JPH07110703B2 - Industrial robot equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to an industrial robot apparatus for mounting a designated number of a plurality of types of workpieces and a designated number of workpieces on a plurality of pallets.

[Conventional technology]

For example, as disclosed in Japanese Patent Laid-Open No. 61-33426, a packing pattern is created when the size of an arbitrary package is given, and the package is received in an arbitrary order according to a packing plan. A system for loading on top is known.

[Problems to be Solved by the Invention]

In the conventional industrial robot device as described above, the device is complicated and expensive, and the handling speed is high compared to the work of loading a specified number of limited types of works on the pallet. However, there is a problem in that a large space is required for processing a large amount of work.

The present invention has been made to solve the above problems, and provides an industrial robot apparatus which has a device structure which can be manufactured at a low cost and which can easily process a large amount of works according to the instructed packing procedure. It is an object.

[Means for Solving the Problems]

In an industrial robot apparatus according to the present invention, there are provided a supply apparatus and a supply command apparatus for supplying a required work from a plurality of storage machines accommodating a specific type of work, and a supply command apparatus for causing an industrial robot to grip a required work. ，
An industrial robot for loading a required work on each of a plurality of pallets and a loading command device are provided.

[Action]

In the industrial robot apparatus configured as described above, necessary works are supplied for each type in a timely manner for a series of stacking work, and grip instructions are given for each type, and the required work types and their types are given to each pallet. The number of each is stacked.

〔Example〕

1 to 3 are views showing an embodiment of the present invention, in which (1) to (5) are storage machines each of which is composed of a conveyor for storing different specific works, and (1) is a storage machine. First
Storage machine, (2) is the second storage machine, (3) is the third storage machine,
(4) is a 4th storage machine, (5) is a 5th storage machine, (6) is arrange | positioned orthogonally to the edge part of the 1st-5th storage machines (1)-(5), and a stopper is provided at the edge part. A supply conveyor having (6a),
(7) to (11) are first to fifth storage units (1) to
A blocking mechanism provided at the end of (5), (12) to (16) are provided corresponding to the first to fifth storage units (1) to (5), respectively, and light the supply conveyor (6). Feeder having a control means (18) comprising a counting device (17) having a shaft arranged transversely, a feed conveyor (6), blocking mechanisms (7) to (11), and counting devices (12) to (16) The device, (19) is an industrial robot having a removable hand (19a) installed at the end of the supply conveyor (6), and (19b) to (19e) are replacement hands for the industrial robot (19). Robots (19)
It is located near the. (20) is an industrial robot (19)
The control means (21) to (24) are pallets arranged at predetermined positions near the industrial robot (19).
(25) is a control device, which is composed of the following devices. That is, a supply command device (26) including a program for supplying work, a loading command device (27) including a program for loading, an I / O port (28), a CPU (29), a RAM (30) ROM
A computer (32) having (31) is provided.
(33) is a loading instruction, that is, a series of shipping information.

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

Empty pallets (21) to (24) are prepared and the steps (10
When a series of shipping information is issued by 1), the supply command device (26) operates and the supply command of the step (102) is issued. Then, the first supply by the step (104) via the step (103) is performed by the operation of the supply device (17). That is, the first to fifth storage units (1) to (5)
Among these, any one of the blocking mechanisms (7) to (11) corresponding to the first supply is released, and is discharged onto the corresponding supply conveyor (6), and the work is supplied by the step (105). Then, while the number of the works is counted by the corresponding counting device and the designated number is not reached, the supply is continued by the step (106), and when the designated number is reached, the supply is stopped. Next, if the loading transfer of the supply work to be described later is not completed in step (107), the supply work is interrupted due to the transfer waiting in step (108), and if the loading transfer is completed, the process proceeds to step (109) to supply. If the number of times is not the specified number of times, go through step (110) and then step (1
According to 04), the second supply is performed for the stored work of other storage machines as well as the first supply. Then, the number of times of supply reaches the specified number of times, and the necessary types and the numbers of those types are supplied, whereby the supply work for the series of shipping information is completed. On the other hand, the stowage command device (27) operates according to the shipping information of the step (101), and the stowage command of the step (111) is issued. Then, the first stowage by the step (113) is carried out through the step (112) and the industrial robot (19).
If there is no supply work on the supply conveyor (6) by the step (114), the step (11
Wait for work by 5). Also supply conveyor (6)
If there is a work to be supplied on the work robot, one of the hands (19a) to (19e) is automatically mounted by the industrial robot (19) by the step (116) according to the designation, and the work is transferred by stacking, and The specified number of supply works is loaded on the specified pallet. If the loading is not completed by the step (117), the loading is continued, and if the loading is completed, the process proceeds to the step (118), and if the loading number is not the designated number, the step (119) is performed and the first loading is performed. The second loading is carried out in the same manner as the loading. Then, the number of times of loading reaches the specified number of times, and the necessary work types and the numbers of these types are loaded into the pallets (21) to (24), whereby the loading work for a series of shipping information is completed. As a result, a large amount of works can be easily loaded on the instructed shipping information (33) at a low cost and with a simple device configuration that can be installed in a small space.

The following table shows examples of supply commands, pallet status, and stowage commands.

In the table, A, B, C, D and E respectively indicate the work type, and the numbers beside the type indicate the number of the work. Also, in consideration of the stowage procedure, the same E-work may be programmed to be supplied and stowed separately in the first and fourth times.

FIG. 4 is a diagram showing another embodiment of the present invention.
The same reference numerals as those in FIGS. 3 to 3 indicate corresponding parts, and (1) to (5)
Are the 1st to 5th storage machines, each of which is a table, (12) is the
1, a counting device provided corresponding to the fourth storage devices (1) and (4), (13) a counting device provided corresponding to the second and fifth storage devices (2) and (5), ( 14) is a counting device provided corresponding to the third storage machine, (34) is a traveling robot that travels along the supply conveyor (6) and has a detachable hand (34a), (34b) to (34e). ) Are replacement hands of the traveling robot (34), which are automatically selected according to the supply command and attached to the traveling robot (34). Reference numeral (17) is a supply device including a supply conveyor (6), counting devices (12) to (14), and a traveling robot (34).

That is, also in the embodiment of FIG. 4, as in the embodiment of FIGS. 1 to 3, the feeding device (17) and the industrial robot (1
9), a control device (25) and the like are provided to perform the same operation as the flow chart shown in FIG. Therefore, although detailed description is omitted, in the embodiment of FIG.
It is obvious that the same effect as that of the embodiment shown in FIGS.

〔The invention's effect〕

As described above, the present invention includes a supply device and a supply command device that supply a required work from a plurality of storage devices that respectively store a specific type of work, and a supply command device that causes an industrial robot to grip a required work. An industrial robot for loading the required workpieces and a loading command device are provided for each of the plurality of pallets, and the required workpieces are timely supplied for a series of shipping information and grip instructions are given.
A desired work type and the number of each type are stacked for each pallet. As a result, even with a simple device, a large amount of works can be easily loaded on the instructed shipping information.

[Brief description of drawings]

FIG. 1 is a conceptual overall configuration diagram of an embodiment of an industrial robot apparatus according to the present invention, FIG. 2 is a conceptual circuit diagram showing the electrical connection of FIG. 1, and FIG. 3 is a diagram for explaining the operation of FIG. FIG. 4 is a flow chart corresponding to FIG. 1, showing another embodiment of the industrial robot apparatus according to the present invention. (1) is the first storage machine, (2) is the second storage machine, (3) is the third storage machine, (4) is the fourth storage machine, (5) is the fifth storage machine,
(17) is a supply device, (19) is an industrial robot, (21) ~
(24) is a pallet, (26) is a supply command device, and (27) is a loading command device. The same or corresponding parts in the drawings are designated by the same reference numerals.

Claims (1)

[Claims] 1. A plurality of storage machines each storing a work of a specific type, a supply device for supplying the stored work from at least two storage devices, a type of the supply work to the supply device, and the number of the types. And a supply command device that issues a transfer command in a timely manner for each type of the supply work, an industrial robot that stacks the supply work on a plurality of pallets, and a type of the stacking work for each of the pallets and those An industrial robot apparatus comprising: a loading command device for instructing the industrial robot of the number of types.