JP2873641B2 - Loading method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a loading method for loading or stacking goods on a pallet under given conditions that are convenient for delivery in the order of delivery destination when a pallet is transported. It is.

[0002]

2. Description of the Related Art Conventionally, in pallet transport for loading articles such as luggage and cargo including wrappings on pallets, containers, etc., particularly in the case of different types of products, an operator performs a stowage plan for every loading position on the pallet. Most of the methods work while thinking, that is, the workers arrange the articles individually while considering the stowage position, and layer them one by one on top of each other. It took time and trouble, and the degree of fatigue was remarkably large. Therefore, in order to automatically perform the work of loading on the pallet, the demand for cargo transport work by robotization is increasing, and the robot grabs the goods flowing on the transport conveyor, and according to a predetermined pattern,
Attempts have also been made to automatically load goods on pallets, but automation using this robot is limited to cargoes of the same shape and dimensions, and one pallet such as a multi-product small-volume transport system. As the number of varieties to be stacked on a machine increases, the operation control becomes more complicated and the workability becomes extremely poor. Not a target.

[0003]

However, recently, as a method of causing a computer to calculate the stowage position and transmitting the stowage position of the articles to an operator for work, the stowage is stowed on paper or on a CRT screen. Although a method of displaying the position is also conceivable, in this method, it is necessary for the operator to load the articles without shifting to the specified position while checking the paper surface or the CRT screen, and it is very difficult to work, and it is sufficiently satisfactory. I couldn't do it. In particular, even with the automatic stowage method using robots, the stowage work is premised on the robot, and the operator does not increase the work efficiency because the operator specifies the stowage position. The instantaneous power is inferior to humans, it takes too much time, and it is not practical, and the alignment work of correction to prevent collapse after loading is extremely troublesome, making it unsuitable for multi-product loading. And so on. The present invention eliminates these conventional drawbacks, enables appropriate and extremely efficient stacking of articles at designated positions on pallets by simple operations, simplifies unloading work for each transport destination, and improves work efficiency. It is an object of the present invention to provide a loading method capable of realizing a significant improvement in the load.

[0004]

SUMMARY OF THE INVENTION According to the present invention, when goods are stacked on a pallet, the cutting order is determined in advance by inputting and calculating the shape, size, quantity, weight, etc. of the goods. The pallet or the already loaded article is designated by irradiating the loading position on the pallet or the already loaded article with the articles cut out by the transport conveyor, and the previously calculated loading position is designated by L. The square ruler plate is moved toward and away from each other so as to form a rectangular through-hole represented by x, y coordinates similar to the article, and the light from the lighting device is passed through the through-hole formed by the ruler plate. And sequentially instructs to project the images of the articles to be loaded on the pallet or on the already loaded articles through the through holes.

[0005]

In the loading operation according to the present invention, the operator operates the transmission start signal of the transport conveyor 1 so that the articles 2 to be transported in a predetermined cutting order are transferred to the pallet 3.
First, the data of the dimensions, weight, and the number of destinations of the goods are input from the keyboard 4 and stored in the stowage pattern storage unit 7 via the control mechanism 6 of the computer. Next, after checking the corresponding luggage in the scanner 17 in order of the articles to be cut out,
Calculating a position to put the product in the control mechanism 6 on the pallet 3, that is, represent leaving the stowage position two points on the coordinate axis, for example point and (x _1, y ₁₎ point and (x _2, y ₂₎ , Output unit 8
Is transmitted to the control computer 9 via a computer, and the motors 10 and 10 are driven by the computer control so that the pair of ruler plates 11 and 11
Are moved in the horizontal direction to form a square through-hole 12 having a similar shape according to the projection magnification. That is, one point (x ₁ ,
y ₁ corresponding to _{the) (x 1 ', y 1} ') calculates the x-axis direction, the moving distance in the y-axis direction by the control computer 9,
The one ruler plate 11 is moved to the position of the point (x ₁ ′, y ₁ ′) by the motor 10, and the other rule (x ₂ ′, y ₂ ′) is similarly moved by moving the other ruler plate 11 to the square. A through hole 12 is formed. At this time, the ruler plates 11 and 11 are moved in the height direction in accordance with the height to be stacked, that is, the distance to the irradiation position, and the projection magnification is calculated by focusing on the rulers. Thus,
When the ruler plates 11 and 11 having the rectangular through holes 12 are set, the light is transmitted to the illuminating device 13 having a light source and is emitted from above the ruler plates 11 and 11. Then, the loading position and the like on the pallet 3 are illuminated on the display of the bottom surface, side surface or living surface of the article to specify the position. The operator only has to check the bottom surface, side surface or living surface of the article 2 conveyed on the conveyor 1 and mount it in accordance with the illuminated portion. After the article is placed, an operation signal based on a button operation or a change in weight is performed. Then, the next transport start signal and the loading signal are input to the input unit 15 through the transport conveyor control device 14, and the article 2 to be loaded next and the loading position are calculated by the control mechanism 6 according to the data in the storage unit 7. The output is transmitted to the output unit 8, and thereafter, this is repeated, so that various articles can be efficiently loaded on the pallet 3 in sequence for each transport destination.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiment of the present invention will be described with reference to FIGS. 1 to 4. The shape, size, quantity, weight and the like of an article 2 are inputted by a keyboard 4, calculated by a control mechanism 6 of a computer, and multiplied. By storing in the attached pattern storage unit 7, when loading articles on a plurality of destinations on the pallet 3, the articles are transported on the conveyor 1 in a predetermined cutting order, and are also cut on the conveyor 1. After sequentially checking the goods 2 with the scanner 17, the stowage position of the goods 2 on the pallet 3 or the already-stored goods is designated by irradiating with the illuminating device 13 of visible light, laser light, or other light. Then, as shown in FIG. 2, a substantially L-shaped ruler plates 11, 11 are moved toward and away from the pre-calculated stowage position, and a square is displayed with x, y coordinates similar to the article 2. The through hole 12 In this way, light from an illuminating device 13 is applied to the through holes 12 formed by the ruler plates 11, 11, and the articles 2 to be loaded on the pallet 3 or on the already loaded articles are passed through the through holes 12. The image 20 is sequentially projected,
It can be loaded according to the instructions.

In this case, as shown in FIG. 3, the irradiation range of the illuminating device 13 covers the entire surface of the pallet 3 and partially covers the whole area on the x, y coordinates with visible light. The article placement surface is illuminated onto the pallet 3 with the motif of the entire surface instruction or the peripheral line instruction so that the stow position can be easily recognized. In any case, the loading position is calculated by the control mechanism 6 of the computer, output is performed at the coordinates of x, y, and z, and the illumination light source is turned on or blinked to realize the position surface on the pallet 3.

The data input terminal of the control mechanism 6 is for inputting an article code or the like to be stowed, and is performed by the keyboard 4. For example, as shown in the flowchart of FIG. 4, the order data of the destination, the product name, and the quantity is input, and the product master, for example, the dimensions, weight, volume, shape, etc. of the product is added, and the total weight, the total volume, and the number of destinations are added. After the unit unit is determined, the order of the articles is determined from the weight group, the bottom stack, the side stack, and the flags that can be occupied, and the order of the articles is instructed to the article supply line. And the loading rules, ie, loading method such as maximum loading height, grouping of approximate size products (things close to dimensions can be loaded on top) and loading prohibited items (heavy things on light things are prohibited ), The loading position and the loading direction are calculated, and the distribution barcode is used to check whether the item is correct.
If s, irradiate the loading position, if No, flow it to the bypass line, redo it, correct it, transport the goods, irradiate the lighting device on the pallet in conjunction with the lighting device, and the workers load it. For each article 2 sequentially conveyed on the conveyor 1, the bottom surface, side surface or living surface of the article 2 may be mounted in accordance with the illuminated display image on the pallet. The next transport start signal and the loading signal are input to the transport conveyor control device 14 so that the transport of the next article to be loaded and the loading position can be performed.

After the articles 2 cut out on the conveyor 1 are sequentially checked by the scanner 17, the position to be stacked on the pallet 3 is calculated by the control mechanism 6, that is, represents out with two points for example a point on the coordinate axes stowage position (x _1, y ₁₎ and point b (x _2, y _2), transmits to the control computer 9 via the output unit 8, the motor with computer controlled The configuration is such that the pair of ruler plates 11 and 11 are moved in the horizontal direction by driving the pair 10 and 10 to form a square through hole 12 having a similar shape according to the projection magnification. That is, one of a point (x _1, y ₁₎ corresponding to the point a _{'(x 1', y 1 '} ) calculates the x-axis direction, the moving distance in the y-axis direction by the control computer 9, the motor 10 point a _{'(x 1', y 1 '} ) to move the one of the ruler plate 11 to the position of the other points _{(x 2', y 2 '} ) are similarly moved the other limitation plate 11 by square A through hole 12 is formed. At this time, the ruler plates 11 and 11 are moved in the height direction (z-axis direction) in accordance with the height to be stowed, that is, the distance to the irradiation position, and the projection magnification is calculated by focusing on the ruler plates.
Thus, the ruler plates 11 and 11 having the rectangular through holes 12 formed therein.
Is set, the light is transmitted to the illuminating device 13 having a light source by a sensor or a switch, and the light is emitted from above the ruler plates 11, 11. And the like are illuminated on the bottom, side, or living surface of the article to specify the position. The operator operates the conveyor 1
After confirming the bottom surface, side surface or living surface of the article 2 to be conveyed above, it is sufficient to mount the article 2 in accordance with the lighting part. Signal and stowage signal are the conveyor control device 1
4 and input to the input unit 15, calculate the article to be loaded next and the loading position to the control mechanism 6 in accordance with the data in the storage unit 7 and send it to the output unit 8. It is possible to efficiently load various articles on each transport destination.

[0010] The code of the package to be loaded on the pallet 3 can be input online from a centralized control center for delivery. In addition, as the irradiation instruction by the lighting device, the side stacking other than the upright stacking of the bottom surface (x × y plane), the stacking (x × z plane or y × z plane), and the loading direction are selected by color and irradiated. You can also.

Further, the articles are conveyed in order of increasing weight, and in the same weight group, items having a larger bottom area, or comparing the bottom area with the habitable area, and giving priority to the larger area in order of cutting out. In this case, it is considered that the goods are loaded on a pallet for each same shipping destination, and that the goods are transported while separating the goods for each shipping destination. In the control section of the control mechanism 6, the stowage image pattern can be displayed on the monitor 5 to be useful for the work, and the irradiation of the stowage position of the next article in each article to be sequentially loaded is It is preferable to adopt a method of instructing the lighting device 13 on the stowage position or the like by a signal indicating the end of the previous operation. For example, a change in weight on the pallet is detected by a weight checker, operation is performed after confirming the stacked goods with a hand push or a foot push button, and a sensor that responds to voice is provided to respond to voice, and the next product is read. An optical sensor that illuminates the loading position, or an optical sensor that detects the completion of loading by light emission / reception or reflected light (difference in received light amount). It is taken into account that they are linked. Furthermore, when the operator loads a plurality of the same products at one time, a plurality of products are continuously cut out at the cutout station, or a plurality of the products are stacked and conveyed, and this is displayed by a blinking signal or the like to display a plurality of products. It is also good to improve workability by notification when taking up.

Further, as the ruler plate 11, a pair of L-shaped plates having right-angled corners is used, and one of the L-shaped plates is attached to the slide arm 21 and connected to the motor 10 so as to be movable in the x-axis direction. At the same time, the other ruler plate 11 is movably provided by a slide arm 21 such as a screw shaft via a support member 22 and is moved by a motor 10 in the y-axis direction. Can be made. The moving distance is obtained by converting the numerical information sent from the control computer 9 into a gear rotation speed with the corner of the pallet 3 as a base point (0, 0) and automatically moving the motor 10 by the motor 10. Further, the pair of ruler plates 11, 11 are vertically movable by the motor 30 via the screw shaft 31 by the support member 22 in the z-axis direction in the height direction so as to be able to respond to the height of the illumination position. If necessary, two ruler plates 11 and 11 may be provided on a support plate 23 having a transparent portion or a perforated hole which rises and lowers as a z-axis direction movement indicating plate, and a light passing hole may be formed. In this case, it is considered that a light-passing hole 12 that is larger than a square formed by two L-shaped plates sliding in the x and y-axis directions and smaller than the outside of the L-shaped plate is formed. Represented by the image 20 on the stowage position the pallet 3 Anyway, this will be determined by two corner points _{(x 1, y 1) (} x 2, y 2). When the loading position is on the already loaded luggage, the support plate 2 is moved in the z-axis direction according to the height of the luggage.
3 is moved up and down, and each motor 10, 3
0 is incorporated so as to be individually controlled by the control computer 9.

In the drawing, reference numeral 24 denotes a stopper for restricting the movement of the ruler plate 11. 25 is a switch or sensor for a ready signal, and 32 is a support. The illuminating device 13 may be supported by another fixing member, but may be installed on a supporting member 22 or a supporting plate 23. Also, a hole of an arrow or a notch such as a frame line or other character display is provided on the plate of the ruler plate 11 so that even if the stowage position is at the height above the eyes of the worker, the arrow is moved to another position. It is also possible to appropriately select an image or the like to be projected so that the worker can know the stowage position. Further, the present invention can be easily applied not only to pallets but also to truck beds, cargo jigs for distribution jigs, trolleys, folding containers, and the like.

[0014]

According to the present invention, the pre-calculated stacking position is moved toward and away from the L-shaped ruler plate so as to form a rectangular through hole represented by x, y coordinates similar to the article. By irradiating light from an illuminating device to the through-hole formed by the ruler plate and sequentially instructing the image of an article to be loaded on a pallet or an already-packaged article through the through-hole, a difference is provided. It is possible to easily and efficiently stack goods at specified positions on a pallet by simple operation, and simplify the unloading work for each transport destination, thereby realizing a significant improvement in work efficiency. In particular, the type of goods,
The most efficient stowage is selected according to the number and pallets, and the stowage can be stowed accurately in a limited space on the pallet, taking into account the stowage conditions. This can shorten the time, improve the serviceability of the receiving side at the destination, and facilitate the stowage work and ensure safe transportation.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a loading device showing one embodiment of the present invention.

FIG. 2 is a plan view for explaining a mechanism along a line II in FIG. 1;

FIG. 3 is a perspective view showing a specific illumination irradiation state of the illumination device of FIG. 1;

FIG. 4 is a flowchart of a specific example of the control device of FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Conveyor 2 Article 3 Pallet 4 Keyboard 5 Monitor 6 Control mechanism 7 Stowage pattern storage part 8 Output part 9 Control computer 10 Motor 11 Ruler plate 12 Through-hole 13 Lighting device 14 Conveyor control device 15 Input part 20 Image 21 Slide arm 22 Support member 30 Motor 31 Screw shaft

Continuation of front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B65G 57/00 B65G 57/03

Claims (2)

(57) [Claims] 1. When a product is loaded on a pallet by inputting and calculating the shape, size, quantity, weight, etc. of the product, the product is transported on a conveyor in a predetermined cutting order, and the product is conveyed by a conveyor. The stowage position on the pallet or the already-stowed goods in the cut-out article is designated by irradiating with an illumination device, and the pre-calculated stowage position is opposed to an L-shaped ruler plate. By moving toward and away from each other to form a rectangular through-hole represented by x, y coordinates similar to the article, the through-hole formed by the ruler plate is irradiated with light from a lighting device, and the through-hole is formed. Characterized by sequentially instructing an image of an article to be loaded on a pallet or an already-loaded article through a pallet. 2. The operation of moving the ruler plate in a horizontal direction by a motor, wherein a projection magnification is calculated in accordance with a distance to an irradiation position, and then a projection magnification is calculated in consideration of the projection magnification. 2. The loading method according to claim 1, wherein the position of the point is numerically converted into a moving distance of each ruler plate in the x-axis direction and the y-axis direction by a computer, and a motor drive is controlled to form a square through hole.