| 摘要 |
PURPOSE:To perform the setting of a stacking position and the automatic teaching of the stacking operation easily and speedly by forming a stacking pattern and automatically forming the stacking position of products, the operating course of a robot and its operation control information on the basis of the stacking pattern. CONSTITUTION:Product arrangement (plane pattern) corresponding to one step out of many steps of products stacked on a pellet is formed every sort of products, every combination matched at the height of the products and stored in an external storage device. The plane pattern constituted of products requested to be discharged is retrieved and respectively retrieved plane patterns are successively stacked to form a stacking pattern. The formed stacking pattern group for one day is registered in the external storage device. The stacking position of the products, the operating course of the robot up to the stacking position, operation control information, etc. are formed from the stacking patterns and these information are automatically teached to the robot. |
