CN108463419A - Sorting system - Google Patents

Sorting system Download PDF

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Publication number
CN108463419A
CN108463419A CN201680075341.2A CN201680075341A CN108463419A CN 108463419 A CN108463419 A CN 108463419A CN 201680075341 A CN201680075341 A CN 201680075341A CN 108463419 A CN108463419 A CN 108463419A
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CN
China
Prior art keywords
commodity
container
conveying containers
robot
region
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201680075341.2A
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Chinese (zh)
Inventor
松浦圭来
杉内创
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ishida Co Ltd
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Ishida Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2015-251032 priority Critical
Priority to JP2015251032 priority
Application filed by Ishida Co Ltd filed Critical Ishida Co Ltd
Priority to PCT/JP2016/086587 priority patent/WO2017110509A1/en
Publication of CN108463419A publication Critical patent/CN108463419A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/137Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Abstract

A kind of sorting system takes out the order goods of order number specified in the ordering information obtained in advance from the warehousing region for hoarding commodity according to classification, and the order goods taken out is piled up in conveying containers, wherein the sorting system has:Supply unit conveys conveying containers;Multiple robots take out from warehousing region and order the goods, and the order goods taken out is put into conveying containers;And notification unit, obtain the surplus for hoarding each commodity in warehousing region after the predetermined time.

Description

Sorting system
Technical field
The present invention relates to a kind of sorting system, which is used to take out each shop by lot-size from warehousing region and order The extensive stock of purchase, and the order goods taken out is piled up in the conveying containers of dispatching.
Background technology
In convenience store, in order to not occur shortage of goods on display rack, commodity are dispensed from home-delivery center daily.In the quotient dispensed In product, the commodity such as box lunch, prepared food were repeatedly being dispensed on 1st in the morning, afternoon and evening.It has been introduced as a result, by each shop in home-delivery center Order goods pile up and dispense the sorting system of conveying containers in the conveying containers referred to as plastic crate.
Typical sorting system has:Conveyer conveys the conveying containers in each shop;Pallet is arranged along the conveyer Row;A variety of commodity are divided, are accommodated in the pallet;And multiple displays, show the order number of a commodity.Work as mounting When the conveying containers in each shop of conveyer reach scheduled pallet, the aobvious of the order goods in the shop of the pallet is reached Show that number is ordered in device display.Operator takes out the order goods for ordering number when observing display from pallet, and will be taken The codeword value gone out is put in the conveying containers in the shop.After a pallet completes such operation, the conveying containers in each shop It is conveyed to the pallet where next operator.In this way, whenever the conveying containers in each shop are by the operation area of each operator When domain conveys, the order goods of number is ordered in sorting, to complete the conveying containers (referring to patent document 1) per shop.
On the other hand, in warehouse, logistics center etc., replace the sorting system of such hand and introduced the machine of being based on The Automated Sorting System of device people.In Automated Sorting System, robot takes out from pallet to be specified commodity and is put into container, machine People will be from the commodity that supply of material assembly line conveying comes to pallet (with reference to patent document 2).
Bibliography
Patent document
Patent document 1:Japanese Patent Publication 7-45283 bulletins
Patent document 2:Japanese Unexamined Patent Publication 6-92410 bulletins
Patent document 3:Japanese Unexamined Patent Publication 2009-23741 bulletins
Invention content
The technical problems to be solved by the invention
In hand sorting system recorded in patent document 1, each pallet is divided into multiple areas, the areas Qie Ge peace Row has operator.After each operator completes sorting, the conveying containers for being admitted to each shop in each area are conveyed to next area.Cause This, if the non-scheduling job person in each region, sorting operation is stagnated.In order to meet the dispatching in early morning, the late into the night, need at work Between outer sorting operation of changing shifts, there is the puzzlement for the operator for being unable to ensure necessary number.
Accordingly, there exist the trials that robot is introduced in home-delivery center recorded in patent document 2.However it is distributed to daily In the commodity of convenience store, such as box lunch, chilled food etc. are in the majority.When home-delivery center sorts such commodity, it is By variform extensive stock, closely code enters in conveying containers, needs the robot using high intelligence, cost of equipment anxious Increase severely and adds.Based on such reason, the sorting operation of home-delivery center still relies on operator.
In addition, the amount of hoarding due to pallet is limited, the operator of fill-ins will in time fill-ins to prevent from storing up Lack commodity on shelf.However there is also following problems, when a variety of commodity lack simultaneously, operator can not judge should be excellent Which kind of commodity first supplemented.
For the problem, it is proposed that the support system recorded in patent document 3.In the support system, when by multiple works When industry person executes adjunctive program, which is suitably indicated.Also, in the support system, for each commodity Quantity in stock what kind of variation has occurred, it is surplus after ordering number hypothetically to acquire having been sorted from current quantity in stock for each commodity Remaining quantity in stock, and be determined as being predicted as the sequence that the commodity that the imagination quantity in stock formerly lacks preferentially are supplemented.
However, in the support system, though can not know if being aware of the sequence of supplement to when until must carry out The timing of supplement.Therefore, when operator takes excessive energy in a kind of supplement of commodity, there may be lack for other commodity Goods.In order to avoid shortage of goods, several operators are needed to arrange for, but will appear again overstaffed causes what production efficiency reduced to ask therewith Topic.
The present invention in view of this present situation, problem and make, a kind of novel sorting system is provided, Simple robot is passed through Labor-saving can be realized with the cooperating for operator of intelligent operation can be carried out, and can be with minimum required number in time Fill-ins is out of stock to avoid occurring on pallet.
Means for solving technical problem
Sorting system according to an embodiment of the present invention takes from the warehousing region for hoarding commodity according to classification Go out the order goods of order number specified in the ordering information obtained in advance, and the order goods taken out is piled up in fortune Send container, wherein sorting system has:Supply unit conveys conveying containers;Multiple robots take out from warehousing region and order Commodity, and the order goods taken out is put into conveying containers;And notification unit, it obtains each commodity hoarded in warehousing region and exists Surplus after predetermined time.
Invention effect
Sorting system according to an embodiment of the present invention can be obtained and be hoarded in each commodity in warehousing region pre- Surplus after fixing time.Thus it is for example possible to be informed and the relevant information of acquired surplus to operator.To make Industry person can fill-ins occur to avoid the commodity hoarded it is out of stock.Thus, the sorting operation with robot will not be stagnated Effect.
Description of the drawings
Fig. 1 is the structural schematic diagram of the automatic sorting assembly line of an embodiment.
Fig. 2 for show the amounts of hoarding of each commodity in warehousing region with sorting number changes the case where histogram Figure.
Fig. 3 is saying for an example of the display supplemented it for a variety of commodity notice of surplus arrival critical mass Bright figure.
Fig. 4 is the structural schematic diagram of the sorting system of an embodiment.
Fig. 5 is the figure of the configuration structure of the first supply unit and supply conveyor in an embodiment.
Fig. 6 is the definition graph of an example for showing to order the goods when being accommodated in conveying containers.
Fig. 7 is to take out the explanation that region takes out commodity a and puts it into conveying containers C1 from commodity.
Fig. 8 is to take out the definition graph that region takes out commodity b and puts it into conveying containers C1 from commodity.
Fig. 9 is the definition graph that commodity are taken out to the container CC in region and are sent out to the first supply unit T1.
Figure 10 takes out commodity a to take out the container CC in region from commodity and the commodity a taken out is put into conveying containers C3 Definition graph.
Figure 11 takes out commodity c to take out the container CC in region from commodity and the commodity c taken out is put into conveying containers C3 Definition graph.
Figure 12 is the vertical view of the structure of a unit of the automatic sorting assembly line for showing one embodiment of the present invention.
Figure 13 is the side view of Figure 12.
Figure 14 is the stereoscopic figure for the structure for showing a unit in manual sortation assembly line.
Figure 15 is the block diagram of the control system of the sorting system of an embodiment.
Specific implementation mode
An embodiment of the sorting system of the present invention is illustrated below with reference to accompanying drawings.It should be noted that with The technical scope that embodiment is not intended to limit the present invention shown in lower.
Fig. 1 is the structural schematic diagram of the automatic sorting assembly line of an embodiment.In Fig. 1, automatic sorting assembly line has The standby warehousing region A for hoarding commodity G according to classification (in the frame that chain-dotted line surrounds).Further, automatic sorting flowing water Line is also equipped with the supply unit T for conveying the conveying containers C along each shop that warehousing region A is configured.In addition, automatic sorting stream Waterline is also equipped with multiple robot RB, order specified from taking-up ordering information in the A of warehousing region multiple robot RB Commodity, and in the conveying containers C that the order goods taken out is put on supply unit T.Ordering information is specified order goods Information, be acquired in advance.Further, automatic sorting assembly line, which is also equipped with to obtain, hoards each commodity G in the A of warehousing region The notification unit AD of surplus after the predetermined time.Notification unit AD can be shown and the relevant information of acquired surplus.Example Such as, the commodity G of critical mass is reached for surplus, notification unit AD can notify operator to carry out the supplement of commodity G.
Multiple supply conveyors of the A for example by being arranged laterally side by side along the conveying direction F of supply unit T in warehousing region CV1~CVn (CV1~CVn is expressed as CV sometimes below) is constituted.Supply conveyor CV is sent into from rear and is accommodated with commodity G Container CC, and by container CC to the front of supply unit T supply.Therefore, various diverse commodity G are to be incorporated in modeling The state of the containers such as charging basket CC is stacked in the rear of supply conveyor CV.Also, commodity G is together with container CC by from supply conveyor Supply conveyor CV is sent at the rear of CV.After robot RB takes out commodity G so that container CC is emptying, empty container CC will make It is sent to supply unit T for conveying containers C.
Each robot RB takes out the shop institute after the conveying containers C in certain shop is sent to its operating area, from container CC The order goods of request, and the order goods taken out is put into the conveying containers C in the shop.In Fig. 1, table is come with circle Show the holder for picking up commodity G.The holder can be in the horizontal plane vertical or horizontally mobile as shown by the arrows.Also, In Fig. 1, a robot RB is configured for a supply conveyor CV.It should be noted that can also be across adjacent more A supply conveyor CV configures one and a robot RB is made to sort a variety of commodity G.Robot RB is dynamic by once sorting The quantity for making taken out commodity G is a packet made of one or more summarizes.Also, it if lot-size is multiple, weighs It is multiple to execute the action repeatedly taken out one by one.It should be noted that " sorting " as used in this specification refers to, from predetermined place Commodity G is taken out, and the commodity G taken out is put into a series of actions of conveying containers C.
Surpluses of each commodity G after the predetermined time in the A of warehousing region is hoarded in notification unit AD acquisitions.For example, notice Portion AD obtains surplus based on the workload of the ordering information and robot that get in advance.Then, notification unit AD makes and remains The relevant information of surplus is shown.Refer to the relevant information of surplus, surplus itself, surplus and critical mass ratio The time (away from the time that the time limit is remaining) etc. of critical mass is reached compared with result, apart from surplus.Face accordingly, for surplus arrival The commodity G of boundary's quantity, notification unit AD can notify operator W to carry out the supplement of commodity G.Therefore, notification unit AD is used for The notifying device of notice operator W be arranged at operator W it is observed that suitable position.In Fig. 1, as an example, it shows The container for being set to the rear of supply conveyor CV send the notifying device of entrance top.
In addition, the actuation time (an example of workload) when robot RB is sorted depends on setting for each robot RB Processing capacity.In addition, hoarding the amount of hoarding (surplus) in each commodity G of each supply conveyor CV with each robot RB's It sorts the increase of number (an example of workload) and gradually decreases.Therefore, as long as notification unit AD is divided every time in robot RB The surplus that each commodity G is inquired when picking, just will appreciate which at moment which kind of commodity surplus reach critical mass.
For example, (a)~(c) in Fig. 2 shows the amount of hoarding of commodity a~commodity n with sorting number by histogram And the case where changing.(a) in Fig. 2 indicates that the amount of hoarding of start time, (b) in Fig. 2 indicate to pass through from start time The amount of hoarding after 1 minute, (c) in Fig. 2 indicate the amount of hoarding after have passed through 2 minutes from start time.As an example, scheming It is shown as in (a) in 2, being hoarded on first supply conveyor CV1 has 40 commodity a, in second supply conveyor CV2 On hoard and have 60 commodity b, being hoarded on n-th of supply conveyor CVn has 50 commodity n.As an example, (b) in fig. 2 In be shown as, since each robot RB is sorted several times, after 1 minute, which is respectively that commodity a is reduced to 30 A, commodity b is reduced to 40, and commodity n is reduced to 30.As an example, it is shown as in (c) in fig. 2, after 2 minutes, The amount of hoarding is respectively that commodity a is reduced to 20, and commodity b is reduced to 30, and commodity n is reduced to 10.
Also, when the critical mass for needing to carry out the supplement of commodity G is set as 10, after the 2 minutes, notification unit AD is logical Know that operator W commodity n reaches critical mass.The notifying device of supplement as notice commodity G, such as can use and show the commodity The trade name of G or its hoard position (number) and the display away from remaining time in time limit (being 2 minutes in upper example).Substitution In this or on this basis, can also be notified using red, green, yellow three colors warning light.The time in time limit can suitably set.Away from Remaining time in time limit can also carry out countdown to be shown as time goes by.In addition, in the feelings of setting warning light Under condition, can also be set as proceeding as follows notice, such as point gives a green light before 3 minutes, within 3 minutes to 2 minutes it Before light amber light, point sends out a warning or makes its flicker within 2 minutes.Operator W is able to know that different commodity G must be as a result, When supplement is completed before, so as to masterly carry out adjunctive program.It should be noted that above time limit is only shown Example, the time in the time limit can suitably be changed according to size of the number of operator W, processing capacity and operation field etc..
In addition, in fill-ins G, the container CC of commodity can also be contained by supplement to carry out.For example, can mend The container CC for containing commodity is filled until filling up container CC on supply conveyor CV.At this time, it may be necessary to be registered in each container CC in advance In be accommodated with several commodity G.The amount of hoarding when filling up container CC can for example pass through the receipts of the commodity G in the container CC that will be supplemented Hold number plus the amount of hoarding before supplement to calculate.After supplement, operator W for example presses conclusion button to inform notification unit AD supplements terminate.Then, the amount of hoarding on the supply conveyor CV after supplement is updated to predetermined quantity by notification unit AD.It needs It is bright, it also may replace conclusion button and automatically detect supplement using sensor and terminate.Alternatively, it is also possible to be set as such as lower section Formula:The number of supplemented commodity G can be inputted from input unit, and use the number of inputted commodity G come after updating supplement Supply conveyor CV on the amount of hoarding.
In support system recorded in patent document 3, the operator of skilled operation with the hands can once take out multiple Commodity, and the commodity taken out consummate ground code is entered in conveying containers.However, unskilled operator with the hands can not once take Go out multiple commodity, enter the commodity taken out consummate ground code in conveying containers.Accordingly, it is difficult to according to the activity duration of each operator To predict supplement opportunity.In other words, the work proficiency of each operator is depended on, the workload of unit interval changes.With This is opposite, and in the system using the present embodiment of robot, each commodity can be inquired according to the sorting number of robot The amount of hoarding have occurred with time going by what kind of variation.In other words, with the wave of the workload of the unit interval based on people Dynamic to compare, the fluctuation of the unit interval of robot is smaller.Therefore, the system of present embodiment has substantially with existing support system Difference.In addition, in the system of present embodiment, due to being notified that the time remaining away from the time limit, operator being capable of sides Acknowledging time side is that adjunctive program prepares, off time can be utilized to put neat, stacked containers CC next time, to realize operation Efficient activity.
However, though the quantity that n-th of commodity after 3 minutes are shown in FIG. 2 reaches the critical number supplemented The example of amount, but be also possible to there are many commodity reach critical mass.When reaching critical mass there are many commodity, notification unit AD The sequencing that critical mass can be reached according to commodity, notifies the supplement of each commodity.
Fig. 3 is saying for an example of the display supplemented it for a variety of commodity notice of surplus arrival critical mass Bright figure.Here, the commodity that notifying device Ad should be supplemented first with large size text importing hoard position (number) and away from the time limit The remaining time shows the information for answering the commodity supplemented after second with usual size.Operator W is at a glance just as a result, It will appreciate that supplement sequence.
Even in addition, in the case where showing supplement sequence as shown in Figure 3, when the activity duration, there are ampleness When, operator W sometimes first supplement be located at it is neighbouring answer the commodity that second is supplemented, then supplement and remotely located answer first The commodity that position is supplemented, to realize the efficient activity of operation.Therefore, when reaching critical mass there are many commodity, notification unit AD also can notify the supplement of each commodity by the sequence that the action route of adjunctive program person tails off.
For example, in figure 3, the case where presence as follows:With position is hoarded from No. 6 position movement is hoarded to No. 12 The case where compare, hoarded from No. 6 position to No. 8 hoard position move distance it is shorter.In this case, notifying device Ad will The display order for hoarding position in Fig. 3 is changed to No. 6, No. 8, No. 12 and is shown.In this case, notifying device Ad passes through The display of time is set to flicker etc., No. 12 below of notice hoards position and more early reach the time limit.In other words, notifying device Ad considers To in factory hoard position and away from supplement the remaining time, shown supplement sequence on notice of change device Ad.By This, operator without carry out it is unnecessary walk about, to can finally quickly complete the supplements of commodity.
In addition, in the case where the operator supplemented is relay system, existing can even if agile operator Table is supplemented according to schedule, and the situation that slow-moving operator agility is not good enough.Therefore, notification unit AD passes through according to negative The ability of the operator of duty come change away from remaining time in time limit, by the sequence that supplement sequence tails off from action route be switched to compared with The early sequence for reaching critical mass carries out appropriate change to avoid generation out of stock.In this case, as long as notification unit AD will The job history data of each operator are recorded in advance together with required time, and are based on job history data and required time To change supplement sequence.
Alternatively, it is also possible to replace such notifying device Ad in Fig. 3, operator is set to wear watch style terminal device, and make this Watch style terminal device showed the number for the commodity that should be supplemented at first and away from remaining time in time limit.For example, if there is quotient Product reach critical mass after 3 minutes, then make before 30 seconds what watch style terminal device showed the commodity to hoard number at 2 points, together When generate vibration, alarm tone, thus notify the commodity that should be supplemented to operator.In this way, operator is just not necessarily to frequently check Notifying device in Fig. 3 can attentively carry out the adjunctive program of other commodity, other operations are shaken up to watch style terminal device is sent out Dynamic, alarm tone.
Using this watch style notifying device, notification unit further includes sending hoarding for the commodity that should be supplemented Position, the sending part away from the remaining time in time limit and the watch style terminal device for receiving transmitted data and being shown.
However, robot RB is easy to take out commodity G from container CC.On the other hand, if it is the commodity taken out are close Ground is piled up into the conveying containers C for having piled up extensive stock of different shapes, then needs to use high-precision intelligent robot.
As a result, in the sorting system of one embodiment of the present invention, as shown in figure 4, warehousing region A is divided into conduct The downstream warehousing region A2 of the upstream warehousing region A1 in the warehousing region of upstream portion and the warehousing region as downstream portion, in upstream It is configured with robot RB in the A1 of warehousing region, oriented operator notice is configured in the A2 of downstream warehousing region and takes out several downstream storages The display D of which of goods area domain A2 commodity, also, be also equipped with display control unit DC, when the conveying containers C in each shop is from upper After trip warehousing region A1 is transported to downstream warehousing region A2, display control unit DC is based on establishing with conveying containers C related The ordering information in the shop of connection makes the display D be shown.
Trip warehousing region A1 is constituted as the automatic sorting assembly line based on robot in fig. 4, the upper.In upstream warehousing The supply unit T of conveying conveying containers C and multiple robot RB along supply unit T configurations is provided in the A1 of region.It should The order goods for taking out shop from upstream warehousing region A1 in robot RB and Fig. 1, and the order goods that will be taken out The robot RB being put into the conveying containers C of supply unit T is identical.
Downstream warehousing region A2 is constituted as the manual sortation assembly line based on operator W.In downstream warehousing region A2 In, the pallet S for hoarding commodity according to classification is configured with along supply unit T.In addition, on those pallets S, with Commodity G is accordingly arranged with for notifying operator W to take out the display D of which kind of several commodity.Also, when the transport in each shop After container C is transported to the operating area of each operator W, display control unit DC makes display D show corresponding to being admitted to each work The lot-size of the order goods in the shop corresponding to the conveying containers C in industry region.
Though in addition, do not illustrated in Fig. 4, it is defeated that container CC before supplement with the state being stacked is placed on supply The rear at the rear (with the opposite side in side where robot RB) or pallet S of sending machine CV is (opposite with side where operator W Side).In addition, the notifying device Ad configured with the part as notification unit AD in the A1 of upstream warehousing region.In downstream warehousing Notifying device Ad is not configured in the A2 of region.
As robot RB, other than articulated robot, parallel robot, additionally it is possible to use the handle for making to pick up commodity The Simple robot that holder H is moved in tri- axis directions of X, Y, Z.In other words, as long as robot RB, which has, makes commodity transfer Function can then utilize arbitrary robot.Therefore, using this robot, in the A1 of upstream warehousing region Commodity G as the box lunch for example only by the merchandise transfer picked up to conveying containers is hoarded in advance.In addition to this shape Shape is complicated and needs to enter by some operation ability codes the commodity of container, hoards the downstream warehousing that commodity are piled up in operator in advance Region A2.Even Simple robot as a result, also order goods code can be entered conveying containers.
When the manual sortation flowing water for being accommodated with the conveying containers C of order goods from automatic sorting assembly line and being transported to downstream After line, the commodity, and the codeword value that will be taken out are taken out from pallet S by operator W according to quantity shown on display D Enter conveying containers C.Therefore, even if there is commodity robot RB to be difficult to the shape captured, or great care is needed when stacking Commodity, the smooth code of commodity can also be entered in conveying containers C.In this way, by simply being divided by robot in preceding process Operation is picked, carrying out accurate code by operator in a subsequent process step enters operation, even complex-shaped commodity, operationally The commodity of great care are needed, also can closely code be entered in specified conveying containers.
In addition, robot RB can also have the camera shooting controlled the action of robot RB by capturing object Device.The photographic device is for example made of camera and image processing apparatus.Even if the commodity G before sorting has occurred in container CC Position deviation, robot RB can be also accurately captured the commodity G that position deviation has occurred using camera and be incited somebody to action with correct posture Commodity G is picked up, and commodity G is put to the designated position of conveying containers C.In addition, commodity G is being placed in transport by robot RB When in container C, also using camera come accurate capture space, to closely put commodity G.It should be noted that working as robot When RB uses camera, the holder H for the robot RB for picking up commodity G is enable to rotate in the horizontal plane.Even if commodity G as a result, Deviation occurs for direction in the horizontal direction, and commodity G also can be put transport by robot RB while correction position deviation In container C.Further, robot RB can also have more cameras.Robot RB is dimensionally captured pair using more cameras Commodity G, the stacking commodity G in conveying containers C that heap stackeds are taken out as object.Or robot RB can also be to target object Irradiation laser beam carrys out measurement distance, and so that holder H is carried out three-dimensional motion according to the range information.
This sorting operation based on robot RB and the substantially different step of the sorting operation based on operator.Therefore, may be used It is to be configured at the first supply unit T1 of upstream warehousing region A1 and be configured at downstream warehousing region A2's with T points by supply unit Second supply unit T2.First supply unit T1 and the second supply unit T2 can separately be carried out operating and be controlled.
First supply unit T1 is, for example, roller conveyer, band conveyer, and the second supply unit T2 is, for example, band conveyer.Separately Outside, it is replaced in this, the first supply unit T1 and the second supply unit T2 can be by flat car, the waggons etc. that orbit It constitutes.By making this first supply unit T1 and the second supply unit T2 respectively in upstream warehousing region A1 and downstream warehousing area Domain A2 is independently carried out operating and is controlled, and the first supply unit T1 can coordinate the movement of robot RB and operate.Further, The movement that second supply unit T2 is capable of coordinating operation person W is operated by rhythm.
In addition, the first supply unit T1 and the containers such as plastic crate for being accommodated with commodity G CC is supplied to the quotient of robot RB Product take out the supply conveyor CV connections in region, when keeping container CC emptying because of robot RB taking-up commodity G, or work as energy When the commodity G for being accommodated in container CC enough to be taken out to all or part of of the lot-size in certain shop, which will Container CC is sent out to the first supply unit T1.
Fig. 5 is the vertical view for the configuration structure for showing the first supply unit T1 and supply conveyor CV.In Figure 5, One supply unit T1 by roller conveying mechanism at.On the direction orthogonal with the conveying direction F of the roller conveyer, multiple supply conveyings Machine CV is connected laterally side by side.Also, it is being arranged with more across the position of each supply conveyor CV and the first supply unit T1 Robot RB.It should be noted that in Figure 5, illustrating only the holder H for the robot RB for picking up commodity.Shown in dotted line Like that, holder H takes out region, i.e. in the most front-seat appearance for being supplied to supply conveyor CV in the commodity of each robot RB It is mobile in length and breadth between the conveying containers C on region and the first supply unit T1 where device CC.Also, from by groups such as plastic crates At container CC in take out commodity G, and the commodity G taken out is put into the designated position in conveying containers C.
First supply unit T1 can also have the stop part ST that the conveying containers C for making conveying stops in precalculated position With the driven roller DR for downstream sending out the conveying containers C after stopping.By the fortune of the driven roller DR conveyings of the first supply unit T1 After sending the operating areas of floor-washing robot RB specified by arrival container C, intercepted in precalculated position by stop part ST.Then, work as machine Device people RB terminates after commodity G is accommodated in conveying containers C, and the transport that stopped is held in the driven roller DR rotations that stopped Device C fed downstreams.
In the commodity of robot RB take out region, the appearance of commodity G is accommodated with from the supply of the feeding mouth of supply conveyor CV Device CC.Then, when because robot RB takes out commodity keep container CC emptying after, container CC is as new conveying containers C by the One supply unit T1 is sent out.It is not necessarily to separately recycle the emptying container CC in commodity take out region as a result, so as to will be multiple Supply conveyor CV is tightly configured laterally side by side.It is considered as at this point, being supplied to commodity and taking out the containers CC such as the plastic crate in region With on the first supply unit T1 the identical containers of conveying containers C or at least can with the conveying containers C or more be overlapped it is identical The container of size.
In addition, when a shop has subscribed multiple identical commodity G, robot RB repeats repeatedly to sort when can waste Between.Therefore, if commodity take out region in container CC in commodity quantity can take out a shop order number whole Or when part, commodity are taken out into the container CC in region and are directly sent to the first supply unit T1, as the fortune for being put into commodity G Send container C.It is not necessarily to repeatedly sort identical commodity G as a result, the sorting number of robot RB can be reduced.
In addition, when the commodity amount being sent in the container CC of the first supply unit T1 is slightly less than lot-size, as long as It is taken out from supply to commodity in the container CC in region and takes out insufficient number of commodity G, and the commodity G taken out is supplemented to first Container CC on supply unit T1.Conversely, for example when the container CC for being put into commodity G is directly sent to the first supply unit When commodity amount is little over lot-size after T1, robot RB picks up the commodity of extra number from container CC, and temporarily by it It is positioned over retreating position.Then, robot RB sends out the container CC equipped with surplus commodities to the first supply unit T1.Alternatively, Robot RB picks up extra commodity G, and the commodity G picked up is temporary to after the first supply unit T1 advancing containers CC When be positioned over retreating position.Then, the commodity G kept out of the way is put back into newly supplied container CC, or is placed into next shop In conveying containers C.In this way, it can be achieved that the efficient activity of sorting.
In Figure 5, the first supply unit T1 and each supply conveyor CV are configured at a plane.Nervous in installation space The two-layer structure of the first supply unit T1 and supply conveyor CV or more overlapping can also be used in position.It can be in two layers of assembly line After the conveying containers C of completion consolidating the load drops to one layer of assembly line by elevator, it is re-fed into the second supply unit T2.
In addition, in the present embodiment, can also have communication unit, the communication unit is based on the ordering information from each shop And configuration information when order goods is put into conveying containers, which order goods should be put into to robot transmission and transported The sorting information where of container.Sorting information be for determine order goods storage destination conveying containers and The information of allocation position.Robot is taken out from warehousing region based on received sorting information and is ordered the goods, and will be taken out Order goods be put into specified conveying containers.
For example, it is assumed that the first shop has subscribed 3 commodity a and 6 commodity b, the second shop has subscribed 4 commodity a and 2 Commodity c, and these commodity most multipotency puts 6 in a conveying containers C.In this case, as shown in fig. 6, it is upper in Fig. 4 Position machine UC is generated for first conveying containers C1 and is used the information for putting 3 commodity a and 3 commodity b as the first shop.Equally Ground, host computer UC are that second conveying containers C2 generates the information for putting remaining 3 commodity b.Host computer UC transports for third Container C3 is sent to generate the information for putting 4 commodity a and 2 commodity c as the second shop.The information generated passes through communication unit CD is sent to each robot RB.
Then, as shown in fig. 7, after first conveying containers C1 reaches commodity a and takes out region, robot weight (not shown) Multiple 3 following actions:Commodity a is taken out from container CC, and the commodity a taken out is placed into first conveying containers C1. After completing the taking-up of commodity a, as shown in figure 8, first conveying containers C1, which is transported to next commodity b, takes out region Before and stop.Then, the robot (not shown) that commodity b takes out in region is repeated 3 times following action:From supply conveyor CV On container CC in take out commodity b, and the commodity b taken out is placed into first conveying containers C1.Later, due to first A conveying containers C1 is filled, therefore by downstream transport.At the same time, also there are 3 in the container CC on supply conveyor CV A commodity b, container CC are designated as second conveying containers C2 in Fig. 3.It should be noted that the conveying of conveying containers C, Movement can be carried out by the driven roller DR being operated alone in Fig. 5.In addition, stoppings of the conveying containers C in precalculated position passes through base The stop part ST in Fig. 4 is set to increase in the signal from photoelectric sensor (not shown) to carry out.
Then, surplus to have the container CC of 3 commodity b as second after the conveying containers C1 being loaded with downstream is sent out A conveying containers C2 is admitted to the first supply unit T1 to take over conveying containers C1.Meanwhile the surplus container CC energy for having 3 commodity a Enough become the third conveying containers C3 in Fig. 6, therefore container CC is also admitted to first as third conveying containers C3 Supply unit T1 (with reference to Fig. 9).In this way, after the container CC on each supply conveyor CV is admitted to the first supply unit T1, to Commodity take out the container CC that region supply is accommodated with commodity.It should be noted that the container in supply conveyor CV is sent into mouth, lead to It crosses operator and in time supplements the new container CC for being accommodated with commodity.
In second conveying containers C2 for being fed through the first supply unit T1, it is placed with 3 commodity b.When at this When completing the sorting in the first shop on automatic sorting assembly line under state, second conveying containers C2 is directly downstream sent Go out.In downstream, the first conveying containers C1 in ground has been sent out just standby.First conveying containers C1 and second conveying containers C2 together as conveying containers C and the conveying containers C as the first shop is admitted to the second supply unit T2.At this point, printing The label of the store name and store code that have dispatching destination is glued to each conveying containers C.
On the other hand, as shown in figure 9, being placed with 3 commodity a in third conveying containers C3.The commodity lacked are 1 A commodity a and 2 commodity c.After the new container CC for being accommodated with commodity a, which is supplied to commodity, takes out region, as shown in Figure 10, not The robot of diagram takes out commodity a from container CC, and commodity a is put into the third conveying containers on the first supply unit T1 In C3.After completing the storage of commodity a, third conveying containers C3 is transported to commodity c by the first supply unit T1 and takes out Region simultaneously stops.
Later, as shown in figure 11, robot (not shown) repeats 2 following actions:The appearance in region is taken out from commodity Commodity c is taken out in device CC, and the commodity c taken out is put in third conveying containers C3.It transports and holds in third as a result, Got all the ready in device C3 scheduled second shop order goods.Second on completion automatic sorting assembly line in this state When the sorting in shop, conveying containers C3 is sent directly to the second supply unit T2 in downstream.In this way, each robot RB is based on institute The sorting information received puts order goods in specified conveying containers C.
The commodity such as the box lunch that the order based on each shop is produced and other order goods are received in advance in home-delivery center. Ground commodity are received directly to be hoarded in scheduled warehousing region A.At this point, for receiving in host computer UC in Fig. 4 Which kind of commodity each container CC registrations are accommodated with and are accommodated with several.In other words, in host computer UC, by container CC, commodity sum number Amount is established and is associatedly stored.
In fig. 4, the upper position machine UC based on from each shop ordering information and the commodity that can be put in conveying containers C The information of quantity generates the sorting information for putting which kind of commodity in which way in which kind of conveying containers.Energy in conveying containers C The information for the commodity amount enough put is, for example, that can store 6 commodity a~commodity c, can store 5 commodity d etc..Host computer UC The sorting information generated is sent to each robot RB by communication unit CD.In addition, being carried out about in manual sortation assembly line The ordering information of the commodity of sorting is sent to display control unit DC.
It is corresponding with which display it to be registered with which kind of commodity in display control unit DC.Display control unit DC is based on from host computer The ordering information in each shop and the conveying containers C in each shop that UC is sent are admitted to sequence when the second supply unit T2, determine Which shop the conveying containers C for being admitted to each operating area belongs to.Display control unit DC is made and each work based on identified information The display D that conveying containers in industry region establish the order goods in related shop shows lot-size.It is set in display D It is equipped with aftermentioned conclusion button.After conclusion button is pressed, the sorting end signal of the commodity is sent to display control unit DC.
Suitably free conveying containers C is sent into the first supply unit T1 from upstream end.These conveying containers C and dispatching road Diameter accordingly in such a way that last in, first out come determine each shop dispatching sequence.For example, with the transport in the shop dispensed first The mode that container will finally be packed into truck determines the dispatching of conveying containers C sequentially.Based on transmission sequence, it is sent into the first supply unit The conveying containers C of T1 is established with dispatching destination shop and is associated with.For example, be registered as starting 2 casees is the first shop, behind 1 Case is the second shop.Further, other than empty conveying containers C, emptying container CC, the container CC equipped with commodity G It is admitted to the first supply unit T1 as conveying containers C.In view of such container CC insertion and by each shop and each transport Container C establishes association.
Also, when first conveying containers C1 in the first shop is admitted to the first supply unit T1, conveying containers C1 is reached Behind the operating area of specified robot RB, sorting information of the robot RB based on received each shop takes from container CC Go out commodity G.The commodity G taken out is placed on the designated position in conveying containers C1 by robot RB.In addition, when having subscribed multiple quotient When product G, robot RB is repeated as many times the action to put commodity G.In this case, robot RB can also weigh commodity G or more It is folded.
In this way, after storing order goods in first conveying containers C1, conveying containers C1 is downstream sent out.When After the conveying containers C1 sent out reaches the operating area of next specified robot RB, next robot RB will be specified Commodity are put into the designated position of conveying containers C1.In addition, in the container CC on supply conveyor CV is emptying or container CC When remaining commodity can take out all or part of of the lot-size in a shop, supply conveyor CV is driven, thus will The container CC that commodity take out region is sent to the first supply unit T1.In this way, in the first supply unit T1, it is continuous forwards, backwards to transport The container C order goods of storage lot-size is sent, to complete the conveying containers C1 in the first shop on automatic sorting assembly line. Later, conveying containers C1 driven rolls DR is sent out and the front of the second supply unit T2 in downstream is standby.Match at this point, being printed with The label of the shop title and store code of sending destination is adhered on each conveying containers.
Fig. 4 is returned, in the A2 of downstream warehousing region, multiple pallet S are configured with along the second supply unit T2, at these On pallet S display D is configured with for each commodity.However, also may replace in this using such as lower structure:In each operator W Operating area setting corresponding to each commodity indicator light and a display D, according to the lot-size shown on display D point Pick the commodity indicated by indicator light.It is sorted at this point, can be realized with less display, therefore for the lower commodity of turnover rate Its equipment cost can be reduced.
Then, when the conveying containers C for using and summarizing as the first shop is sent into the second conveying from the first supply unit T1 After unit T2, display control unit DC makes the display D displays of commodity ordered by the first shop order number in the first operating area Amount.Operator W takes out shown commodity from pallet S when seeing display D by lot-size, and the commodity taken out are received It is contained in conveying containers C.After the completion of storage, operator W presses the conclusion button for being set to display D, notifies display control unit The sorting of the DC commodity terminates.
Terminate when display control unit DC receives the sorting sent from all display D lighted in the first operating area After signal, the second supply unit T2 is made to be operated by rhythm, the conveying containers in the first shop are delivered to second operating area. While conveying, it is defeated that display control unit DC makes the conveying containers in standby the second shop on the first supply unit T1 be sent into second Send unit T2.At the time of the conveying containers reach the precalculated position of first and second operating areas, make the second supply unit T2 stops.
Later, display control unit DC makes the display D for the commodity that the second shop orders show and order in the first operating area Quantity is purchased, and so that the display D of the commodity of the first shop order is shown lot-size in the second operating area.Then, first The operator W of operating area sorts the order goods in the second shop, and the operator W of second operating area sorts the first shop Order goods.Then, after the sorting whole in the first and second operating areas, display control unit DC makes the second conveying list First T2 presses rhythm and operates again.
In this way, at the end of the sorting in each operating area, the conveying containers of each operating area are transferred to down together One operating area.In addition, on the manual sortation assembly line, after conveying containers are filled, operator W is from the stream set on epimere Empty container is removed on waterline and is positioned on the second supply unit T2, empty container is stacked on the conveying containers having been filled with.This Sample, after the sorting whole in each operating area, the conveying containers that summarize by each shop quilt in such a way that last in, first out It is packed into truck.
It should be noted that on automatic sorting assembly line, when the order goods in same shop is held throughout multiple transports Device and store, and when multiple conveying containers are linked to be file and are sent to the second supply unit T2, in fact it could happen that conveying containers come in one's hands The case where on dynamic sorting assembly line except the operating area of defined.It may occur and other shops in adjacent operating area at this time The conveying containers of paving are obscured.
Therefore, in one embodiment, it can be arranged between the first supply unit T1 and the second supply unit T2 and be used for The stacked laminator SK that the conveying containers of file are vertically stacked.Conveying containers can be stacked and by different shops as a result, It is aggregated, therefore can prevent from accidentally sorting the operating area of operator is narrow.
Stacked laminator SK is, for example, following device:Conveying containers are picked up, subsequent conveying containers is made to fill in therefrom The space of the lower section of formation, and the conveying containers picked up are put down into stacking thereon.
Figure 12 and Figure 13 shows the embodiment of a unit U of automatic sorting assembly line.Automatic sorting assembly line energy It is enough by with the roller conveyer 20 of unit U for axis by file connect multiple unit U and extend.
In figure 12 and figure 13, a unit U is configured to upper layer and lower layer.In layers, has robot RB, conveying is transported The roller conveyer 20 of container C and by the container CC equipped with commodity supply to robot RB commodity take out region roller conveyer 30.Roller conveyer 20 is equivalent to the first supply unit T1 in Fig. 4 and Fig. 5, and similarly, roller conveyer 30 is equivalent to Fig. 4 and Fig. 5 In supply conveyor CV.Also, roller conveyer 20 and roller conveyer 30 are identical structure in upper layer, lower layer.With Under explanation in, only one layer is illustrated.
As shown in figure 13, robot RB has adsorption head 11 and linear reciprocating mechanism 12,13,14.Adsorption head 11 Absorption layer is installed in its front end, is functioned as holder H.Linear reciprocating mechanism 12,13,14 makes adsorption head 11 It is moved in tri- axis directions of X, Y, Z.In addition, giving the location information of beginning and end to robot RB.Robot RB bases Adsorption head 11 is set to move to the start position above container CC in location information.Then, robot RB makes adsorption head 11 decline pre- Set a distance and after adsorbing commodity, the commodity adsorbed are picked up to predetermined altitude.Then, robot RB makes adsorption head 11 move to Conveying containers C, then the final position right over conveying containers C makes adsorption head 11 decline, and commodity is made to be detached from adsorption head 11. Also, the location information of given starting point, terminal is to be sent to the above-mentioned of each robot RB from the communication unit CD of control unit 100 Sorting information.
The moving range of adsorption head 11 in the horizontal direction is dotted line area encompassed E in Figure 12, is set as across roller 2 conveying containers C on conveyer 20 and 2 on each roller conveyer 30 on the direction orthogonal with conveying containers C side by side The range of container CC.In addition, taking out area using the region where 2 container CC on roller conveyer 30 as the commodity of robot RB Domain.In addition, keep out of the way using the region EE clipped between 2 container CC as the commodity for making robot RB be picked up temporary temporarily Placement location.
Absorption layer is installed in the front end of adsorption head 11, it is negative pressure to control the absorption layer in the timing contacted with commodity G, Attract commodity G and is picked up.In addition, after making commodity G decline preset distance, the attraction of pad is desorbed, commodity G is placed In the precalculated position of conveying containers C.Also, as shown in figure 13, which can move from the first layer of the container CC of stacking It moves to top layer.Initial position is set to the position of the upper surface of the container CC of slightly above first layer.As setting Initial position is located at the adsorption head of initial position when the container CC of first layer is admitted to the commodity taking-up region of robot RB 11 do not interfere with the container CC of first layer.In addition, adsorption head 11 is configured to rotate and rotate about the z axis in the horizontal plane.When When commodity direction confusion in the horizontal plane, adsorption head 11 is restored by so that adsorbed commodity is rotated in the horizontal plane to just Then normal posture is placed on conveying containers C.
The roller conveyer 20 of conveying conveying containers C can be connect with mutually isostructural 20 file of roller conveyer.Make fortune The precalculated positions stopped container C are sent, are equipped with from the dimly visible lifter plate 21 of the conveyor surface of roller conveyer 20.After the lifter plate 21 passes through The control unit 100 stated realizes lifting, the stop part ST being equivalent in Fig. 5.Also, it is risen by the way that conveying containers C to be connected to Lifter plate 21, posture chaotic correction conveying containers C, and conveying containers C is made to stop at precalculated position.
In addition, on roller conveyer 20, driven roller DR is provided between each lifter plate 21.Each driven roller DR and each lifting Plate 21 similarly, by aftermentioned control unit 100 is separately carried out drive control.In addition, each driven roller DR is by adjacent Multiple driven vollers and with connection.When driven roller DR rotates, the driven voller between each lifter plate 21 is also rotated to the same direction.
Lifter plate 21 is set to send to the roller on 30 orthogonal direction of roller conveyer from roller conveyer 30 than container CC and convey It omits at downstream position on machine 20.When container CC is sent out from roller conveyer 30 to roller conveyer 20, the appearance of container CC Gesture is repeatedly chaotic.After container CC is sent on roller conveyer 20, make the pre- timing of driven roller DR rotations of corresponding position at once Between, container CC is thus connected to lifter plate 21 to adjust the posture of container CC, while it being made to stop at the position of lifter plate 21. Therefore, the moving range of adsorption head 11 is set as that the container that the position slightly offset stops can be covered on roller conveyer 20 The range of CC.
It is being taken out on the roller conveyer 30 of region supply container CC to the commodity of robot RB, is being equipped with mutually isostructural driving Roller DR1~DR3.Driven roller DR1 close to roller conveyer 20 is driven when to 20 advancing container CC of roller conveyer.Driven roller The driven roller DR2 of the upstreams DR1 is driven when the first layer container CC of stacking is taken out region submitting to the commodity of robot RB, The driven roller DR3 of most upstream is driven when sending out the container CC of stacking to aftermentioned de-stacking device 40.
In addition, being respectively equipped with from roller in the outlet of the outlet side and aftermentioned de-stacking device 40 of roller conveyer 30 and entrance The dimly visible lifter plate 31~33 of the conveyor surface of conveyer 30.The lifter plate 31~33 by the control unit 100 in Figure 15 respectively by Individually carry out drive control.That is, the lifter plate 31 of outlet side is so that the container CC sent out from de-stacking device 40 is stopped at roller defeated Rise when sending before machine 30, declines when sending out container CC to roller conveyer 20.In addition, the lifting that de-stacking device 40 exports Plate 32 declines when extracting first layer container CC out from the container CC of stacking and it being taken out region submitting to commodity, in the appearance of stacking Device CC rises when being sent into de-stacking device 40.In addition, the lifter plate 33 of entrance in the container CC that will be laminated to de-stacking device 40 Decline when feeding, in addition to this remaining when rises.The container for being placed in the stacking for being sent into end is pressed using hand push as a result, The container CC of CC, stacking will not be admitted to de-stacking device 40.
De-stacking device 40 be it is following well known to structure, have catch the flange of the upper surfaces container CC, stretch under flange and By the container CC tines picked up and the elevating mechanism for making the tine lift.Also, the of the container CC in extraction stacking At one layer, the container CC of the second layer is clamped using tine, elevating mechanism picks up the container CC of the second layer or more.Then, it drives Roller DR2 is driven and the container CC of first layer is taken out region to commodity and is sent out.In this way, when the container CC extractions of first layer Afterwards, elevating mechanism puts down picked up container CC, and decontrols tine.By repeating the action, the container CC of stacking is from lower layer Container CC extracted out successively.
In this way, driven roller DR~DR3, lifter plate 21,31~33 are by 100 drive control of control unit in Figure 12.It is controlling In portion 100, it is registered with the region E as the moving range of adsorption head 11, each container CC in the E of the region respectively as coordinate The nominal stopping point of nominal stopping point and each conveying containers C.Therefore, when position does not occur for container CC, conveying containers C When offset, the adsorption head 11 of robot RB proceeds as follows action:Based on above-mentioned sorting information, the finger in container CC Positioning, which is set, picks up commodity, and the commodity picked up are delivered to conveying containers C, and the specific bit in conveying containers C is put later Lower commodity.
In addition, being also equipped with photographic device CM in robot RB, photographic device CM captures conveying containers C, container CC, receives It is contained in the position of commodity G therein, to control the amount of movement of robot RB.Photographic device CM is filled by camera and image procossing Set composition, by cameras capture to moving range, that is, region E of adsorption head 11 be confirmed as fixed area in the picture.Also, If by cameras capture to the position on the image conveying containers C or container CC deviate fixed area, robot RB makes suction Attached head 11 moves amount corresponding with the offset to be corrected in the horizontal direction.Similarly, if by cameras capture to The position of commodity shifts, then robot RB make the amount corresponding with the offset mobile in the horizontal direction of adsorption head 11 come into Row correction.Even if as a result, conveying containers C, container CC, be accommodated in commodity therein from precalculated position deviate adsorption head 11 if can It is enough to pick up commodity while correcting the offset, and commodity are put into the designated position in conveying containers C.
It should be noted that in the present embodiment, camera is whole mounted on the operating area that can look down robot RB The fixed position of body, but this can also be replaced in and camera is installed on adsorption head 11.In addition, camera is installed on fixed bit When setting, camera is set to move by wabbler mechanism etc., to which dead angle will not be generated adsorption head 11 carries out mobile.In addition, It can be replaced in this, more cameras are set and dimensionally capture object.Further, in the present embodiment, due to automatic Sorting assembly line is arranged to the upper and lower, in the conveying containers C in each shop that two layers of assembly lines are sorted via not scheming The elevator shown drops on the roller conveyer 20 of lower layer.
Figure 14 is the stereoscopic figure of the embodiment for a unit for showing manual sortation assembly line.By by this one A unit connects laterally side by side along band conveyer 50, can be extended to manual sortation assembly line.Alternatively, it is also possible to be Pallet S is opposed to configuration and configures the structure with conveyer 50 between pallet S.It should be noted that the band conveys Machine 50 is equivalent to the second supply unit T2 in Fig. 4.
In fig. 14, pallet S include upper and lower three layers of tilting rack 60, each tilting rack 60 front upper laterally side by side Multiple display D of ground arrangement and the conclusion button 61 being set to beside each display D.In inclining corresponding to each display D On oblique frame 60, establishes related commodity with each display D and put with the state being accommodated in container (not shown).Also, work as When being accommodated with the container emptied of commodity, empty container will be used as conveying containers C, by empty container after tilting rack 60 is taken away, At 60 rear of tilting rack, standby container is moved to operator side.Therefore, tilting rack 60 by roller conveying mechanism in its front end Equipped with stop part (not shown).
It should be noted that being provided with the supply stream (not shown) of the empty conveying containers of supply on the upper layer with conveyer 50 Waterline.After being filled with the conveying containers on conveyer 50, empty conveying containers are put down from the supply assembly line, and will be empty Conveying containers are stacked on the conveying containers having been filled with or are placed on its side.In addition, the container of the commodity equipped with supplement is from each The rear of tilting rack 60 supplies.After the container of most front-seat container emptied, and sky is taken away from tilting rack 60, subsequent container It is moved to most front-seat.
Display D is made of segmented display, and lot-size is shown under the control of display control unit DC.Also, one Name operator W is responsible for such as up and down three layers totally three display D areas encompassed arranged, will be shown on the display D in the region The commodity shown take out shown number, and the commodity taken out are put into in the conveying containers C on conveyer 50, then press Lower conclusion button 61.Later, display control unit DC judges that the sorting of the commodity is over, and closes the display D of the commodity.By This, the display D lighted is closed successively, and operator W can simply distinguish the commodity sorted and the commodity not sorted.
Figure 15 shows the block diagram of the control system of the sorting system of the embodiment.In the figure, due to stacking Device SK and host computer UC are illustrated, therefore the communication unit CD, logical at this to being realized by executing program by control unit 100 Know that portion AD, display control unit DC and watch style terminal device Ad1 are illustrated.
Control unit 100 is made of computer, by executing built-in program, is arrived as the conveying containers C whenever each shop It is functioned up to when each robot RB to the communication unit CD of each robot RB transmission sorting information, and two pairs of rollers conveyer 30, Lifter plate 21,31~33, driven roller DR, DR1~DR3 and de-stacking device 40 etc. carry out drive control and coordinate whole dynamic Make.In addition, the surplus also as each commodity hoarded in inquiry warehousing region after the predetermined time, and arrived for surplus The notification unit AD that the commodity are supplemented is functioned up to the commodity of critical mass to operator notice.
Specifically, such as in the figure 7, after first conveying containers C1 is sent from upstream, control unit 100 makes to correspond to The stop part ST (being lifter plate 21 in Figure 12) in the region of commodity a rises.Then, after conveying containers C1 meets stop part ST, Corresponding driven roller DR is set to stop and conveying containers C1 is made to stop on the position corresponding to commodity a.Then, control unit 100 to The robot RB of sorting commodity a gives and the relevant sorting information of conveying containers C1.Later, robot RB is based on received Information is sorted, picks up the commodity a in container CC, and commodity a is put into conveying containers C1.Then, control unit 100 makes to transport The stop part ST that container C1 stops declines, and the driven roller DR (referring to Fig.1 2) in stopping is made to be driven, and commodity a will be housed Conveying containers C1 send to next region.Meanwhile as shown in figure 8, control unit 100 makes the region corresponding to next commodity b Stop part ST rise.When be moved through carry out conveying containers C1 and touch the stop part ST after, make corresponding next driven roller DR Stop, to keep conveying containers C1 static in the position.Then, as described above, machine of the control unit 100 to sorting commodity b Device people RB gives about the sorting information of conveying containers C1 and it is made to sort.
In this way, feeding sequence of the control unit 100 based on conveying containers C, carries out the defeated of the conveying containers C on roller conveyer 20 It send and stops, while giving sorting information to each robot RB and it is made to be sorted.In addition, working as the appearance on roller conveyer 30 When device CC is sent into roller conveyer 20 as conveying containers C, control unit 100 is in the driven roller DR for making the upstream side of roller conveyer 20 In the state of stopping, lifter plate 31 is set to decline, and driven roller DR1 is made to be driven, thus by the container CC on roller conveyer 30 It is sent into roller conveyer 20.After container CC is admitted to, control unit 100 makes the lifter plate 31 of roller conveyer 30, roller conveyer 20 Lifter plate 21 rises.Then, control unit 100 so that the driven roller DR of the underface of sent out container CC is driven and will hold After device CC touches lifter plate 21, driven roller DR is made to stop.The container C of the posture confusion in horizontal direction touches liter as a result, It drops plate 21 and is corrected, and is static with the state.In this way, control unit 100 is defeated from the feeding roller of roller conveyer 30 by container CC Send machine 20.
Display control unit DC is also made of computer, ordering information based on each shop obtained from host computer UC and to band The store information for the conveying containers C that conveyer 50 is sent into, makes each display D be shown, and band conveyer 50 is made to be transported by rhythm Turn.
For example, about to the conveying containers C being sent into conveyer 50, according to the dispatching sequence sent from host computer UC, in advance First determine which conveying containers C is which shop.When one group of conveying containers C in certain shop is admitted to band conveyer 50, Display control unit DC determines the shop of conveying containers C.Display control unit DC is held based on the shop determined in the transport In operating area where device C, the display D of the commodity ordered by identified shop is made to show lot-size.Then, when from When all displays D shown in each operating area has sent sorting end signal, display control unit DC is controlled So that being operated by rhythm with conveyer 50, and the conveying containers C in certain shop of each operating area is made to be moved to next operation Region.
In the above-described embodiment, it is based on predetermined dispatching sequence, determines to be admitted to manual sortation assembly line Which shop the conveying containers summarized are.Wherein, in order to improve accuracy, code reader reading can also be used to be pasted onto transport Shop bar code on container C, and determine the shop for the conveying containers for being admitted to manual sortation assembly line based on result is read.
In addition, in figure 12 and figure 13, being equipped with the container CC of the stacking of commodity from the feeding mouth (rear) of roller conveyer 30 It is admitted to.At this point, if mistake occur in commodity, delivery error is not only resulted in, it is also possible to robot RB be made to carry out accidentally sorting. Therefore, door and code reader are set in the feeding mouth of each roller conveyer 30, are pasted on the commodity out of container CC using code reader Label read commercial product code, open the door when the commercial product code of reading is consistent with commercial product code set in advance, ring when inconsistent Siren does not open the door, so as to prevent that mistake artificially occurs.
In fig.15, watch style terminal device Ad1 has the sending part 70 of transmission data, receives connecing for transmitted data Receive device 71, the display 72 for the data that display receives and vibrator (not shown).Receiver 71 and display 72 are assembled into Similar in the portable terminal device of wrist-watch.Sending part 70 is electrically connected by wirelessly or non-wirelessly with control unit 100.Work as sending part 70 receive the number for hoarding position from control unit 100 and after the time remaining away from the time limit, by this hoard position number and away from Remaining time in time limit is sent to receiver 71.Receiver 71 is receiving the number for hoarding position and away from remaining time in time limit Afterwards, make vibrator works, display 72 is made to show the received number for hoarding position and away from remaining time in time limit later.
In the following, the supply of each commodity G and the management of its amount of hoarding to upstream warehousing region A1 illustrate.It is somebody's turn to do What is supplied and manage is also control unit 100.
Starting shortly after, state is that there are no be admitted to transport to hold as on the roller conveyer 20 of the first supply unit T1 The adsorption head 11 of device C, robot RB also initial position stop, immediately below roller conveyer 30 on be also not supplied with container CC。
In this state, the mark that the operator of supplement is pasted on the commodity G read using scanner in container CC After the bar code of label, the door (not shown) of roller conveyer corresponding with the commodity 30 is opened.Then, by the container CC equipped with commodity G It is sent into from door with the state of stacking.Then, after door is closed, control unit 100 learns the case where door is turned off, and confirms de-stacking device There is no container CC in 40, then fall lifter plate 33, and lifter plate 32 is made to rise, driven roller DR2, DR2 is made to be driven, to The container CC of stacking is sent into de-stacking device 40 and makes its stopping.
Repeat the operation, after the container CC of front two rows stacking has all been supplied in each roller conveyer 30, control unit 100 register the amount of hoarding of the commodity on each roller conveyer 30 based on the commodity amount in each container CC registered in advance, System brings into operation later.That is, being accommodated with 6 commodity G in a container CC and in the case that each container CC is stacked with 4 layers, It is registered as being accommodated with 6 × 4 layers × 2=48 commodity of row on roller conveyer 30 in fig. 13 altogether.
Next, control unit 100 makes the roller conveyer 20 of most upstream be driven and be sent into conveying containers C.Control unit 100 Make each roller conveyer 30 de-stacking device 40 and lifter plate 32,31, driven roller DR2, DR1 work, by the container CC of first layer from The commodity that de-stacking device 40 is sent into roller conveyer 30 take out region.Then, when initial conveying containers C reaches the machine of order goods Behind the operating area of device people RB, control unit 100 makes the lifter plate 21 of the operating area work and conveying containers C is made to stop.Then, Control unit 100 sends sorting information to robot RB.Later, robot RB takes from the container CC for being delivered to commodity taking-up region Go out commodity G, and the commodity G taken out is put into conveying containers C.After the storage of commodity G, robot RB is to control unit 100 send end signal.Later, the notification unit AD of control unit 100 subtracts 1 from the amount of hoarding registered, and inquires surplus and be No arrival critical mass.Wherein, critical mass is not just reached in surplus at the beginning, therefore wait for being sent out from robot RB below End signal.
In this way, after First robot RB completes to sort, conveying containers C is transported to the operation of next robot RB Region, next conveying containers C are sent to the operating area of First robot RB with the conveying containers C before replacing.When this When conveying containers C is also required to pile up identical commodity G, control unit 100 sends the sorting for conveying containers C to robot RB Information.Later, as previously mentioned, robot RB takes out commodity G from container CC, and the commodity G taken out is put into conveying containers C. In this case, when robot RB completes to sort, the notification unit AD of control unit 100 subtracts the amount of hoarding of commodity G.
It should be noted that when conveying containers C front and back on roller conveyer 20 is the conveying containers C in different shops, machine Can device people RB be confirmed whether the container CC equipped with commodity for taking out region in commodity is directly sent to roller conveyer 20.When When can send out the container CC equipped with commodity, control unit 100 makes robot RB without action, and falls lifter plate 31 and make Driven roller DR1 is driven, and the container CC that region is taken out positioned at the commodity of roller conveyer 30 is directly sent to roller conveyer 20. At this point, subtracting the commodity amount in a container CC from the amount of hoarding.In this case, to be computed place remaining away from the time limit It will shorten elapsed time away from the remaining time in time limit when the time.
In this way, that the amount of hoarding is reduced face as a result, for example being reached after 3 minutes in the amount of hoarding (surplus) for judging commodity G When boundary's quantity, the notification unit AD of control unit 100 make the notifying device Ad in Fig. 3 show commodity G the number for hoarding position and away from Remaining time in time limit.Or 3 color warning light points is made to give a green light.At this time, it may be necessary to make operator know in advance three color warning lights into Condition when row display switching, such as give a green light away from 3 to 4 minutes durings point before the time limit, away from 2 to 3 points before the time limit Amber light is lighted during clock, so that red light is lighted or is flickered when away from the time limit less than 2 minutes.In addition, being set using watch style terminal In the case of standby Ad1, the notification unit AD of control unit 100 by sending part 70 by hoard position number and away from the time limit it is remaining when Between be sent to the receiver 71 of watch style terminal device Ad1.When receiver 71 receive hoard position number and away from the time limit it is remaining Time after, display on the display 72 hoarded the number of position and away from remaining time in time limit.Then, make vibration (not shown) Device works, and shows the number of commodity that next should be supplemented and away from remaining time in time limit.
When the container on each tilting rack 60 is moved forwards when rear being made to be available, the supplement of manual sortation assembly line is used Operator hitherward supply the new container equipped with commodity.Then, when the display in Fig. 3 carries out display or the end of notification unit AD Vibration occurs for the vibrator of end equipment Ad1 when notifying to supplement commodity, to read notified commodity G's using scanner Bar code opens the door of corresponding roller conveyer 30, and in container CC of this feeding equipped with the commodity.Then, after door is closed, control The number for the commodity G being newly sent into is added with surplus and updates the amount of hoarding by portion 100 processed.It should be noted that being sent into roller conveying The number of plies of the container CC of machine 30 and the number for the commodity G for being accommodated in last container CC are registered in control unit 100 in advance.Cause This, even if the control unit 100 in the case where repeating to be sent into the container CC that 4 layers are overlapped and the container CC being finally sent into is less than 4 layers It will appreciate that the number for the commodity being finally sent into.It should be noted that both can be in automatic sorting assembly line and manual sortation flowing water The operator of supplement is arranged on line respectively, the operation that also can be simultaneously responsible for by an operator on two assembly lines.
From the foregoing, it will be observed that sorting system according to the present embodiment, by Simple robot and can carry out intelligent operation The cooperation of operator, can realize Labor-saving, and can with number needed for minimum in time fill-ins to avoid pallet Upper generation is out of stock.
In addition, when notifying to carry out the supplement of commodity to operator, also inform the time remaining away from the time limit, therefore makees together Industry person's with can having ampleness fill-ins.Therefore, there is the sorting for not stopping robot the commodity of supplement are a variety of to make The effect of industry.In addition, the free time before the time limit can carry out the preparation supplemented etc., therefore operator can be made efficient Ground carries out operation.
In addition, in the case where notification unit has watch style terminal device, operator can be before terminal device work The supplementing of other commodity, the preparation of next commodity are attentively carried out, therefore the flow of operation can be improved.
In addition, to warehousing region from container of the rear supply equipped with commodity, and after the container emptied, which is made Supply unit discharge for conveying containers forwards, thus with can make the container equipped with commodity in each warehousing region to The advantages of same direction circulates.
In addition, the automatic sorting assembly line based on robot is arranged in the warehousing region of upstream portion, in the storage of downstream portion Manual sortation assembly line based on operator is set in goods area domain.Lattice are needed accordingly, for when being difficult to handle by robot, stack Outside when careful commodity, the commodity compact code can be entered in conveying containers on manual sortation assembly line by operator.Therefore, Cooperated by the operator for carrying out the robot of simple operation and can carry out high-precision filling operation, can with a few peoples into The existing such sorting operation of row.
Therefore, it even in the period of being difficult to ensure operator, the period, can also complete to sort in the given time, Because without postponing the dispatching to convenience store etc..In addition, due to only needing to introduce robot inexpensively, can inhibit certainly Investment in dynamicization equipment.Further, by making robot sort heavier commodity, the burden of operator can be mitigated.
Further, by because robot takes out commodity emptying container is discharged using as conveying containers to supply unit and It uses.It therefore, there is no need to recycle the recycling assembly line of the container, it can be ensured that the operating area of robot is wider.In addition, working as energy It is enough with remaining commodity in container come take out a shop lot-size all or part of when, using the container as transporting appearance Device is discharged to supply unit, therefore can reduce the sorting number of robot, realizes efficient activity.
One embodiment of the present invention is this concludes the description of, but the present invention is not limited to this, can also use other knots Structure.For example, in the above-described embodiment, when each robot RB is sorted, by the amount of hoarding of commodity carry out letter calculate subtract calculation and Surplus is found out, but not limited to this.For example, each robot RB is determined in advance in when being sorted to which kind of commodity.Cause This, can also immediately begin to timing after robot RB starts action, according to the time through coming to inquire the surpluses of each commodity, And show that surplus reaches the commodity of critical mass and away from remaining time in time limit successively.In this case, the commodity supplemented Number be updated after each supplement.Therefore, when automatic sorting assembly line stops, dwell time is surveyed in the dwell time Amount.
Alternatively, it is also possible to which conveying containers to be placed in the flat car travelled in orbit, and the commodity sorted are piled up In the conveying containers on flat car.In this case, it is configured to a flat car and corresponds to a shop, so that the flat car institute Display in the region of arrival shows that the mode of the lot-size of the order goods in the shop is sorted.In this way, even if The place of the assembly line of long straight line can not be assembled, the sorting system of the present invention can be also applied.In addition, even if the conveying of flat car Sequence is different from dispatching sequence, also can neatly be coped with by reading the store code corresponding to flat car.
In addition, in sorting system, can also use does not have associated conveying containers with shop.
Reference sign:
G... commodity;A... warehousing region;C... conveying containers;T... supply unit;RB... robot;AD... it notifies Portion;70... sending part;71... receiver;D... display;DC... display control unit;CM... photographic device;A1... upstream Warehousing region;A2... downstream warehousing region;T1... the first supply unit;T2... the second supply unit;CC... container; CV... supply conveyor;CD... communication unit.

Claims (11)

1. a kind of sorting system takes out from the warehousing region for hoarding commodity according to classification in the ordering information obtained in advance The order goods of specified order number, and the order goods taken out is piled up in conveying containers, wherein described point The system of picking has:
Supply unit conveys the conveying containers;
Multiple robots take out the order goods from the warehousing region, and the order goods taken out are put into institute State conveying containers;And
Notification unit obtains the surplus for hoarding each commodity in the warehousing region after the predetermined time.
2. sorting system according to claim 1, wherein
Workload of the notification unit based on the ordering information obtained in advance and the robot and obtain the surplus.
3. sorting system according to claim 1 or 2, wherein
The notification unit informed to operator the commodity for reaching critical mass and away from reach the critical mass it is remaining when Between.
4. sorting system according to any one of claim 1 to 3, wherein
When reach critical mass the commodity there are it is a variety of when, the notification unit is according to the quotient for formerly reaching the critical mass Product sequence notifies the supplement of each commodity.
5. sorting system according to any one of claim 1 to 4, wherein
When reach critical mass the commodity there are it is a variety of when, the notification unit according to the operator supplemented action road The sequence that line tails off notifies the supplement of each commodity.
6. sorting system according to any one of claim 1 to 5, wherein
The notification unit is also equipped with:The terminal device of watch style shows the information received;And sending part, to the terminal The relevant data of the commodity that equipment sends and should be supplemented.
7. sorting system according to any one of claim 1 to 3, wherein
The container for having and being accommodated with the commodity is hoarded in the warehousing region, the appearance is supplied from the rear in the warehousing region Device, the container are discharged as the conveying containers by the supply unit forwards after emptying.
8. sorting system according to any one of claim 1 to 3, wherein
The warehousing region is divided into the upstream warehousing region in the warehousing region as upstream portion and as downstream portion The downstream warehousing region in the warehousing region,
The robot is configured in upstream warehousing region,
Display is configured in downstream warehousing region, the display shows that operator should be from downstream warehousing region The order goods of taking-up and its number,
The sorting system is also equipped with display control unit, when by the supply unit by the conveying containers in each shop from institute When stating upstream warehousing region and being delivered to the downstream warehousing region, the display control unit is based on having with conveying containers foundation The ordering information in associated shop makes the display be shown.
9. sorting system according to claim 8, wherein
The supply unit is divided into the first supply unit for being configured at upstream warehousing region and is configured at the downstream storage Second supply unit in goods area domain, first supply unit and second supply unit are separately carried out operating control System.
10. sorting system according to claim 9, wherein
First supply unit is connect with supply conveyor, and the supply conveyor will be accommodated with the containers of the commodity to institute The commodity for stating robot take out region supply, when making the container emptied because of the robot taking-up commodity or work as When the commodity for being accommodated in the container can be taken out all or part of of the order number from a shop, the confession The container is sent out to first supply unit to conveyer.
11. sorting system according to any one of claim 1 to 3, wherein
The sorting system is also equipped with communication unit, the communication unit based on from each shop ordering information and by the order quotient Configuration information when product are put into the conveying containers, which should be put by the order goods by, which being sent to the robot, transports The sorting information of where container, the robot is based on the sorting information received, from the warehousing region The order goods is taken out, and the order goods taken out is put into the specified conveying containers.
CN201680075341.2A 2015-12-24 2016-12-08 Sorting system Pending CN108463419A (en)

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