| 摘要 |
PURPOSE:To make a system selectable from automatic loading to the manual one so smoothly, by installing a first controller, which reduces each feed speed of a feeder and a conveyor, and a second controller which retracts a handling arm from an operating zone at the time of freight stowage trouble happening. CONSTITUTION:At the time of freight automatic loading, if there is something trouble in stowage on a pallet 3, this trouble is detected by a detector 6. The detecting signal inputted into a command unit 10, outputting a command signal to these first and second controllers 7 and 8 and a trouble display unit 9. On the basis of this command signal, each feed speed of a feeder 1 and a conveying device 2 is controlled for deceleration, insomuch that manual operation is performable. On the other hand, a stowage robot 4 is operated and controlled by the second controller 8 whereby the freight K1 held by a handling arm 5 is temporarily placed on the specified place 11. Then, this arm 5 is retracted from an operating zone. In addition, stowage trouble in the freight is displayed with the trouble display unit 9, and the freight stowage is selected to the manual operation without stopping the whole lot of a stowage system. |
