JP2020075791A - Box volume system - Google Patents

Abstract

An object of the present invention is to provide a box volume system capable of efficient sorting. A first box dispensing means for dispensing a first box in which a plurality of first type objects are packed and a second box dispensing means for dispensing a second box in which a plurality of second type objects are packed. two box dispensing means, supply means for conveying boxes dispensed from a plurality of box dispensing means including the first and second box dispensing means, a robot, and a control device for controlling the robot The control device acquires placement plan information representing the configuration of a plurality of boxes to be placed on one box placement means capable of placing a plurality of packed boxes, and acquires placement plan information. Based on the above, the boxes supplied by the supply means are picked up one by one and a plurality of kinds of boxes including the first box and the second box are placed on one box placing means. Disclosed is a system with volume for boxes, which is operable in a state in which a robot performs a task and at least one of supply means and box placement means is present in plurality for one robot. [Selection drawing] Fig. 2

Description

  The present disclosure relates to a box volume system.

<Description of background art>
A technique is known in which an automated guided vehicle is guided by a guide line and stopped at a stop position in front of the equipment, and a robot arm on the automated guided vehicle carries out work transfer work between the equipment delivery table and the loading platform. There is.

JP-A-2000-263382

<Background technology issues>
By the way, at present, in a box palletizing system using a palletizer, a system in which one palletizer is arranged per line is generally used. In such a method, it is difficult to sort the boxes of various kinds of contents in various modes and stack them on the box mounting means. Further, there may be a method of increasing the number of box mounting means or robots so as to facilitate the sorting, but in such a method, the equipment operation rate of the robots tends to be low, and the investment recovery tends to be difficult.

<Problems to be Solved by the Present Invention>
Then, in one side, this invention aims at providing the system with a box volume which can perform efficient sorting.

<Contents of claim 1>
In one aspect, a first box delivery means for delivering a first box in which a plurality of objects of the first type are packed,
A second box delivery means for delivering a second box in which a plurality of objects of a second type different from the first type are packed;
A supply means for conveying a box body delivered from a plurality of box body delivery means including the first box body delivery means and the second box body delivery means;
A robot,
And a control device for controlling the robot,
The control device is
Acquires the placement plan information representing the configuration of a plurality of boxes to be placed for one box placing means capable of placing a plurality of packed boxes.
A plurality of boxes, each of which is supplied by the supply means, are picked up one by one and the one box body mounting means includes the first box body and the second box body based on the placement plan information. Let the robot perform the work of mounting the box type of
The box volume adding system is provided in which the box volume adding system is operable in a state in which at least one of the supply means and the one box body mounting means is present for one robot. ..

  In one aspect, the present invention can provide a system with a box volume that enables efficient sorting.

It is a principal part schematic plan view of the system with a box volume which concerns on this embodiment. It is a principal part schematic plan view of the production line containing the palletizer which concerns on this embodiment. It is a side view of the palletizer concerning this embodiment. It is a top view of the palletizer concerning this embodiment. FIG. 5 is a sectional view taken along line AA of FIG. 4. It is a top view which shows an example of the procedure of stacking the carton by the palletizer which concerns on this embodiment. It is a figure which shows an example of placement plan information. It is a schematic flowchart which shows an example of the part which concerns on the box volume addition process based on mounting plan information among the control processes of the robot performed by the controller of this embodiment. It is a principal part schematic plan view for description of the modification which is not equipped with the pallet rotation device. It is a principal part schematic plan view for description of a modified example in which the positional relationship between a plurality of supply means, a robot, and a pallet is different. It is a principal part schematic plan view for description of a modification in which the number of pallets covered by one robot is two or more. It is a side view of the palletizer which concerns on a modification. It is a figure which shows the mounting plan information which concerns on a modification. It is a principal part schematic plan view for description of the modified example in which there is one supply means.

<Description of Embodiment-1>
Hereinafter, modes for carrying out the present invention (hereinafter, referred to as “embodiments”) will be described in detail with reference to the accompanying drawings. The same elements are denoted by the same reference symbols throughout the description of the embodiments.

<Explanation of a system that realizes a packaging process, etc.-1>
FIG. 1 is a schematic plan view of a main part of a box volume-equipped system 100 according to the present embodiment. The box volume-equipped system 100 includes a palletizer 1 and a part or all of a system 101 that realizes a box packing process or the like.

<Explanation of a system that realizes a packaging process-2>
A system 101 that realizes a box packing process or the like includes an object supply device 1011 (an example of a first object supply device and a second object supply device), an object transport unit 1012, and a packing device 1013 (first box body payout means and first object delivery device). 2) and an unpacked box placing means 1015, and a box making device 1014 can be further included. In the modification, the box manufacturing device 1014 may be omitted.

<Description of Object Supply Device>
The object supply device 1011 supplies a product to be packed in a box (an example of an object, see reference numeral 500 in FIG. 1). Although the product is arbitrary, there are two types in the present embodiment. However, in other embodiments, there may be three or more types of products. The object supply device 1011 may include a device that supplies the first type of product and a device that supplies the second type of product separately, or may be realized as one machine. Further, the object supply device 1011 may include a device that manufactures a product.

<Explanation of the object transport unit>
The product supplied by the object supply device 1011 is placed on the object transport unit 1012. In the present embodiment, the object transport unit 1012 transports the product supplied by the object supply device 1011 to the object placement unit P1 (an example of the first object placement unit and the second object placement unit). The object transport unit 1012 may be in the form of, for example, a conveyor, in which case the object platform P1 is the end of the conveyor. In the present embodiment, the object transport unit 1012 may exist for each type corresponding to two types of products, or may be one transport unit that mixes and transports two types of products. Good. In the former case, the object placement parts P1 are present for each type.

<Explanation of packing device-1>
The packing apparatus 1013 puts and packs the product of the object placement part P1 in the unpacked box body supplied from the unpacked box body placing means 1015. The unpacked box may have a specification such that it is conveyed to the packing apparatus 1013 by a conveyor or the like. The material of the box body is arbitrary and may be cardboard or the like. Alternatively, the unpacked box may be in the form of a plastic container, a weight or the like. It should be noted that the object placing portion P1 may be formed so as to be located inside the packing device 1013.

<Explanation of packing device-2>
In the present embodiment, as an example, the packing device 1013 operates so that only the same type of product is packed in one unpacked box. In this case, the packing device 1013 is provided for each type of product. However, in another embodiment, the packing device 1013 may operate to pack a plurality of types of products in one unpacked box. Hereinafter, the box body that has been packed (packed) by the packing device 1013 is referred to as a “carton B”.

<Explanation of packing device-3>
The packing device 1013 dispenses the carton B to the supply means 2 (described later). Here, in this embodiment, the carton B includes a first type carton B in which only the first type of product is packed and a second type carton B in which only the second type of product is packed. The packing apparatus 1013 may generate the first type carton B and the second type carton B according to the packing plan information (not shown), and may dispense the carton B to the supply means 2. In this embodiment, as will be described later, there are two supply means 2 corresponding to the two types of cartons B of the first type carton B and the second type carton B. In the present embodiment, the packing apparatus 1013 delivers the first type carton B to one supply means 2 and the second type carton B to the one supply means 2. However, in another embodiment, the number of supply means 2 is one, and the packing apparatus 1013 pays out to one supply means 2 in a mode in which the first type carton B and the second type carton B are mixed. Good.

<Explanation of box making equipment>
The box making device 1014 manufactures an unpacked box body, and mounts the manufactured unpacked box body on the unpacked box body mounting means 1015.

<Explanation of unpacked box placement means>
The unpacked box mounting means 1015 mounts the unpacked box manufactured by the box manufacturing device 1014. The unpacked box placing means 1015 may be in the form of a conveyor as described above.

<Explanation of the relationship between the system for realizing the packaging process and the supply means>
The system 101 that realizes a boxing process and the like forms a part of the production line L and is connected to the supply means 2 of the palletizer 1. The system 101, which realizes a boxing process and the like, delivers the carton B obtained as described above to the supply means 2.

<Explanation of palletizer-1>
Next, the palletizer 1 installed on the downstream side of the boxing process of the production line L and stacking the cartons B supplied through the boxing process on the pallet P will be described with reference to FIGS. 2 to 5.

<Explanation of palletizer-2>
2 is a schematic plan view of a main part of the palletizer 1 according to the present embodiment, FIG. 3 is a side view of the palletizer 1 according to the present embodiment, FIG. 4 is a plan view of the palletizer 1 according to the present embodiment, and FIG. FIG. 6 is a sectional view taken along line AA of FIG. 4.

<Overall structure of palletizer-1>
As shown in FIG. 2, the palletizer 1 includes a supply unit 2, a robot 3, a pallet rotating device 4, and a controller 5.

<Structure of supply means-1>
The supply means 2 is a means for supplying the carton B, in which products and the like are packed in the production line L, to the robot 3, and a roller conveyor or the like is used. This supply means 2 is provided with a stopper 21 (see FIG. 3) that locks the carton B at the end of the conveyance where the robot 3 picks up the carton B, and the presence or absence and position of the carton B locked by the stopper 21. And a carton detecting means (not shown) for detecting (a line sensor or the like). It should be noted that one end of the supply means 2 (the end portion on the opposite side to the transport end portion) is connected to the packing device 1013 as described above. The length, route, etc. of the supply means 2 are arbitrary.

<Structure of supply means-2>
Further, in this embodiment, two supply means 2 are provided. The carton B supplied by one supply means 2 and the carton B supplied by the other supply means 2 may be the same, but in the present embodiment, they are different as an example. Specifically, the carton B supplied by one supply means 2 and the carton B supplied by the other supply means 2 have the same shape and the like, but have different types (contents) of the product as a package. And Specifically, the carton B supplied by one supply means 2 is packed with a first type of product, and the carton B supplied by the other supply means 2 is packed with a second type of product. ..

<Note>
In the following description from <Robot configuration-1> to <Carton sorting method-1>, unless otherwise specified, the supply means 2 represents any one of the two supply means 2, and is a carton. B represents the carton B supplied by the one supply means 2.

<Robot configuration-1>
The robot 3 is an industrial robot and has an output of 80 W or more. The robot 3 is a multi-joint robot that picks up the carton B from the supply means 2, transfers it onto the pallet P, and places it on the pallet P at a predetermined position. A 4-axis horizontal multi-joint robot is used. If the cost is not taken into consideration, the number of axes may be 5 or more. In this embodiment, the robot 3 has a fixed work position.

<Robot configuration-2>
As shown in FIG. 3, the four-axis horizontal articulated robot 3 includes a base 30 and a first shaft 3a extending in the vertical direction (Z-axis direction) of the base 30 in a horizontal direction (XY direction). It is rotatable in the horizontal direction (XY axis direction) via the first arm 31 that is rotatably coupled in the axial direction) and the second shaft 3b that extends along the vertical direction (Z axis direction) on the tip side of the first arm 31. And a second arm 32 connected to the second arm 32, and provided on the distal end side of the second arm 32 so as to be movable in the vertical direction (Z-axis direction) and rotatable in the axial direction of the third shaft 3c (Z-axis rotational direction). A head mounting shaft 36, and a suction head 37 provided at the lower end of the head mounting shaft 36 for vacuum-sucking the carton B. Instead of the suction head 37, a gripping type (sandwich type) hand or a type of head that scoops the carton B from below may be used.

<Robot configuration-3>
Although not shown, inside the robot 3, a first arm rotating motor for rotating the first arm 31, a second arm rotating motor for rotating the second arm 32, and a head mounting shaft 36 are vertically moved. A motor for moving the head up and down and a motor for rotating the head that rotates the head mounting shaft 36 in the direction around the third shaft 3c are provided.

<Robot configuration-4>
In addition, in the present embodiment, an elevating device 33 for elevating and lowering the entire robot 3 (base 30) is further provided, but when the carton B is transferred from the supply means 2 or the carton B is stacked on the pallet P, the head is used. If it can be performed within the range of the vertical movement stroke of the mounting shaft 36, the lifting device 33 may not be provided, that is, the base 30 may be provided on a fixed pedestal fixed to the floor surface 11 at a predetermined height. Alternatively, the base 30 may be directly provided on the floor surface 11. Alternatively, the suction head 37 may be vertically moved by the elevating device 33 without vertically moving the head mounting shaft 36. The operation range M of the robot 3 will be described later.

<Configuration of pallet rotating device-1>
The pallet rotating device 4 is a device for rotating the pallet P on which the carton B is placed, and an electric turntable or the like is used. As shown in FIG. 5, the pallet rotating device 4 is provided with a ring-shaped fixed ring 41 that is installed and fixed on the floor portion 10 and a bearing 42 on the fixed ring 41, and horizontally with the center C4 as an axis. Rotating ring 43 that rotates in a direction, a pallet mounting table 44 provided on the rotating ring 43, a ring gear 45 provided on the inner peripheral portion of the rotating ring 43 (or a lower part of the pallet mounting table 44), and a pinion gear that meshes with the ring gear 45. 46 and a motor 47 that rotationally drives the pinion gear 46.

<Configuration of pallet rotating device-2>
Further, the pallet rotating device 4 has a main part buried in the recess 12 formed in the floor 10, and the surface of the pallet mounting table 44 is slightly projected from the floor 11. In this way, when the pallet rotating device 4 is embedded, even if the pallet P is placed on the pallet mounting table 44, the bottom surface of the pallet P does not contact the floor surface 11, and the pallet P is lifted by hand. Also in the case of taking out, the difference in height between the floor surface 11 on which the handlift travels and the pallet P placed on the pallet placing table 44 becomes small, and the pallet P can be easily taken out by the handlift.

<Controller configuration-1>
The controller 5 controls the entire palletizer 1. The controller 5 recognizes the presence or absence of the carton B at the pick-up position of the carton B of the supply means 2 or the position of the carton B based on the detection signal input from the carton detection means (a), or (b) various types of the robot 3, for example. By controlling the motor and the electromagnetic valve of the suction head 37 to cause the robot 3 to perform operations such as picking up, transferring, and placing the carton B, and (c) controlling the motor 47 of the pallet rotating device 4. The pallet P placed on the pallet placing table 44 is rotated in the horizontal direction.

<Controller configuration-2>
The controller 5 is arranged in the vicinity of the supply means 2 in FIG. 2, but the arrangement place is arbitrary. For example, the controller 5 may be built in the robot 3. Further, the controller 5 may be implemented in cooperation with a plurality of computers. In this case, some functions of the controller 5 may be realized in cooperation with a server or the like provided in a remote place. In this case, the controller 5 may communicate with the server via the network to acquire control information such as placement plan information (see FIG. 7 described later). The network may include a wireless communication network, the Internet, a VPN (Virtual Private Network), a WAN (Wide Area Network), a wired network, or an arbitrary combination thereof. When the controller 5 is implemented by a plurality of computers in the facility in cooperation with each other, the computers may be connected by wire or may be wirelessly communicable. In this case, short-distance wireless communication, Bluetooth (registered trademark), infrared communication, or the like may be used.

<Controller configuration-3>
Further, the controller 5 links the carton B with the robot 3 and the pallet rotating device 4 in accordance with a predetermined operation program (a stacking procedure described later) selected according to the type (dimension) of the carton B. Control and place the carton B on the pallet P. However, the stacking work of the cartons B may be performed by automatically recognizing the positions (the supply position and the placement position) of the cartons B by a recognition means such as a camera.

<Overall structure of palletizer-2>
The partition 6 surrounds the palletizer 1 and the pallet P (see FIG. 4) so that an operator does not enter the periphery of the palletizer 1 (excluding the pallet P take-out direction U).

<Carton structure-1>
The carton B is in the form of a cube-shaped cardboard box, and is formed by packing a plurality of container-shaped products or bag-shaped products in the production line L. The container-shaped product and the bag-shaped product are foods and drinks, detergents, etc., but are not particularly limited.

<Pallet structure-1>
The pallet P is made of plastic of 1100 mm × 1100 mm × 144 mm, but is not limited to this, and may be made of wood or metal, but in the case of the food and drink production line L, plastic or metal is preferable.

<Arrangement of palletizer-1>
Here, the arrangement of the supply means 2, the robot 3, and the pallet rotation device 4 will be described. The palletizer 1 arranges the pallet rotation device 4 in the extension direction of the supply means 2 in a plan view (see FIG. 4), and a side view. In, the robot 3 is arranged between the supply means 2 and the pallet rotating device 4 (see FIG. 3). The pallet P on which the cartons B are stacked by the robot 3 is taken out from the pallet rotating device 4 by the hand lift in the take-out direction U which is the extension direction of the supply means 2, but the worker and the robot 3 do not interfere with each other. If it is a condition, it may be a direction other than the unloading direction U of the pallet P (for example, the arrow V direction in FIG. 4).

<Robot movement range-1>
The maximum movement range M of the robot 3 (the movement range of the head mounting shaft 36 or the third shaft 3c) is substantially heart-shaped in plan view as shown in FIG. However, it is not operated outside the partition 6.

<Robot operating range-2>
The operating range M of the robot 3 on the pallet P includes the center CP of the pallet P placed on the pallet rotating device 4 in the plan view shown in FIG. It is 4 or more and less than the mounting area of the pallet P. More preferably, it should be ¼ or more and π / 4 or less of the mounting area of the pallet P. At this time, when the operation range M draws a circular arc, one side H of the pallet P deviates from the operation range M of the robot 3, and the pallet P can be safely taken out. Even more preferably, it is preferably ¼ or more and ½ or less of the mounting area of the pallet P. At this time, the operation of the pallet rotating device 4 can be suppressed to the minimum.

<Robot movement range-3>
Since the pallet P is placed on the pallet rotating device 4 so that the center C4 of the pallet rotating device 4 and the center CP of the pallet P are substantially coincident with each other, the operating range M of the robot 3 on the pallet P is It can be rephrased as including the center C4 of the pallet rotating device 4 and being ¼ or more of the pallet P mounting area and less than the pallet P mounting area.

<Robot movement range-4>
Further, the operation range M of the robot 3 on the pallet P is at least one rectangular region E1 when the mounting surface of the pallet P is divided into four rectangular regions E1 to E4 by two orthogonal lines passing through the center CP. It is set to include E4. Even in such an operation range M of the robot 3, if the pallet P is rotated by the pallet rotating device 4 (for example, rotated by 90 °), the entire mounting surface of the pallet P is moved within the operation range M of the robot 3. , The carton B can be placed on the entire placement surface of the pallet P.

<Robot movement range-5>
Furthermore, it is desirable that the movement range M of the robot 3 on the pallet P and the movement range of the carton B transferred by the robot 3 do not include the side H on the pallet P take-out direction U, V side. With such an operation range M of the robot 3, even if the robot 3 operates in the maximum operation range M, the robot 3 and the carton B can reach the side H of the pallet P taking-out directions U and V. There is no.

<Procedure for stacking cartons-1>
Here, a procedure for stacking the cartons B by the palletizer 1 according to the present embodiment will be described with reference to FIG. FIG. 6 is a plan view showing an example of a procedure for stacking cartons B by the palletizer 1 according to this embodiment. Note that FIG. 6 shows a procedure for placing nine cartons B on the pallet P as the first stage. Further, since the carton B has a rectangular shape in plan view, the direction of the carton B is appropriately changed by rotating the suction head 37 in consideration of the longitudinal direction, and the cartons B are sequentially placed on the pallet P. The description of the operation of changing the direction of B is omitted.

<Carton stacking procedure-2>
First, the robot 3 places the first carton B picked up from the supply means 2 at the center position of the pallet P.

<Procedure for stacking cartons-3>
Next, the robot 3 places the second carton B picked up from the supply means 2 so as to be adjacent to the supply means 2 side of the first carton B, and further, the third carton picked up from the supply means 2. B is placed so as to be adjacent to the front side (the robot 3 or the base 30 side) of the second carton B. Then, the pallet rotating device 4 rotates the pallet P in the arrow R direction by 90 °.

<Procedure for stacking cartons-4>
When the pallet P rotates 90 °, the robot 3 places the fourth carton B picked up from the supply means 2 so as to be adjacent to the first and third carton B, and further picks up 5 from the supply means 2. The second carton B is placed adjacent to the front side of the fourth carton B. Then, the pallet rotating device 4 further rotates the pallet P in the arrow R direction by 90 °.

<Carton stacking procedure-5>
When the pallet P is rotated by 90 ° again, the robot 3 places the sixth carton B picked up from the supply means 2 so as to be adjacent to the first and fifth carton B, and further picks up from the supply means 2. The seventh carton B is placed adjacent to the front side of the sixth carton B. Then, the pallet rotating device 4 rotates the pallet P in the arrow R direction by 90 °.

<Carton stacking procedure-6>
When the pallet P is further rotated 90 ° again, finally, the robot 3 places the eighth carton B picked up from the supply means 2 so as to be adjacent to the first and seventh cartons B, and further supplies the supply means. The ninth carton B picked up from No. 2 is placed in front of the eighth carton B and adjacent to the supply means 2 side of the second carton B.

<Carton stacking procedure-7>
In this way, the nine cartons B are placed on the pallet P and the first stage is formed. Then, the pallet rotating device 4 further rotates the pallet P in the arrow R direction by 90 °. Then, the second and subsequent cartons B are stacked on the first (first previous) carton B in the same procedure. It should be noted that the above-described stacking procedure of the carton B is an example, and the present invention is not limited to this, and various stacking procedures can be applied.

<Carton sorting method-1>
Next, the carton sorting method according to the present embodiment will be described. In the present embodiment, the controller 5 configures the carton B to be placed on the pallet P (an example of a box body placing means capable of placing a plurality of packed boxes) (hereinafter, also referred to as “carton configuration”). The placement plan information representing (referred to) is acquired. The carton configuration represents a configuration of a plurality of cartons B to be placed on one pallet P (how many cartons B of which kind are to be placed). If the number of cartons B scheduled to be placed on one pallet P is fixed, the placement plan information may indicate at what ratio each type of carton B is placed. ..

<Carton sorting method-2>
FIG. 7 is a diagram showing an example of placement plan information. In FIG. 7, for each pallet ID, the type (first type or second type) of the carton B to be placed on the first and second tiers is defined for the corresponding pallet P. .. The pallet ID is given to each pallet P, but the pallet P itself may not be provided with an identification number or the like. Also in this case, if the pallet ID is different, the corresponding pallet P is also different. In the present embodiment, as described above, the carton B supplied by one of the two supply means 2 is the carton B of the first type, and only the first type of product is packed. The carton B supplied by the other supply means 2 is the second type carton B, and only the second type products are packed.

<Carton sorting method-3>
For example, for the pallet ID “0001”, it is indicated that three first-type cartons B and six second-type cartons B are to be placed on the first stage, and the pallet ID “0002” is indicated. "Indicates that two cartons B of the first type and seven cartons B of the second type will be placed in the first stage, and so on. Note that FIG. 7 is merely an example, and various changes can be made. For example, in the case of a configuration in which three or more layers are stacked, the configurations of the third and subsequent stages may be defined. Moreover, although two types of cartons B are handled here, three or more types of cartons B may be handled. Further, two kinds of cartons B are mixed in each stage, but the same type of carton B may be defined in the same stage. Similarly, there may exist a pallet ID in which only the same type of carton B is defined.

<Carton sorting method-4>
The controller 5 causes the robot 3 to perform the work of picking up the second-type cartons B supplied by the two supply units 2 one by one based on the placement plan information and placing them on the pallet P. The operation of picking up the cartons B one by one and placing them on the pallet P is as described in <Carton stacking procedure-7>.

<Carton sorting method-5>
Although the placement plan information shown in FIG. 7 does not specify which kind of carton B is to be stacked in which order, information that specifies the stacking order may be used.

<Explanation of schematic flow chart-1>
FIG. 8 is a schematic flowchart showing an example of a part related to the box volume adding process based on the placement plan information in the control process of the robot 3 executed by the controller 5 of the present embodiment.

<Explanation of schematic flow chart-2>
In step S110, the controller 5 determines whether the mounting flag is "0". The fact that the loading flag is “0” indicates that the cartons have not yet been stacked on a certain pallet P. If the determination result is “YES”, the process proceeds to step S112, and if not, the process proceeds to step S120.

<Explanation of schematic flow chart-3>
In step S112, the controller 5 acquires the placement plan information (see FIG. 7) corresponding to the next pallet ID.

<Explanation of schematic flow chart-4>
In step S114, the controller 5 sets N to "1".

<Explanation of schematic flowchart-5>
In step S116, the controller 5 causes the robot 3 to start the work for the first carton B (the work for placing the carton B on the pallet P, the same applies hereinafter). For example, in the case of the pallet ID “0002”, two first-type cartons B and seven second-type cartons B are scheduled to be placed on the first stage, respectively. B may be the second type carton B or the first type carton B. However, if the placement plan information specifies the stacking order as described above, the order is followed.

<Explanation of schematic flowchart-6>
In step S118, the controller 5 sets the mounting flag to "1".

<Explanation of schematic flowchart-7>
In step S120, the controller 5 determines whether or not the work on the Nth carton B has been completed. If the determination result is “YES”, the process proceeds to step S122, and if not, the process proceeds to step S130.

<Explanation of schematic flowchart-8>
In step S122, the controller 5 increments N by "1".

<Explanation of schematic flowchart-9>
In step S124, the controller 5 determines whether or not N = the planned placement number + 1. The planned placement number can be derived based on the placement plan information. For example, in the case of the pallet ID “0002”, two first-type cartons B and seven second-type cartons B will be placed on the first and second tiers, respectively. The planned placement number is 18. If the planned number of placements is fixed, the fixed value is used without being based on the placement plan information. If the determination result is “YES”, the process proceeds to step S126, and if not, the process proceeds to step S128.

<Explanation of Outline Flowchart-10>
In step S126, the mounting flag is reset to "0".

<Explanation of schematic flowchart-11>
In step S128, the controller 5 causes the robot 3 to start work on the Nth carton B. For example, when the pallet ID is “0002”, N = 3, and two cartons B of the first type have already been placed, the controller 5 determines that the carton of the second type is the same. Let B be the Nth carton B and let the robot 3 start the work. At this time, the controller 5 rotates the pallet P as described above, if necessary, before the robot 3 starts the work on the Nth carton B.

<Explanation of schematic flowchart-12>
In step S130, the controller 5 causes the robot 3 to continue the work on the Nth carton B.

<Explanation of schematic flowchart-13>
In this way, according to the process shown in FIG. 8, while using one robot 3, the first type carton B and the second type carton B are placed on the pallet P with a carton configuration according to the placement plan information. Can be placed. This enables efficient sorting.

<Effects of the embodiment>
The effects of the embodiment described above are described above.

<Effect of Embodiment-1>
According to the present embodiment, as described above, one robot 3 is provided with the two supply means 2, and one robot 3 uses the two supply means 2 based on the placement plan information. While picking up B, the first type carton B and the second type carton B can be placed on the pallet P with a carton configuration according to the placement plan information. This enables efficient sorting.

<Effect of Embodiment-2>
Further, the palletizer 1 of the embodiment rotates the supply means 2 for supplying the carton B, the robot 3 for transferring the carton B from the supply means 2 to the pallet P and mounting it, and the pallet P on which the carton B is mounted. And a pallet rotating device 4 for causing the pallet to rotate. Accordingly, even the small robot 3 can place the carton B on the entire placement surface of the pallet P by rotating the pallet P by the pallet rotating device 4. As a result, the robot 3 can be downsized, and the installation space for the palletizer 1 and the pallet P can be reduced. Also, the manufacturing cost of the palletizer 1 can be reduced. Also, the partition 6 surrounding the palletizer 1 and the pallet P can be reduced in size.

<Effect of Embodiment-3>
In the palletizer 1 of the embodiment, the operation range M of the robot 3 on the pallet P includes the center CP of the pallet P (the center C4 of the pallet rotating device 4) and the pallet P has a mounting area of ¼ or more of the pallet P. It is less than the mounting area of P. As a result, the carton B can be placed on the entire placement surface of the pallet P, and the robot 3 can be downsized.

<Effect of Embodiment-4>
In the palletizer 1 of the embodiment, the movement range M of the robot 3 on the pallet P and the movement range of the carton B transferred by the robot 3 do not include the side H on the side where the pallet P is taken out. .. As a result, even if the robot 3 operates in the maximum operation range M, the robot 3 and the carton B do not reach the sides H of the pallet P take-out directions U and V, so that the operator can safely take out the pallet P. It is possible to secure a pallet extraction area where work can be performed.

<Effect of Embodiment-5>
In the embodiment, the pallet rotating device 4 is embedded below the traveling surface on which the hand lift for taking out the pallet P can travel. As a result, the step between the floor surface 11 on which the hand lift travels and the upper surface of the pallet mounting table 44 on which the pallet P is mounted becomes small, and the pallet P can be easily taken out by the hand lift.

<Effect of Embodiment-6>
In the embodiment, the robot 3 is a horizontal multi-joint type with four axes or less. Thus, the palletizer 1 can be configured using a commercially available horizontal articulated robot having four or less axes.

<Modification>
The configurations of various modifications will be described below. The configurations of various modifications described below can be combined in any manner as long as no contradiction occurs.

<Structure of Modification-1>
In the above embodiment, the pallet rotating device 4 is embedded in the floor portion 10. However, when the recess 12 cannot be formed in the floor portion 10 because the floor where the production line L or the like is installed is two or more floors, the pallet rotating device 4 is placed on the floor surface 11. May be installed. In such a case, a stage lower than the surface of the pallet mounting table 44 and higher than the floor surface 11 is installed around the pallet rotating device 4, the floor surface 11 and the stage are connected by a slope, and a hand lift is installed. It may be configured so that it can run.

<Structure of Modification-2>
Further, in the above-described embodiment, the pallet P on which the cartons B are stacked by the palletizer 1 is taken out by a worker by a hand lift (not shown), but the type of transfer device used to take out the pallet P is not limited to this. Alternatively, the pallet P may be automatically taken out by the automatic transfer device.

<Structure-3 of Modification>
Further, in the above embodiment, the cartons B stacked on the pallet P by the palletizer 1 were taken out by the hand lift in the stacked state. It is also possible to wrap the carton B piled up in with a stretch film.

<Structure of Modification-4>
Further, in the above-described embodiment, the carton B is stacked on the pallet P by the palletizer 1, but the carton B stacked on the pallet P can be used as a depalletizer that lowers and discharges the carton B one by one. ..

<Structure of Modification-5 (Part 1)>
Further, in the above embodiment, the base 30 of the robot 3 is provided on the lifting device 33 fixed to the floor 11 (or, as an alternative, the base 30 is directly fixed to the floor 11). However, the base 30 or the elevating device 33 may have an AGV mechanism or may be mounted on the AGV with the same configuration. The traveling means of the AGV mechanism may be wheels, tracks, balls, leg actuators, or the like. Further, in this case, the robot 3 is allowed to travel in the AGV with the vicinity of the side H on the side opposite to the direction in which the pallet P is taken out horizontally to the side H on the side opposite to the direction in which the pallet P is taken out. Since the AGV traveling is responsible for one axis of the first arm 31 of the robot 3, the number of axes above the base 30 may be three. If the operating range M of the robot 3 on the pallet P is not less than 1/4 of the mounting area of the pallet P and less than the mounting area of the pallet P, the operating range of the robot 3 is the mounting area of the pallet P or more. The robot 3 is lighter in weight than the above, and is optimal in terms of preventing overturning. In this way, it is possible to replace part of the operation axis of the robot 3 with the AGV mechanism or the lifting device 33. Further, instead of the AGV mechanism, an RGV mechanism whose movement locus is defined by rails may be used. In addition, in the above-described embodiment, the pallet rotating device 4 is provided so that the robot 3 can be reduced in size and weight. Therefore, the robot 3 can be easily combined with the AGV mechanism.

<Structure of Modification-5 (Part 2)>
Further, when the robot 3 is provided with an AGV mechanism or is placed on the AGV as in this modification, the work position of the robot 3 is efficiently changed (the robot 3 is moved based on the placement plan information). It can be done. For example, the robot 3 picks up the carton B from one supply means 2 and places it on the pallet P at the first work position, and picks up the carton B from the other supply means 2 and places it on the pallet P. The placing work can be performed at a second work position different from the first work position. In the present modification, when the robot 5 performs the work of picking up the carton B from one of the supply means 2 and placing it on the pallet P based on the placement plan information, the controller 5 moves to the first work position. When the robot 3 is to perform the work of picking up the carton B from the other supply means 2 and placing it on the pallet P, the robot 3 is moved so that the robot 3 is located at the second work position. In a further modified example, the work position when picking up the carton B from the supply means 2 and the work position when placing the picked-up carton B on the pallet P may be different.

<Structure of Modification-5 (Part 3)>
When the robot 3 has an AGV mechanism or is placed on the AGV as in this modification, the robot 3 includes a camera (not shown) oriented to image the floor surface 11, The planned trajectory of the robot 3 may be defined in 11 by attaching a vinyl tape or the like to the floor 11. In this modification, the controller 5 may move the robot 3 based on the image processing result based on the image captured by the camera and the placement plan information. Specifically, the controller 5 can control the traveling locus (traveling position) of the robot 3 based on the image recognition result (edge due to contrast) of the vinyl tape or specific coating. At this time, when the work at a certain work position is completed, the controller 5 can move the robot 3 to the next work position (target position) determined according to the placement plan information. The camera for imaging the floor surface 11 may be a dedicated camera for traveling, or a working camera, that is, a camera attached to the arm (the first arm 31 or the second arm 32) is shared. May be done.

<Structure of Modification-5 (Part 4)>
When the robot 3 has an AGV mechanism or is placed on the AGV as in this modification, the controller 5 moves the robot 3 at a relatively high speed up to the vicinity of the work position (target position). The robot 3 may be moved at a relatively low speed when it reaches the vicinity of the work position. In this case, the robot 3 can be accurately brought to the work position while minimizing the movement time between the work positions. Further, a mark such as a two-dimensional bar code may be attached to the work position on the floor 11 or in the vicinity of the work position. In this case, the controller 5 can grasp the position of the robot 3 based on the image recognition result of the two-dimensional barcode. When the controller 5 recognizes the deviation with respect to the work position based on the image recognition result of the two-dimensional bar code, the controller 5 may move the robot 3 to eliminate the deviation, or like the first arm 31 of the robot 3. The deviation may be compensated by correcting the target value of the movement of the arm, the suction head 37, or the like.

<Structure of Modification-5 (Part 5)>
Further, when the robot 3 has an AGV mechanism or is mounted on the AGV as in this modification, the robot 3 may be a battery-driven system. The robot 3 may further include an inverter, and the battery may be rechargeable via the inverter. In this modification, the system 100 with a box volume may include a charging station ST1 (see FIG. 11) that charges the battery of the robot 3, and the controller 5 may move the robot 3 to the charging station ST1. For example, the controller 5 may move the robot 3 to the charging station ST1 when the robot 3 is at rest or when the state of charge of the battery drops below a reference level. Charging between the robot 3 and the charging station ST1 is preferably embedded in the floor surface 11 and realized in a non-contact manner. Note that the charging station ST1 may be preferably provided in the movement path between the work positions of the robot 3.

<Structure of Modification-5 (Part 6)>
When the robot 3 has an AGV mechanism or is mounted on the AGV as in this modification, the robot 3 picks up the unpacked box on the unpacked box mounting means 1015, You may further perform the operation | work which mounts on the packing apparatus 1013 (henceforth a "non-packed box mounting work"). In this case, it is possible to eliminate another means for supplying the unpacked box to the packing device 1013. In addition, when the packing device 1013 is provided for each type of product, the robot 3 uses the above-mentioned unpacked box for any one or a part or all of the plurality of packing devices 1013. You may perform a mounting operation.
When the robot 3 has an AGV mechanism or is placed on the AGV as in the present modification, the robot 3 picks up a product from the object placement part P1 and places it on the packing device 1013. Work (hereinafter, referred to as “product placement work”) may be further executed. In this case, it is possible to eliminate another means for supplying the product to the packing device 1013. When the packing device 1013 is provided for each type of product, the robot 3 performs the above-described product placement work on any one or a part or all of the plurality of packing devices 1013. May be executed.

<Structure of Modification-6>
Further, in the above embodiment, the palletizer 1 includes the pallet rotating device 4 and the pallet P is rotatable, but the present invention is not limited to this. For example, the palletizer 1A shown in FIG. 9 does not include the pallet rotating device 4, and the pallet P cannot rotate. In this modified example, the robot 3B has a wider motion range (indicated by MB) than the robot 3 described above, but since the robot 3B includes the two supply units 2 for one robot 3B, the robot 3B is different from the embodiment described above. The same effect can be obtained. That is, one robot 3 picks up two types of cartons B from the two supply means 2 based on the placement plan information, and the first type carton B and the second type carton B with the carton configuration according to the placement plan information. Different types of cartons B can be placed on the pallet P. This enables efficient sorting.

<Structure of Modification-7>
Further, in the above-described embodiment, the centers of the two supply means 2 and the center C4 of the pallet P are offset in the Y direction. However, as in the palletizer 1B of the modification shown in FIG. The center of the supply means 2 and the center C4 of the pallet P may coincide with each other. In this modification, as shown in FIG. 10, the robot 3 may be installed between the two supply means 2 in the Y direction. In this way, the positional relationship among the plurality of supply means 2, the robot 3, and the pallet P is arbitrary as long as the above-described operation of the robot 3 is possible.

<Structure of Modification-8>
Further, in the above-described embodiment, the number of supply means 2 covered by one robot 3 is two, but it may be three or more. In this case, since the third type of carton B can be placed, it is possible to deal with more types of sorting.

<Structure of Modification-9 (Part 1)>
Further, in the above embodiment, the number of pallets P covered by one robot 3 is one, but it may be three or more. For example, in the palletizer 1C of the modified example shown in FIGS. 11 and 12, two pallets P can be arranged side by side in the Y direction. In this modification, two pallet rotating devices 4 may also be arranged side by side in the Y direction. In addition, in this modification, the robot 3C preferably includes an AGV mechanism and a traveling unit 39. In this case, the controller 5 can cause the robot 3C to work on the two pallets P simultaneously in parallel or alternately while changing the work position of the robot 3C. In addition, in another modification, a robot that is not capable of traveling may be used. Even in this case, the controller 5 can cause the robot to work on the two pallets P concurrently or alternately by expanding the operation range of the robot. Here, "simultaneously and in parallel" is a mode in which the carton stacking work on the other pallet P is executed until the carton stacking on one pallet P is completed, and the "alternate" means Is a mode in which the stacking work of the cartons on the other pallet P is started after the stacking of the carton on the one pallet P is completed. In either case, the work efficiency can be improved as compared with the case where one pallet P is provided for the two supply means 2. Also in this case, since the pallet rotating device 4 is provided, the entire work can be performed only by traveling on one side of the pallet P (a traveling mode in which the pallet P travels in the Y direction on the negative side in the X direction). Thus, the movement range of the robot 3C can be minimized (and power consumption can be reduced accordingly). In this modification, the two pallet rotating devices 4 are arranged side by side in the Y direction on the positive side in the X direction with respect to the traveling path of the robot 3C, but the number and arrangement of the pallet rotating devices 4 are arbitrary. Is. For example, the plurality of pallet rotating devices 4 may be arranged so that the robot 3C can travel between the plurality of pallets P (pallets P on the pallet rotating device 4). In this case, the traveling path length of the robot 3C per unit number of the pallets P to be covered can be efficiently shortened.

<Structure of Modification-9 (Part 2)>
In this modification, for example, the robot 3 performs the work of picking up the carton B from the Y-direction negative-side supply means 2 at a work position PS1 (not shown) near the Y-direction negative-side supply means 2. The operation of placing the picked-up carton B on the pallet P on the negative side in the Y direction is performed at a work position PS2 (not shown) near the pallet P on the negative side in the Y direction, and the carton is fed from the supply means 2 on the positive side in the Y direction. The work for picking up B is performed at a work position PS3 (not shown) near the supply means 2 on the positive side in the Y direction, and the work for picking up the carton B on the pallet P on the positive side in the Y direction is performed. It can be performed at a work position PS4 (not shown) near the positive pallet P. In this modification, the work position PS1 and the work position PS2 may be the same or different, and similarly, the work position PS3 and the work position PS4 may be the same or different. May be.

<Structure of Modification-9 (Part 3)>
When the number of pallets P covered by one robot 3 is one or more as in this modification, the placement plan information as shown in FIG. 13 may be used. In FIG. 13, for each pallet ID, the type (first type or second type) of the carton B to be placed in the first and second tiers on the corresponding pallet P and the placement target The arranging position (placement destination) of the pallet P is defined. In FIG. 13, the first pallet position corresponds to one of the two pallet rotating devices 4, and the second pallet position corresponds to the other of the two pallet rotating devices 4. In the present modification, the controller 5 picks up the cartons B from the two supply means 2 one by one based on the placement plan information as shown in FIG. 13, and arranges two cartons B side by side in the Y direction. By placing the pallet P on one of the corresponding ones, the work according to the placement plan information can be realized. The placement plan information may define work positions (for example, PS1 to PS4 described above) for each carton B instead of the placement position of the pallet P to be placed.

<Structure of Modification-10 (Part 1)>
Further, in the above-described embodiment, two supply means 2 are provided for one robot 3, but only one supply means 2 is provided for one robot 3D as in the palletizer 1D shown in FIG. May be. In this modification, the first type carton B and the second type carton B are delivered from the packing device 1013 to one supply means 2. It should be noted that one supply unit 2 may be realized by joining two conveyors that individually dispense the first type carton B and the second type carton B from the packing device 1013. In this modification, the first type carton B and the second type carton B are labeled with a two-dimensional bar code or the like so that the first type carton B and the second type carton B can be identified by the camera of the robot 3D. An identifier may be given. Note that, unlike the above-described embodiment, in the case of the configuration in which the same type of carton B is continuously supplied through the one supply means 2 unlike the present modification, the first type of carton B is supplied by the camera of the robot 3D. Since the need to distinguish the carton B from the second type carton B is low, the need to give an identifier to the carton B is low. On the other hand, this modification is advantageous in that the number of supply means 2 can be reduced and the space for the supply means 2 can be reduced.

<Structure of Modification-10 (Part 2)>
In this modification, the palletizer 1D may have a buffer area BF on which a spare carton B is placed. In this case, the robot 3D can place the carton B of the first type carton B and the second type carton B that does not match the placement plan information in the buffer area BF instead of the pallet P. On the contrary, when the carton B conforming to the placement plan information is not supplied via the supply means 2, the robot 3D picks up the carton B conforming to the placement plan information on the buffer area BF, It can be placed on the pallet P. In this modification also, the robot 3D includes an AGV mechanism. In this case, the AGV mechanism is used to realize access to the buffer area BF and the like. In this modification, since the type of carton B supplied to the supply means 2 is not controlled according to the placement plan information, the buffer area BF is provided, but the type of carton B supplied to the supply means 2 It is also possible to eliminate the buffer area BF by controlling the above according to the placement plan information.

<Structure of Modification-11>
Further, in the above-described embodiment, two supply means 2 are provided for one robot 3, and the same type of carton B is continuously supplied via each supply means 2, but the present invention is not limited to this. I can't. For example, two supply means 2 may be provided for one robot 3, and a plurality of types of cartons B may be continuously supplied via each supply means 2. In this case as well, as in <Constitution of Modification-10>, the first type carton B and the second type carton B can be distinguished from each other so that the first type carton B and the second type carton B can be distinguished by the robot camera. An identifier may be attached to the carton B by a two-dimensional barcode or the like. Also in this modification, the type of the carton B supplied to each supply means 2 may be controlled according to the placement plan information, as in <Structure of Modification-10>.

1, 1A, 1B, 1C palletizer 2 supply means 3, 3B, 3C robot, 30 base, 31 first arm, 32 second arm, 33 lifting device, 36 head mounting shaft, 37 suction head, 3a first shaft, 3b 2nd shaft, 3c 3rd shaft 4 Pallet rotating device, 41 Fixed ring, 42 Bearing, 43 Rotating ring, 44 Pallet mount, 45 Ring gear, 46 Pinion gear, 47 Motor, C4 Center 5 Controller 10 Floor, 11 Floor , 12 Recess B Carton P Pallet, CP center, M operating range, E rectangular area, H Side on extraction side U, V Extraction direction

Claims (12)

A first box delivery means for delivering a first box in which a plurality of objects of the first type are packed;
A second box delivery means for delivering a second box in which a plurality of objects of a second type different from the first type are packed;
A supply means for conveying a box body delivered from a plurality of box body delivery means including the first box body delivery means and the second box body delivery means;
A robot,
And a control device for controlling the robot,
The control device is
Acquires the placement plan information representing the configuration of a plurality of boxes to be placed for one box placing means capable of placing a plurality of packed boxes.
A plurality of boxes, each of which is supplied by the supply means, are picked up one by one and the one box body mounting means includes the first box body and the second box body based on the placement plan information. Let the robot perform the work of mounting the box type of
The box volume attaching system is operable in a state where a plurality of at least one of the supply means and the one box body placing means exist for one robot. In the one box mounting means, a plurality of boxes can be mounted at the same height,
The box volume attaching system according to claim 1, further comprising rotating means for rotating the one box body mounting means around a vertical axis.   The supply unit includes a first box supply unit that continuously conveys the first box body, and a second box supply unit that continuously conveys a second box body. The system with a box volume according to 1 or 2. The one box body mounting means, a plurality, can be arranged side by side,
The placement plan information described above further indicates which position of the plurality of types of box bodies is to be placed on the box body placement means,
The control device causes the plurality of the one box mounting means arranged side by side to perform the work concurrently or alternately by the robot based on the placement plan information. The system with a box volume according to any one of Items 1 to 3. The robot is movable or movable by being placed on a traveling device,
The control device further includes, based on the placement plan information, at least one of the plurality of the one box body placing means arranged side by side of the work for at least one box body placing means. 5. The work position of the robot is changed so that the work position is different when performing a part of the work and when performing at least a part of the work on another one of the box mounting means. System with box volume described in. The robot is movable or movable by being placed on a traveling device,
Based on the placement plan information, the control device further sets the robot so as to have different work positions when picking up the first box and when picking up the second box. The system with a box volume according to any one of claims 1 to 3, wherein the work position is changed. The robot is movable or movable by being placed on a traveling device,
The control device further mounts one box body on the one box body mounting means and another one box body on the basis of the placement plan information. The box volume attaching system according to any one of claims 1 to 3, wherein the work position of the robot is changed so that the work position is different when mounted on the means. Further comprising a charging station for charging a battery of the robot,
The system with a box volume according to any one of claims 5 to 7, wherein the control device further moves the robot to the charging station. A camera attached to the robot,
The box according to any one of claims 5 to 8, wherein the control device moves the robot based on an image processing result based on an image captured by the camera and the placement plan information. Volumetric system.   The box volume attaching system according to claim 9, wherein the image processing result includes an image processing result of a linear feature on the floor surface and a two-dimensional barcode image processing result. Further comprising a box making device for making an unpackaged box before the object is packed,
The robot picks up the unpacked box body from the unpacked box body placing means on which the unpacked box body is placed, and selects one of the first box body dispensing means and the second box body dispensing means. Place it on at least one of the
The box volume attaching system according to any one of claims 1 to 10, wherein at least one of the first box body delivering means and the second box body delivering means packages an object. .. A first object supply device for supplying the first type of object;
A second object supply device for supplying the second type of object;
The robot picks up the object of the first type from a first object placing means on which the object of the first type from the first object supply device is placed, and outputs the picked-up object to the first box body delivering means. Place it,
In addition, the robot picks up the second type of object from a second object placing means on which the second type of object from the second object supply device is placed, and the first box body payout means. The box volume attaching system according to any one of claims 1 to 11, which is mounted on a box.

Images