart of FIG.
The automatic loading device operates. That is, step 201
When the stowage of a plurality of articles 4 according to the stowage command 7 is input in step 2, the indicating device 8 operates, and the process proceeds to step 202.
In step 202, the stowage procedure of the stowed article 4 is output from the indicating device 8 to the control device 5, and the process proceeds to step 203. If the stapled product 4 is smaller than the standard value by operating the control device 5, Proceeding to step 204, a stowage operation based on a standard-speed cargo handling operation is instructed from the control device 5 to the industrial robot 1, the stowed articles 4 are stowed, and the flow proceeds to step 206. If the control device 5 operates in Step 203 and the stowed article 4 is not smaller than the standard value, Step 2
In step 05, a stowage operation by a cargo handling operation slower than the standard speed is instructed from the control device 5 to the industrial robot 1, the stowed articles 4 are stowed, and the flow proceeds to step 206. If it is determined in step 206 that the stowage of the articles 4 is not completed according to the stowage command 7, the process returns to step 203, and steps 203 to 2
06 is repeated, and if the stowage of the article 4 by the stowage command 7 is completed in step 206, the stowage operation for one stowage command 7 is completed, and the next stowage command 7 is completed.
Wait for

As described above, according to the calculation result based on the output of the indicating device 8, the control device 5 issues a load handling operation command at a lower speed when the load 4 is serious than when the load 4 is small. Issued to the industrial robot 1. For this reason, when the goods 4 to be stowed are serious, a low-speed cargo handling operation is performed, and the accident of falling off of the goods 4 due to insufficient capacity of the suction type grip 2 and an increase in the error of the stowage position are prevented. Safety and stowage accuracy can be improved.

[0014]

Effects of the Invention The present invention, more than an instruction device for outputting a manner stowage least Weight of different articles of outer due to the command Stowage is input <br/> force as described, sequentially articles a supply device for supplying, and industrial robots performing loading work opposite empty pallet the supplied goods provided to the supply device, the operation result of the output of instructions device, is critical stowage article In some cases, a control device is provided that issues a load handling operation command to the industrial robot at a lower speed than when the stowed article is light and small.

[0015] Thus, with respect to industrial robots by the output manner with the product of different articles of the weight due to the command stowage when stowage article is heavy Dai, slow load handling operation is performed, the product This has the effect of preventing an increase in the error of the loading position, an accident of falling off of the article, etc., and obtaining a high loading performance.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram conceptually showing a first embodiment of the present invention.

FIG. 2 is a conceptual circuit diagram showing an electrical connection of the device of FIG.

FIG. 3 is a perspective view illustrating a state of loading articles to be loaded by the apparatus of FIG. 1;

FIG. 4 is a flowchart illustrating the operation of the apparatus of FIG. 1;

FIG. 5 is a flowchart illustrating another operation of the apparatus of FIG . 1;
G.

FIG. 6 is a view corresponding to FIG. 1 showing a conventional automatic loading device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Industrial robot 3 Empty pallet 4 Article 5 Control device 7 Stowage command 8 Instruction device 11 Supply device 12-16 Flow line 17 Predetermined point

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B65G 57/00-61/00 B25J 9/10 B25J 13/00

Claims (1)

(57) [Claims] An instruction device for inputting at least the weight of a plurality of articles having different outer shapes according to a stowage command and outputting stowage instructions, a supply device for sequentially supplying the articles, and a device provided opposite to the supply device. is a industrial robot for performing loading work supplied the article empty pallet, the operation result of the output of the pointing device, the article is critical der stowage
And a control device for issuing a load handling operation command to the industrial robot at a lower speed than when the articles are light and small .