| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To achieve efficient palletizing by suppressing the time of overlapping of pallet exchange timings of a plurality of pallets in a simple composition in a palletizer for palletizing a plurality of kinds of workpieces supplied successively in each kind. <P>SOLUTION: The palletizer 1 has a buffer part 2 for classifying the workpieces W by kind and temporarily storing them, a robot 3 for transferring the workpieces W to a pallet P from the buffer part 2, and a control part 4 for controlling the robot 3. The control part 4 includes obtaining the number R=(M-N) of residual workpieces in each pallet P from the number N of loaded workpieces and the number M of full-state workpieces in each transferring work by the robot 3; obtaining the residual loading time Tr=Δt×R up to loading completion in each pallet P on the basis of the number R of residual workpieces and a transferring timeΔt required for transferring workpieces per one time; and selecting the pallet P performing transferring work so that the residual loading time Tr of at least one pallet P is not shorter than a fixed pallet exchange time T required for pallet exchange work. <P>COPYRIGHT: (C)2012,JPO&INPIT</p> |
