JPH0853206A - Automatic loading method - Google Patents

Abstract

(57) [Summary] [Purpose] To obtain an automatic loading method with less interruption of loading work by re-delivering a supply pallet of required articles from a multi-storey warehouse. [Structure] When the article (12) of the supply pallet (8) placed at the temporary standby position is required for the loading step based on another shipping instruction after the end of the loading step by the shipping instruction, The supply pallet (8) is supplied again to the article take-out position (13). As a result, the step of unloading the supply pallet on which the stowage-required articles are placed, which has been stowed in response to the previous shipping instruction, from the three-dimensional warehouse is omitted. [Effects] The work interruption of the industrial robot during the movement of the supply pallet for loading the required articles for loading from the three-dimensional warehouse to the article unloading position again is eliminated, and the efficiency of the automatic loading operation is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic loading method for loading a plurality of types of articles on shipping pallets based on a shipping instruction by the operation of an industrial robot.

[0002]

2. Description of the Related Art As a conventional automatic loading method, for example, there is an automatic loading method disclosed in Japanese Patent Laid-Open No. 1-275309. In this automatic loading method, a shipping pallet is arranged on one side of the industrial robot, and required articles to be loaded are supplied to the other side of the industrial robot by a conveyor in the order of loading. Then, the supplied articles are loaded on the supply pallet by a predetermined loading procedure by the operation of the industrial robot.

In the conventional automatic loading method, a supply pallet stored in an automatic warehouse and on which a required article based on a shipping instruction is placed is supplied to an article removal position of an industrial robot. Next, the industrial robot loads the articles on the supply pallet at the article removal position onto the shipping pallet based on the shipping instruction. Then, even if there are remaining articles on the supply pallet at the article unloading position at the end of this stacking process, this supply pallet is re-stored in the automatic warehouse by the stacker crane.

[0004]

In the conventional automatic loading method as described above, when the required article based on the next shipping command is the article of the re-stored supply pallet, the supply pallet is again The robot will move to the article removal position of the industrial robot. Therefore, the work of the industrial robot is interrupted while the re-stored supply pallet is placed at the article unloading position, so that there is a problem that the efficiency of the automatic loading work is reduced. It should be noted that such work interruptions of the industrial robot become more frequent when articles of the same kind and having a small number of items to be loaded are loaded, and the efficiency of the automatic loading operation is further reduced.

Further, since the loading place of the industrial robot, the receiving place of the article to the three-dimensional warehouse, and the leaving place of the article to the three-dimensional warehouse are provided between the two three-dimensional warehouses, each of the three-dimensional warehouses, that is, 2 It is necessary to install transportation means such as the base stacker crane and conveyor. For this reason, there has been a problem in that the interval between the two multi-story warehouses is widened, a surprisingly large installation space is required as a whole, and the cost of the automatic loading device increases.

The present invention has been made in order to solve the above problems, and an object of the present invention is to provide an automatic loading method in which the interruption of the loading operation by reloading the supply pallet of the required articles from the three-dimensional warehouse is reduced. To aim. Moreover, it aims at obtaining the automatic loading method which can install an automatic loading device in a small space.

[0007]

In the automatic loading method according to the present invention, a supply pallet, which is stored in an automatic warehouse and on which a required article based on a shipping instruction is placed, is supplied to an article removal position of an industrial robot. Supply process, stacking process of loading the products on the supply pallet at the product removal position on the shipping pallet by the industrial robot based on the shipping command, and when there is residual product on the supply pallet at the product removal position at the end of the loading process In the moving process of moving this supply pallet to the temporary standby position and the loading process based on another shipping command after the completion of the loading process, the temporary standby is performed when the items of the supply pallet placed in the temporary standby position are required. And a re-supply process of re-supplying the supply pallet at the position to the article take-out position.

Further, in the automatic loading method according to the present invention, the three-dimensional warehouses arranged to face each other and the three-dimensional warehouses are housed in an automatic warehouse provided with a stacker crane between the three-dimensional warehouses. A supply step of supplying the supply pallet on which the article is placed to the article removal position of the industrial robot provided at the longitudinal end of the three-dimensional warehouse,
The loading process of loading the articles on the supply pallet at the article take-out position by the industrial robot on the shipping pallet based on the shipping command, and the supply pallet when there is a residual article at the article pick-up position at the end of the loading step. To the temporary standby position and when the loading process based on another shipping command after the completion of the loading process requires the articles on the temporary pallet placed at the temporary standby position And a re-supplying process for re-supplying the product to the article take-out position.

In addition, in the automatic loading method according to the present invention, two sets of automatic warehouses are provided in which stacker cranes are provided between the three-dimensional warehouses arranged opposite to each other,
An industrial robot provided at the longitudinal end of the three-dimensional warehouse and a connection conveyor for connecting the automatic warehouse to each other are provided, and the supply pallet stored in the three-dimensional warehouse and on which the required articles based on the shipping instruction are placed are connected to the connection conveyor. A supplying step of supplying the article to the article unloading position of the industrial robot via the, and a stacking step of stacking the article of the supply pallet at the article unloading position on the shipping pallet by the industrial robot based on the shipping instruction,
At the end of this stacking process, when there are remaining products in the supply pallet at the product removal position, the moving process that moves this supply pallet to the temporary standby position and the stacking process based on other shipping commands after the completion of the stacking process , And a re-supplying step of re-supplying the supply pallet at the temporary standby position to the product unloading position when the supply pallet at the temporary standby position is required.

[0010]

In the automatic loading method as described above, when the articles on the supply pallet arranged at the temporary standby position are required for the loading step based on another shipping instruction after the loading step is completed,
The supply pallet at the temporary standby position is re-supplied to the article removal position.

Further, in the automatic loading method as described above, the three-dimensional warehouses arranged facing each other and the stacker crane are provided between these three-dimensional warehouses, and the industrial robot is arranged at the longitudinal end of the three-dimensional warehouse. When the articles in the supply pallet placed in the temporary standby position are required for the loading step based on another shipping instruction after the end of the loading step, the supply pallet in the temporary standby position is re-supplied to the article removal position. It

Further, in the automatic loading method as described above, two sets of an automatic warehouse in which stacker cranes are provided between the three-dimensional warehouses arranged opposite to each other, and provided at the longitudinal end of the three-dimensional warehouse. When a connecting conveyor that connects the industrial robot and the automated warehouse to each other is provided, and the goods on the supply pallet placed in the temporary standby position are needed for the loading process based on another shipping instruction after the loading process is completed. The supply pallet at the temporary standby position is re-supplied to the article removal position.

[0013]

【Example】

Example 1. FIG. 1 is a conceptual plan view of an automatic loading apparatus showing an embodiment of the present invention. In the figure, (1) is an automatic warehouse, which is a stacker crane (4) that travels on a rail (3) between two multi-story warehouses (2) and two multi-story warehouses (2) that are separated from each other and whose lengths are parallel to each other. ) Is installed. Further, as shown in FIG. 1, the multi-level warehouse (2) is provided with a loaded pallet storage area (5), a supply pallet storage area (6) and an empty pallet storage area (7).

(8) is a supply pallet, (9) is a shipping pallet,
(10) is an industrial robot installed facing one end of the rail (3), (11) is an article (12) loading position set on one side of the industrial robot (10), (13) Is a take-out position of the article (12) set on the other side of the industrial robot (10).

(14) is a three-dimensional warehouse on one side (2) and an industrial robot
Temporary placement position of pallet set between (10), (15) Temporary standby of loaded shipping pallet (9) set between other side multi-story warehouse (2) and industrial robot (10) The position. (16)
Is the standby position for the storage of the supply pallet (8) set facing the end of the anti-industrial robot (10) side of one of the three-dimensional warehouse (2),
(17) is an exit standby position of the loaded shipping pallet (9) set opposite to the end of the other three-dimensional warehouse (2) on the anti-industrial robot (10) side.

(18) is a stacking position (12), as shown in FIG.
Temporary standby position (1) for take-out position (13) and supply pallet (8)
4), the first conveyor provided between the temporary standby position (15) of the loaded shipping pallet (9) and the three-dimensional warehouse (2), and (19) is the storage standby position (16) of the supply pallet (8) ), A second conveyor provided between the exit standby position (17) of the loaded shipping pallet (9) and the three-dimensional warehouse (2).

(20) is a three-dimensional warehouse (2), stacker crane
(4), industrial robot (10), control device connected to first conveyor (18) and second conveyor (19), (21) is control device (20)
It is a shipping command device that issues a shipping command to the. The space between the three-dimensional warehouse (2) is the supply pallet (8) and shipping pallet.
It is set slightly wider than the size of (9). The outer dimensions of the stacker crane (4) orthogonal to the traveling direction are shorter than the dimensions of the supply pallet (8) and the shipping pallet (9).

The stacker crane (4) is a three-dimensional warehouse.
It is configured so that it can operate from the bottom to the top of (2). In addition, the stacker crane (4) travels outside the longitudinal end of the multi-story warehouse (2), and the temporary standby position (14) of the supply pallet (8) and the temporary standby position of the loaded shipping pallet (9). (1
5) It faces the warehousing standby position (16) of the supply pallet (8) and the warehousing standby position (17) of the loaded shipping pallet (9).

With the above configuration, the articles (12) are automatically loaded as described below. That is, the shipping instruction device (21) inputs the first shipping instruction for one customer to the control device (20). As a result, the types of stowed articles (12) according to the first shipping instruction, for example, three types of articles (12)
The stacking order of these articles (12), the stacking position on the shipping pallet (9), etc. are determined by the control device (20).

As a result, the control device (20) supplies a command to the stacker crane (4) for the supply pallet (8) on which the required articles (12) for loading are placed, and the industrial robot (10) receives the articles for loading (12). ) And a transfer command to the first conveyor (18) and the second conveyor (19) to move the pallet to the required position. Then, by the operation of the stacker crane (4), the empty shipping pallet (9) is placed on the first conveyor (18) from the empty pallet storage area (7) at the temporary placement position (14), and the empty shipping pallet (9) is removed. The operation of the first conveyor (18) causes the article (1
It is placed at the stowage position (11) in 2).

Next, the stacker crane (4) is operated to move the first supply pallet (8) on which the first stowable goods (12) are placed from the supply pallet storage area (6) to the temporary placement position (14). ), The first supply pallet (8) is placed at the take-out position (13) of the article (12) by the operation of the first conveyor (18). And the industrial robot (1
By the operation of (0), the first stowable article (12) is transferred from the first supply pallet (8) at the article (12) take-out position (13) to the article (12).
It is loaded on the shipping pallet (9) at the loading position (11).

Then, the packing of the first stowable goods (12) is completed, and the remaining goods (12) are placed on the first supply pallet (8).
If there is, the first supply pallet (8) is placed at a proper position of the first conveyor (18), that is, a temporary standby position by the operation of the first conveyor (18).

Next, by the operation of the stacker crane (4), the second stowage-needed article from the supply pallet storage area (6).
The second supply pallet (8) on which (12) is placed is the temporary placement position.
At (14), it is placed on the first conveyor (18), and the second supply pallet (8) is placed at the article (12) take-out position (13) by the operation of the first conveyor (18). Then, by the operation of the industrial robot (10), the second article to be stowed (12) is transferred from the second supply pallet (8) at the article (12) take-out position (13) to the article (12) stowage position (11). It is stowed on the shipping pallet (9).

[0024] Then, the loading of the second required articles for loading (12) is completed, and the remaining articles (12) are placed on the second supply pallet (8).
If there is, the second supply pallet (8) is placed at a proper position of the first conveyor (18), that is, a temporary standby position by the operation of the first conveyor (18).

Further, by the operation of the stacker crane (4), the third supply pallet (8) on which the third stowable goods (12) is placed from the supply pallet storage area (6) is placed at the temporary placement position (14). ), The third supply pallet (8) is placed on the article (12) take-out position (13) by the operation of the first conveyor (18). And industrial robots (10)
By the action of, the third supply pallet (8) from the third supply pallet (8) at the article (12) take-out position (13) to the shipping pallet (9) at the article (12) loading position (11) Stowed.

The loading of the third required article (12) for loading is completed, and the remaining articles (12) are placed on the third supply pallet (8).
If there is, the third supply pallet (8) is placed at a proper position of the first conveyor (18), that is, a temporary standby position by the operation of the first conveyor (18). It should be noted that the remaining items after the loading (12)
A large number of supply pallets (8) with
8) It is conceivable that the space at the above temporary standby position will be insufficient. However, when such a situation is assumed, a conveyor corresponding to the first conveyor (18) can be added around the industrial robot (10) to expand the space of the temporary standby position to cope with the situation.

Next, the shipping pallet (9) in which the loading of all articles (12) required for loading in the first shipping instruction has been completed.
Is transferred to the temporary standby position (15) of the loaded shipping pallet (9) by the operation of the first conveyor (18). Then, the stacked pallets are loaded by the operation of the stacker crane (4).
(9) is stored in the loaded shipping pallet storage area (5) in the three-dimensional warehouse (2) as shown in FIG.

Next, a second shipping command for another customer is input from the shipping command device (21) to the control device (20). As a result, the type of stowed article (12) according to the second shipping instruction,
For example, three types of articles (12), the stacking order of these articles (12), the stacking position on the shipping pallet (9), and the like are control devices.
Determined by (20).

Then, the controller (20) controls the first conveyor.
The excess and deficiency of the required number in the second shipping command with respect to the number of articles (12) required for loading on the supply pallet (8) at the temporary standby position of (18) is verified. As a result, if the number of articles (12) required for loading on the supply pallet (8) is insufficient, the stacker crane (4) operates and the supply pallet (8) on which the corresponding article (12) required for loading is placed. 8) is moved from the three-dimensional warehouse (2) to the first conveyor (18). Then, together with the other supply pallets (8) at the temporary standby position of the first conveyor (18), the articles are timely.
(12) It is placed at the take-out position (13).

On the other hand, by the operation of the stacker crane (4), the empty shipping pallet (9) from the empty pallet storage area (7) for the second shipping instruction is placed on the first conveyor (18) at the temporary placement position (14). Then, the empty shipping pallet (9) is placed at the article (12) loading position (11) by the operation of the first conveyor (18).

Next, if the number of articles (12) required for stowage on the first supply pallet (8) at the temporary standby position of the first conveyor (18) satisfies the required number in the second shipping instruction, No. 1 supply pallet (8) is moved by the operation of the first conveyor (18)
(12) It is placed at the take-out position (13). Then, by the operation of the industrial robot (10), the first position of the article (12) take-out position (13)
From the supply pallet (8) of item (1), the first article (12) to be stowed is stowed onto the shipping pallet (9) at the stowage position (11) of the article (12).

If the number of articles (12) required for stowage on the first supply pallet (8) at the temporary standby position of the first conveyor (18) is insufficient to the required number in the second shipping instruction, The stacker crane (4) operates like the above and the supply pallet (8) on which the first stowable goods (12) is placed is the three-dimensional warehouse (2).
To the first conveyor (18).

Then, when there is no article (12) on the first supply pallet (8) after the article (12) required for the first stowage has been loaded, the first conveyor (18) and the stacker crane (4). By the action of the first, the first place in the empty pallet storage area (7) of the three-dimensional warehouse (2)
The supply pallet (8) is stored.

The articles (1) are placed on the first supply pallet (8).
When 2) remains, the first supply pallet (8) is arranged at an appropriate position of the first conveyor (18), that is, a temporary standby position.
However, the first supply pallet (8) waiting at the temporary standby position
If there is no prospect of loading the goods (12) of No. 1, the first supply pallet (8) is stored in the supply pallet storage area (6) of the three-dimensional warehouse (2) by the operation of the stacker crane (4). .

As a result, the space at the temporary standby position in the first conveyor (18) can be effectively used. Further, there is no extra supply pallet (8) at the temporary standby position on the first conveyor (18), and the supply pallets (8) of other articles (12) required for stacking can be quickly moved to the article (12) take-out position ( It is possible to move to 13) and improve the efficiency of automatic loading work.

Then, by the operations of the stacker crane (4), the industrial robot (10) and the first conveyor (18) similar to the above-described loading of the first required articles for loading (12), the second, The third article (12) required to be stowed is stowed. Next, the shipping pallet (9) on which all the required articles for packing (12) have been loaded is transferred to the temporary standby position (15) of the loaded shipping pallet (9) by the operation of the first conveyor (18). It
Then, the loaded shipping pallet (9) is stored in the loaded shipping pallet storage area (5) of the three-dimensional warehouse (2) by the operation of the stacker crane (4).

Storage area for loaded shipping pallets
The loaded shipping pallet (9) stored in (5) is moved to the delivery standby position (17) by the operation of the stacker crane (4) at a suitable time, and is transported to the shipping site by the second conveyor (19). Further, the supply pallets (8) on which the articles (12) are stacked and stored in the three-dimensional warehouse (2) are arranged at the storage standby position (16) by the second conveyor (19), and the operation of the stacker crane (4). Is stored in a predetermined supply pallet storage area (6).

In this manner, a plurality of types of stowable articles (12) are stowed on the shipping pallet (9) in response to the shipping instruction. Then, when the required article based on the next shipping instruction is the same as the article required to be stacked (12) of the previous shipping instruction, the supply pallet at the temporary standby position of the first conveyor (18).
(8) is placed at the article (12) take-out position (13). For this reason, the step of carrying out the supply pallet (8) on which the stowage-required goods (12) are placed, which has been stowed in response to the previous shipping instruction, from the three-dimensional warehouse (2) is omitted.

Therefore, the re-stored required goods for stowage
(12) The work interruption of the industrial robot (10) while the placed supply pallet (8) is placed at the article removal position (13) is eliminated. As a result, the efficiency of the automatic loading operation can be improved. Further, a stacker crane (4) is provided between the two multi-story warehouses (2), and the industrial robot (10) has an article (12) loading position (11) and an article at the longitudinal end of the three-dimensional warehouse (2). (12) Take-out position (13), supply pallet (8) storage standby position (16),
An exit standby position (17) for the loaded shipping pallet (9) is provided. As a result, the automatic loading device can be installed in a small space, and the equipment cost can be reduced.

Further, the storage area (6) for supplying pallets and the storage area (7) for empty pallets in the automatic warehouse (1) are set as described below to shorten the moving distance of each pallet and improve the efficiency of the load handling operation. Therefore, the efficiency of the automatic loading operation can be further improved. That is, the industrial robot (10)
Goods (12) that are frequently loaded in the border of the three-dimensional warehouse (2) near
It stores the supply pallet (8) on which is placed, and also sets an empty pallet storage area (7). In addition, industrial robots (1
Items that are rarely stowed in the boundary of the three-dimensional warehouse (2) far from (0)
While storing the supply pallet (8) on which (12) is placed,
A storage area for loaded shipping pallets (5) is set in the boundary area of the multilevel warehouse (2) near the exit waiting position (17).

Example 2. FIG. 2 is a conceptual plan view of an automatic loading device showing another embodiment of the present invention. The automatic loading device is provided similarly to FIG. 1 except for FIG. In the figure, the same symbols as in FIG. 1 indicate the corresponding parts, and (1) is the first
In an automatic warehouse, two multi-story warehouses (2) are arranged apart from each other in parallel with each other and a stacker crane (4) traveling on a rail (3) is installed between the two multi-story warehouses (2). (Ten
1) is a second automated warehouse constructed in the same manner as the first automated warehouse (1), and is provided with a three-dimensional warehouse (2) etc.
Are arranged in parallel with.

(22) is the first automated warehouse (1) and the second automated warehouse (10
1) A first connecting conveyor provided by connecting the respective first conveyors (18), (23) is a second conveyor (19) for each of the first automated warehouse (1) and the second automated warehouse (101) It is the 2nd connection conveyor provided by connecting. The control device (20) is a three-dimensional warehouse (2), a stacker crane (4), an industrial robot (1
0), the first conveyor (18), the second conveyor (19), the first connecting conveyor (22) and the second connecting conveyor (23).

With the above-described structure, as in the embodiment shown in FIG. 1, a plurality of types of articles 12 to be stowed on the shipping pallet 9 in response to the shipping instruction are stowed. Then, when the required article based on the next shipping instruction is the same as the stowable article (12) of the previous shipping instruction, the supply pallet (8) at the temporary standby position of the first conveyor (18) is the article. (12) Removal position
It is located at (13). For this reason, the supply pallet on which the goods to be stowed (12) that have been stowed according to the previous shipping instruction are placed
The step of carrying out (8) again from the three-dimensional warehouse (2) can be omitted.

Therefore, although detailed description is omitted, FIG.
It is obvious that the same effect as in the embodiment of FIG. Also, in the embodiment of FIG.
Since both the automatic warehouse (1) and the second automatic warehouse (101) are connected by the first connecting conveyor (22) and the second connecting conveyor (23), the supply pallet ( 8) can be moved to the article (12) take-out position (13) of the industrial robot (10) corresponding to the other.

Further, it is possible to effectively use one of the above-mentioned empty spaces, and for example, the loaded shipping pallet (9) is placed in the loaded shipping pallet storage area (5) of either of the above. Can be stored. In this way, the storage positions of the above-mentioned two-dimensional warehouse (2) and goods (12)
(11), article (12) take-out position (13), pallet temporary placement position (14), loaded standby pallet (9) temporary standby position (1
5), the storage standby position (16) of the supply pallet (8) and the storage standby position (17) of the loaded shipping pallet (9) can be shared.

Therefore, the flexibility of the work is increased in the movement of the take-out position (13) of the supply pallet (8), the storage area of the loaded shipping pallet (9) in the loaded shipping pallet (5), etc. The work efficiency can be further improved. Further, both the first automatic warehouse (1) and the second automatic warehouse (101) are provided close to each other, and the both are connected by the first connecting conveyor (22) and the second connecting conveyor (23). ing. Therefore, an automatic loading device that operates with high efficiency can be installed in a small space, and the equipment cost can be reduced.

The first automated warehouse (1) and the second automated warehouse (10
1) Supply pallet (8) by concentrating and storing the supply pallet (8) on which the specific goods (12) are placed in the specific area of the three-dimensional warehouse (2) The storage efficiency of can be improved.

[0048]

As described above, according to the present invention, the supply step of supplying the supply pallet stored in the automatic warehouse and having the required articles based on the shipping instruction to the article take-out position of the industrial robot, and the industrial robot. The stacking process of stacking the articles on the supply pallet at the article unloading position on the shipping pallet based on the shipping command, and the provisional pallet at the end of this loading step When the transfer process that moves to the standby position and the loading process based on another shipping command after the loading process are completed, when the items in the supply pallet placed in the temporary standby position are required The re-supplying process for re-supplying to the take-out position is set.

As a result, when a product in the supply pallet arranged at the temporary standby position is required for the stacking process based on another shipping instruction after the end of the stacking process, the supply pallet at the temporary standby position is moved to the product removal position. Will be re-supplied to. For this reason, the step of unloading the supply pallet on which the stowage-required articles are placed, which has been stowed in response to the previous shipping instruction, from the three-dimensional warehouse again is omitted. Then, the work interruption of the industrial robot during the movement of the supply pallet for loading the required loading articles from the three-dimensional warehouse again is eliminated, and the efficiency of the automatic loading operation is improved.

Further, as described above, the present invention is stored in the multi-story warehouses which are arranged to face each other and the automatic warehouse in which the stacker crane is provided between these multi-story warehouses, and the required articles based on the shipping instruction are stored. The supply process of supplying the supply pallet on which is placed to the article take-out position of the industrial robot provided at the longitudinal end of the three-dimensional warehouse, and the shipment of the article on the supply pallet at the article take-out position by the industrial robot based on the shipping instruction. A stow process to stow
At the end of this stacking process, when there are remaining products in the supply pallet at the product removal position, the moving process that moves this supply pallet to the temporary standby position and the stacking process based on other shipping commands after the completion of the stacking process A re-supplying step for re-supplying the supply pallet at the temporary standby position to the product unloading position when the supply pallet at the temporary standby position is needed.

Thus, the three-dimensional warehouses arranged opposite to each other and the stacker crane are provided between the three-dimensional warehouses, the industrial robots are arranged at the longitudinal ends of the three-dimensional warehouses, and other stacking cranes after the stacking process are completed. When the product of the supply pallet arranged at the temporary standby position is required for the stowage process based on the shipping instruction, the supply pallet at the temporary standby position is re-supplied to the product removal position. For this reason, the step of unloading the supply pallet on which the stowage-required articles are placed, which has been stowed in response to the previous shipping instruction, from the three-dimensional warehouse again is omitted. Then, the work interruption of the industrial robot during the movement of the supply pallet for loading the required loading articles from the three-dimensional warehouse again is eliminated, and the efficiency of the automatic loading operation is improved.

In addition, a stacker crane is provided between the three-dimensional warehouses arranged opposite to each other, and an industrial robot is arranged at the longitudinal end of the three-dimensional warehouse, and the industrial robot takes out and stacks the articles. As a result, there is an effect that automatic loading work can be performed in a small space and the facility cost can be reduced.

Further, as described above, the present invention is provided in two sets of the automatic warehouse in which the stacker cranes are provided between the three-dimensional warehouses arranged to face each other, and in the longitudinal end portion of the three-dimensional warehouse. A connection conveyor that connects the industrial robot and the automated warehouse is provided, and the supply pallet that is stored in the multi-story warehouse and has the required articles based on the shipping instruction is sent to the article removal position of the industrial robot through the connection conveyor. The supply process of supplying, the stacking process of stacking the products on the supply pallet at the product removal position on the shipping pallet by the industrial robot based on the shipping command, and the remaining products on the supply pallet at the product removal position at the end of the loading process. At a certain time, there are a moving process that moves this supply pallet to a temporary standby position and a loading process based on another shipping command after the loading process is completed. In which article supply pallet disposed in the temporary standby position is set and re-supplying step re-supplying to the take-out article to the supply pallet provisional standby position when the required position.

As a result, two sets of automatic warehouses in which stacker cranes are provided between the three-dimensional warehouses arranged opposite to each other, the industrial robot provided at the longitudinal end of the three-dimensional warehouse, and the automatic warehouses are connected to each other. When a product is supplied from the supply pallet placed at the temporary standby position in the stacking process based on another shipping instruction after the completion of the stacking process, the supply pallet at the temporary standby position takes out the product. Re-supplied to position. For this reason, the step of unloading the supply pallet on which the stowage-required articles are placed, which has been stowed in response to the previous shipping instruction, from the three-dimensional warehouse again is omitted.
Then, the work interruption of the industrial robot during the movement of the supply pallet for loading the required loading articles from the three-dimensional warehouse again is eliminated, and the efficiency of the automatic loading operation is improved.

Further, two sets of automatic warehouses in which stacker cranes are provided between the three-dimensional warehouses opposed to each other, the industrial robot provided at the longitudinal end of the three-dimensional warehouse, and the automatic warehouses are connected to each other. A connecting conveyor is provided, and an industrial robot is placed at the longitudinal end of the three-dimensional warehouse.
Articles are picked up and stowed by an industrial robot via a connecting conveyor. As a result, there is an effect that automatic loading work can be performed in a small space and the facility cost can be reduced. In addition, the flexibility of work is increased in moving the take-out position of the supply pallets from the two sets of automated warehouses, storing the loaded shipping pallet in the storage area of the loaded shipping pallet, etc.
This has the effect of further improving the efficiency of automatic loading work.

[Brief description of drawings]

FIG. 1 is a conceptual plan view of an automatic loading device showing a first embodiment of the present invention.

FIG. 2 is a conceptual plan view of an automatic loading device showing a second embodiment of the present invention.

[Explanation of symbols]

1 automatic warehouse, 1st automatic warehouse, 2 three-dimensional warehouse, 4 stacker crane, 8 supply pallets, 9 shipping pallets,
10 industrial robot, 12 article, 13 article take-out position, 22 first connection conveyor, 23 second connection conveyor, 101 second automated warehouse.

Claims (3)

[Claims] 1. A supply step of supplying a supply pallet, which is stored in an automated warehouse and has required articles on the basis of a shipping command, to an article removal position of an industrial robot, and a supply pallet at the article removal position by the industrial robot. Step of stacking the articles of No. 1 to the shipping pallet based on the above-mentioned shipping command, and when there is a remaining article in the supply pallet at the article take-out position at the end of this loading step, this supply pallet is moved to the temporary standby position. When the moving step and the loading step based on another shipping command after the loading step are finished, when the articles in the supply pallet placed in the temporary standby position are required, the supply pallet in the temporary standby position is taken out of the article. An automatic loading method comprising a re-feeding process of re-feeding to a position. 2. A supply pallet, which is stored in a multi-story warehouse which is arranged to face each other and an automatic warehouse in which a stacker crane is provided between these multi-story warehouses, and on which required articles based on a shipping instruction are placed. Supplying process of supplying to the article take-out position of the industrial robot provided at the longitudinal end of the three-dimensional warehouse, and stacking the article of the supply pallet at the article take-out position by the industrial robot on the shipping pallet based on the above-mentioned shipping instruction The process, the moving process of moving the supply pallet to the provisional standby position when there is a remaining product in the supply pallet at the product removal position at the end of the stacking process, and the other shipping command after the completion of the stacking process. When the article of the supply pallet arranged at the temporary standby position is required for the stowage process based on An automatic loading method comprising a re-feeding process of re-feeding to the delivery position. 3. Two sets of automatic warehouses in which stacker cranes are provided between mutually facing three-dimensional warehouses, an industrial robot provided at a longitudinal end of the three-dimensional warehouses and the above-mentioned automatic warehouses. A supply process in which a connection conveyor for connecting is provided, and a supply pallet stored in the three-dimensional warehouse and on which required articles based on a shipping instruction are placed is supplied to the article removal position of the industrial robot via the connection conveyor. And a stacking step of stacking the articles on the supply pallet at the article unloading position on the shipping pallet by the industrial robot based on the shipping instruction, and the remaining articles on the supply pallet at the article unloading position at the end of the loading step. A moving process that moves this supply pallet to a temporary standby position at a certain time, and a stacking worker based on another shipping command after the completion of the above-mentioned stacking process. An automatic loading method including a re-feeding step of re-feeding the supply pallet at the temporary standby position to the article unloading position when the supply pallet at the temporary standby position is needed.