JPH0714767B2 - Loading design support device - Google Patents

Description

Description: FIELD OF THE INVENTION The present invention relates to a stowage design support apparatus, and more specifically, a stowage design of a plurality of cargoes of different sizes, for example, a cardboard box, is performed and calculated. The present invention relates to a stowage design support apparatus suitable for confirming an abnormality in stowage order that cannot be checked.

[Background of the Invention]

2. Description of the Related Art Conventionally, there is known a palletizing system for efficiently and stably loading a plurality of cargos having different sizes on a pallet by a loading robot.

FIG. 10 is a diagram showing an example of the configuration of a cargo stowage work system using a palletizing robot. 1A is a palletizing robot, 1B is a pallet, 1C is a device that automatically takes out specified cargo such as an automatic warehouse, 1D is a supply conveyor that conveys cargo, 1E is a cargo confirmation device, and 1F is a cardboard box, for example. Cargo, 1G is a cargo-loaded pallet, 1H is a pallet supply device, and 1I is a cargo-unloaded pallet. In the above configuration, the cargo is loaded from the automatic warehouse 1C to the supply conveyor 1D in accordance with the loading order given in advance. On the other hand, the palletizing robot 1A sequentially loads the cargos 1F on the pallet 1B in accordance with a predetermined operation sequence. When loading onto the pallet 1B is completed,
The pallet feeder 1H supplies the pallet 1H with no cargo to the palletizing robot 1A.

In such a system, if all the cargo to be loaded is the same size, the palletizing robot 1A
Can be supported by the teaching play back control system. However, when cargoes of different sizes are loaded on the same pallet and the loading patterns are different each time, the number of man-hours for teaching becomes enormous. Therefore, it is necessary to automatically generate the cargo loading sequence and the operation sequence of the palletizing robot 1A from the cargo loading and arrangement data, and it is necessary to simulate this operation sequence before the robot operation.

As a method of automatically generating the stowage operation sequence, for example, as shown in FIG. 11, from the stowage position information of the already stowed cargos 2A, 2B, 2C, the stowage order of the next cargo 2D and the operating point of the robot can be determined. A method for automatically creating has already been established, but this method is a method for sending the created stowage sequence and stowage control data to the robot without even confirming it once. It is a fact that it was not possible to avoid the occurrence of an abnormal state of stowage in the event of an accident.

[Object of the Invention]

An object of the present invention is to avoid the unsuccessful space stowage and the unstable stowage operation which have occurred in the above-mentioned conventional technology.
It is an object of the present invention to provide a stowage design support apparatus capable of performing stowage simulation by using the created stowage control data before causing the robot to execute the stowage control data.

[Outline of Invention]

In order to achieve the above-mentioned object, the present invention relates to an integrated control device for automatically generating stowage sequence data and a palletizing robot operation sequence from data input to an integrated control memory unit, and data for this integrated control device. It is equipped with a data input device for inputting data, a robot control device for controlling the palletizing robot in response to signals from the overall control device, and a display device, for loading a plurality of cargoes of different sizes on the pallet by the palletizing robot. In the stowage design support device that supports movement,
The integrated control device includes a stowage data acquisition unit, a stowage position data creation unit, a stowage order creation unit, a stowage control data creation unit, a stowability determination unit, and a control data transmission unit. The control memory unit comprises a stowage design data table, a stowage position data table, a stowage order data table, and a stowage control data table, and the data fetching unit fetches data input from the data input device. In the data table for stowage design, the stowage position data creation unit fetches data for each pallet from the stowage design data table, displays the fetched data on the display device, and The position data creation unit sets the input information of various data from the outside of the cargo to be loaded on the pallet in the loading position data table, and the loading sequence creation unit sets the loading design. The stowage order data created from the data and the stowage position data is stored, and the stowage control data creation unit determines the stowage position and product of each cargo from the stowage position data and the stowage order data. The loading sequence is read to obtain the robot operation sequence for each cargo, and the loading possibility determination unit reads the loading position data, the loading sequence data, and the loading control data from the memory tables. It is configured so that it can be loaded.

Example of Invention

FIG. 1 is a block diagram showing the configuration of an apparatus according to an embodiment of the present invention. 10 is a general control apparatus, 11 is a data input apparatus such as a floppy disk drive, 12 is a CRT graph disk display apparatus, and 13 is a robot. A control device, 14 is an integrated control memory, and 1A is a palletizing robot. The integrated control memory 14 includes a stowage design data table 21, a stowage position data table 22, a stowage order data table 23, and a stowage control data table 24, as shown in the figure.

The internal structure of the stowage design data table 21 is illustrated in FIG. 2, and stores the code symbols of the cargoes to be stowed for each pallet, the number thereof, and the specification data such as the size and weight thereof. .

The internal structure of the stowage position data table 22 is shown in FIG. 3, and the unique cargo number assigned to the cargo in the pallet, the stowage position data as XYZ orthogonal three-dimensional coordinate values, and the longitudinal direction L The data for the loading direction, that is, the short side direction S, the loading flag data, and the like are stored. As will be described in detail later, this stowage flag data is used when creating stowage sequence data, and is undecided “O”, unloading candidate “1”, unloadable “2”, And the data of each state of the determined "99".

The internal structure of the stowage sequence data table 23 is shown in FIG. 4, and the cargo numbers and cargo code symbols are arranged and stored in the order of stowage.

The internal structure of the stowage control data table 24 is shown in FIG. 5, and the operating point position data of the palletizing robot 1A and the speed and interpolation method data are stored for each stowage order. Palletizing Robot 1A has this table 24
The loading operation is executed based on the data of.

The integrated control device 10 automatically generates the stowage sequence data and the stowage control data from the stowed position data, and the configuration thereof is as shown in FIG.

In FIG. 6, the integrated control device 10 has roughly six parts, namely, a stowage data acquisition unit 31, and a stowage position data creation unit.
32, a stowage order creation unit 33, a stowage control data creation unit 34, a stowability determination unit 60, and a control data transmission unit 35.

The stowage data acquisition unit 31 takes in the data input from the data input device 11 (arrow 41) and stores it in the stowage design data table 21 (arrow 42).

The stowage position data creation unit 32 fetches data for each pallet from the stowage design data table (arrow 43) and causes the graphic display device 12 to display it (arrow 52). The operator designates the pallets to be loaded, and sequentially designates and inputs the code symbol, the loading position, and the loading direction of the cargo to be loaded onto the pallets using a keyboard, a light pen or the like. (Arrow 53.) The stowage position data creation unit 32 sets these input information in the stowage position data table 22 (arrow 44).

The stowage order creation unit 33 stores the order data automatically created from the stowage design data and the stowage position data (arrows 45, 54).

The stowage control data creation unit 34 uses the stowage position data table 22.
The loading position and the order are read from the loading order data table 23 and the loading order data (arrows 47 and 48), and the operation sequence (loading control data) of the palletizing robot 1A is obtained for each cargo.

The control data transmitter 35 transmits the stowage control data for one pallet to the palletizing robot 1A. Palletizing Robot 1A will load cargo into the pallet based on this data.

Through the above-described operations of the respective parts, the integrated control device 10 automatically generates the stowage sequence data and the operation sequence of the palletizing robot 1A (the stowage control data) from the stowage design data 21 and the stowage position data 22.

The stowability determination unit 60 reads stowage position data, stowage sequence data, and stowage control data from the respective memory tables 22, 23, 24 (arrows 54, 58, 59), and the flow shown in FIG. Possibility of stowage is determined according to the procedure along the chart. In this case, first, the stowage position is read from the stowage position data, and the position of each operating point is read from the stowage control data (step 101). Based on this read data, the possibility of stowage by the equipment is determined (step 102).
This depends on whether the cargoes do not overlap spatially and whether the ratio of the loading surface area to the cargo loading area is 50% or less (for example, 0
%) Will be stowed in the air), etc. Easy and computable product in computer processing such as air stowage of cargo and duplication position setting due to errors that occur during stowage order determination during stowage design. This is a method for collectively calculating errors in the design of the attachment and automatically making a mechanical determination.

By the way, there is a limit to the calculation of the mechanical stowability judgment by a computer, for example, as shown in FIG. 9, a cargo 10E is partially overhanged on the loaded cargo 10F on the pallet, When a new cargo 10A is to be stowed on the overhanging portion, the cargo 10A to be stowed is:
The cargo 10E satisfies the loading spatial interference condition of 10A, the ratio of the loading area to the loading area (air loading condition), and the result of the loading possibility judgment by the computer is OK, but it is actually the ninth. Looking at the state of the figure with human eyes, it can be seen that there is a high risk that the cargo 10E will collapse due to the loading of 10A.

According to the present invention, in order to avoid the above danger in advance, an image as shown in FIG. 8 or 9 is displayed just before the operation of the robot 1A by the simulation display on the graphic display device. . This is because in FIG. 7, it is possible to relatively see the operating points of the stowage route and the freight position of the stowage position in order, one by one for each stowage order.
It is shown as a step 103 for displaying the state of the cargo on the display screen at the same scale as the size of the pallet.

Therefore, the possibility of loading by a person is judged on the display screen in step 103 (step 104). This is done by the operator viewing the three-dimensional display image on the display screen, and the relative situation of each cargo can be simulated. If the result of this simulation is, for example, as shown in Fig. 8, the cargo is in a stable loading state, "OK" is displayed. If the cargo is in an unstable loading state as shown in Fig. 9, "NO" is displayed. Enter the judgment result of ".

If "NO" is determined in either of the above-mentioned step 102 for judging the stowability by the computer or the step 104 for judging the stowability by human, either the stowage position data or the stowage procedure data is used. As an error
At END (step 108), a command (arrow 61) is given to the stowage position data creating section 32 to re-create the data.

If the two stowability determination steps 102 and 104 are successfully passed, normal END is given as normal stowage control data.
According to (Step 107), the stowage control data is stored in Table 2
The data is stored in 4 (arrow 55), which is sent to the control data transmission unit 35 (arrow 50), and is sent from the transmission unit 35 to the palletizing robot 1A as stowage execution data (arrow 51).

Therefore, the palletizing robot 1A carries out the loading operation based on the control data sent, and in this case, stable loading of the loaded cargo is guaranteed.

〔The invention's effect〕

As described above, according to the present invention, it is possible to easily create the safest and most reliable stowage control data from stowage arrangements and operating points of a plurality of cargoes of different sizes on a pallet. Before the palletizing robot executes the data, it is possible to confirm it by performing a three-dimensional image simulation on the display screen, so that the operation progress of the robot can be known in advance, and accordingly the safety aspects of the work can be appropriately considered in advance. Precise measures can be taken, and safe and efficient cargo stowage by robots can be realized.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of one embodiment of the present invention, FIG. 2 is an explanatory view illustrating the contents of a stowage design data table, and FIG. 3 is an illustration illustrating the contents of a stowage position data table. FIG. 4 is an explanatory diagram illustrating the contents of the stowage order data table, FIG. 5 is an explanatory diagram illustrating the contents of the stowage control data table, and FIG. 6 is a configuration example of the overall control device and related devices. The block diagram shown in FIG. 7, FIG. 7 is a flow chart showing the operation flow of the stowability determination unit, FIGS. 8 and 9 are perspective views showing an example of the display screen, and FIG. 10 is stowage by palletizing robot. FIG. 11 is a perspective view showing an example of the system, and FIG. 11 is an explanatory view showing the relationship between the stowability and the operation of the robot by the conventional method. 1A ... Palletizing robot, 10 ... Overall control device, 12 ... Graphic display device, 13 ... Robot control device, 14 ... Overall control memory, 21 ... Loading design data table, 22 ... Production Attached position data table, 23
...... Stucking order data table, 24 ...... Stucking control data table, 32 ...... Stucking position data creating unit, 33 …… Stucking order creating unit, 34 …… Stucking control data creating unit, 35 …… Control Data transmission part, 60 ... Possibility determination part.

Claims (1)

[Claims] 1. A general control device for automatically generating stowage sequence data and a palletizing robot operation sequence from data input to the general control memory unit, and a data input device for inputting data to this general control device. A loading design that supports the operation for loading multiple cargoes of different sizes on a pallet by the palletizing robot, which is equipped with a robot controller that controls the palletizing robot in response to signals from the integrated controller and a display device. In the support device, the integrated control device includes a stowage data acquisition unit, a stowage position data creation unit, a stowage order creation unit, a stowage control data creation unit, a stowability determination unit, and a control data transmission unit. The integrated control memory unit includes a loading design data table, a loading position data table, and a loading sequence data table. And a stowage control data table, the data capturing unit captures data input from the data input device and stores it in a stowage design data table, and the stowage position data creating unit stores the stowage data. Data for each pallet is fetched from the design data table, the fetched data is displayed on the display device, and the stowage position data creation unit accumulates information for inputting various data from the outside of the cargo to be stowed on the pallet. Set in the loading position data table, the loading order creation unit stores loading order data created from the loading design data and the loading position data, and the loading control data creation unit stores the loading product. The loading position and the loading sequence of each cargo are read from the loading position data and the loading sequence data to obtain the operation sequence of the robot for each cargo, Possibility determining unit design support apparatus stowage, characterized by determining the loading possibility Nde read and the stowage control data and the stowage order data and the stowage position data from each memory table.