JP2001048323A - Automatic piece picking system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic piece picking system wherein a product packed with various kind outer shapes and contents is shipped by a stacker crane from a case storage shelf in a condition stored in a picking case, and then is transferred into a shipping case again to be shipped, after the product, to be shipped to a temporary collecting case by an automatic picking device, is surely transferred once. SOLUTION: In this picking system, pieces are taken out from the plural kinds of respective picking cases having at least any of different dimension of the case and the number, dimension, contents, and arrangement of the pieces stored in the case, and plural pieces are packed in another shipping case to be shipped. Pertinent pieces are taken out to an automatic picking device 35 from the picking cases, to be transferred into a temporary partitioned collecting case once, and then are repacked from the collecting case to the shipping case to be shipped.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic piece picking system and, more particularly, to an automatic piece picking system. The present invention relates to an automatic piece picking system for automatically selecting a product, taking it out, temporarily storing it in a temporary collection case, temporarily storing it in a shipping box, and shipping it again.

[0002]

2. Description of the Related Art As a conventional automatic piece picking system of this type, for example, the following three methods are used for storing pieces (hereinafter referred to as products) in a shipping box for shipping.

The first method in the conventional automatic piece picking process of a product by a fine picker. As shown in FIG. 8, the fine picker 60 includes a case transport conveyor 61 that transports a case, a sub liker 63 that receives the case, a case flow rack 65 in which the case distinguished by the sub liker 63 is refilled, and a product And a picker 67 for picking pieces in pieces.
And a container transport conveyor 69 that receives and transports the product held by the picker 67.

[0004] The storage of the product in the shipping box is performed as follows. (A) First, the case whose upper lid has been cut by a carton opener (not shown) is automatically supplied from the case flow rack 65 by the supply car 63. (B) When a picking hatch (not shown) is activated, the picker 67 starts automatic picking and supplies products to the supplied folding container. The holding device of the picker 67 can be properly used according to the shape of the product. As the gripping method, there are a type in which the product is chucked by sandwiching the product, a vacuum type, and the like. (C) The container for which the picking has been completed flows to the merging line by the container conveying conveyor 69, merges with the products picked in case units, is conveyed to the automatic sorting line, and is shipped.

[0005] The second in automatic piece picking processing of products by a conventional picking robot semi-automatic
the method of. As shown in FIG. 9 or FIG. 10, the picking robot semi-auto 70 is configured as follows. Fluidized shelves 71 partitioned at predetermined intervals in the vertical and horizontal directions
, Product cases 73 in which different products are stored are placed at predetermined divided positions. The shelf 71a on which each product case 73 is placed is placed on the fluidized shelf 71.
Is provided with a pick indicator light 77 for instructing a product to be taken out next by the worker 75. This pick indicator light 77
When a product is taken out, the pick indicator lamp 77 of the product to be taken out next blinks, and the operator 75
In addition to preventing mistakes in the work, the work is facilitated. At a position facing the flow shelf 71 with the work passage 79 interposed therebetween, a reserve tank 8 to which the selected products are transferred is placed.
The picking shelf 83 on which the number 1 is placed is provided. The picking shelf 83 is provided with a cut-out device 85 for dropping a product stored in the reserve tank 81. Also,
A moving chute 87 is provided below the cutting device 85, and guides the dropped product. A hammock conveyor 91 provided with a pond 89 for receiving the product from the cutting device 85 is provided at the tip of the moving chute 87.
Are arranged. As shown in FIG.
As shown in FIG. 0, a mushroom charging device 95 for receiving the product extruded by the pusher 93 is additionally provided.
The sucking device 95 includes a rotating device 97 that rotates 180 degrees horizontally and a tilting device 9 that tilts the sucking portion 95a.
9 are provided. An oricon device 103 that receives the product 101 from the tilted sucking portion 95a is provided near the sucking device 95.

The shipment of the product 101 is performed as follows. (A) First, a product case 73 containing a product 101 is automatically supplied to the fluidizing shelf 71. In addition, the flow shelf 7
The pick indicator lamp 77 attached to 1 blinks according to the order of the products 101 to be sequentially taken out. (B) The worker 75 walks in the work passage 79, takes out the product 101 from the product case 73 arranged at the position where the pick indicator light 77 is blinking, and puts the product 101 into the reserve tank 81. When the blinking of the pick indicator lamp 77 is completed and all the products 101 are put into the reserve tank 81, the operator 75 cuts the reserve tank 81 and cuts out the reserve tank 81.
Go to 5. (C) The cutting device 85 drops the product 101,
After moving chute 87, it is moved to pond 89 because it is attached on hammock conveyor 91. Thus, the product 101 is shipped. (D) The product 101 conveyed by the hammock conveyor 91 is fed by the pusher 93 into the feeding device 95.
Extruded. (E) The teak feeding device 95 is rotated by 180 degrees horizontally and then tilted by the tilting device 99 to produce the product 101.
Has been moved to the oricon device 103. Thus, the product 101 is shipped after being transported to a predetermined position.

A third method in a conventional piece picking process of a product by a three-dimensional automatic warehouse. As shown in FIG. 11, the three-dimensional automatic warehouse 110 is configured as follows. Case storage shelves 111 composed of a pair of racks partitioned at predetermined intervals in the up-down direction and the horizontal direction are arranged to face each other at positions separated by a predetermined distance. The stacker crane 1 is located between the case storage shelves 111.
19 are provided. An operation panel 121 for operating the stacker crane 119 is provided between the case storage shelves 111.
Are arranged, and the picking case 113 is stored in a predetermined position of the case storage shelf 111 and is unloaded from the predetermined position. The operation panel 121 includes an operator 1
Reference numeral 51 is provided to input required product entry / exit data. Further, the operation panel 121 is connected to the stacker crane 119, outputs a command, and moves the product in and out of a predetermined position. In addition, each case storage shelf 111 is connected to a storage conveyor 123 having a reverse U-shape as shown. A work table 150 on which the shipping case 145 is placed is disposed adjacent to the loading / unloading conveyor 123. In the vicinity of the worktable 150, a worker 151 for transferring products from the picking case 113 that has been delivered to the shipping case 143 is arranged. Picking case 113
Are placed on the tray 115 and configured to be stored and transported.

[0008] The product is shipped as follows. (A) First, a picking case 113 in which a product is stored is stored in a case storage shelf 111 by an operator 151 as necessary.
Is stored at a predetermined position in response to the operation of. The operator 151 operates the operation panel 12 to ship a predetermined product according to an order.
An input is made so that the picking case 113 required for 1 is delivered. (B) The operation panel 121 outputs a command to the stacker crane 119, conveys the input predetermined picking case 113, and places it on the loading / unloading conveyor 123. The loading / unloading conveyor 123 transports the picked case 113 that has been picked up to the picking operation position and stops the picking case 113 at that position. (C) The worker 151 takes out the product corresponding to the number of orders from the picking case 113 and transfers it to the shipping case 145 while watching the picking slip. The picking case 113 in which the remaining products are stored is a storage and retrieval conveyor 123.
Is returned by the stacker crane 119 to the case storage shelf 111 at the originally predetermined position where the product was unloaded. As a result, a series of product shipping operations are performed.

[0009]

However, according to the above-mentioned method in the automatic piece picking processing in the fine picker, since the method is randomly transferred into the case, it falls down in the case. In addition, there is a problem that even when the collection case is transported vertically, the collection case is collapsed when the collection case is transported after the picking. For this reason, (a) it cannot be used for a fragile material such as a glass bottle. (B) Since the storage efficiency of cases is low, only a small number of bins can be transferred per case, so that the number of cases increases.

According to the method of automatic piece picking in the picking robot / semi-auto described above: (a) When a product is transferred from a moving chute to a hammock conveyor, a shock is applied to the product, so that the product is easily broken such as a glass bottle. Can not be used. (B) A large number of partial devices such as a reserve tank, a moving chute, a hammock conveyor, a pusher, a masticator, and an oricon device are required, which complicates the system.

The method of the automatic piece picking process in the three-dimensional automatic warehouse is as follows: (a) During the operation of the automatic warehouse, it is necessary to arrange necessary personnel, that is, an operator of the stacker crane and a picking operator. (B) The work time of the picking operator is determined by the operator of the stacker crane, and the picking operator often has to wait. (C) Since picking is performed manually, a picking error easily occurs. (D) Since the work is performed while looking at the work slip (order sheet, etc.), the number of work steps is increased.

The present invention focuses on the above-mentioned conventional problems, and a variety of products having different external shapes and contents are provided.
After the product is stored in the picking case and unloaded from the case storage shelf by the stacker crane, the product to be shipped to the temporary collection case is securely transferred once by the automatic picking device, and then transferred to the shipping case again. The aim is to provide an automatic piece picking system that is shipped out.

[0013]

SUMMARY OF THE INVENTION In order to achieve the above object, an automatic piece picking system according to the present invention is provided with a case size and the number of pieces stored therein.
In a picking system that takes out pieces from each of a plurality of types of picking cases different in at least one of dimensions, contents, and arrangement, and packs a plurality of pieces into another shipping case, the picking case automatically picks up the corresponding pieces from the picking case. , And once transferred to a temporary collection case with a partition, refilled from the temporary collection case to a shipping case and shipped.

According to another aspect of the present invention, there is provided a case storage shelf for storing a plurality of types of picking cases each having a different size of the case and at least one of the number, size, contents, and arrangement of the pieces stored therein. , An input / output command device for inputting the entry / exit of the corresponding piece, a stacker crane for loading / unloading the picking case storing the corresponding piece to / from the case storage shelf based on a command from the input / output command device, and a stacker crane. An input / output transport means for transporting the picked case to a predetermined position, returning pieces to the case storage shelf after transferring pieces from the picking case, and input / output from the picking case transported to the predetermined position. An automatic picking device that transfers the corresponding piece according to the command of the command device,
It comprises a temporary collection case for temporarily storing pieces to be transferred by the automatic picking device, and a station for refilling the temporary collection case into a shipping box for shipping.

[0015]

According to the present invention having the above-described structure, the automatic picking device can remove various different external shapes and contents from the picking case transported to a predetermined position in accordance with a command from the input / output command device. After taking out the required number of packed products and transferring them once to the temporary collection case for temporary storage, the products are manually refilled from the temporary collection case to the shipping box and shipped again.

At this time, a picking case in which various products having different external shapes and contents are stored is
A predetermined number or more is always stored at a predetermined position of the case storage shelf by a stacker crane from an entrance / exit conveyance means such as a conveyor by an input of an operator. The picking case is taken out of the case storage shelf in which products are stored according to an order by a stacker crane. As for the command of the delivery, the order and the quantity of each product are input to the input / output command device by the operator. The picking case that has left the warehouse is sent to a predetermined position by the loading / unloading conveyor. In the picking case sent to the predetermined position, the stored product is once transferred to the temporary collection case by the automatic picking device by the quantity input based on the instruction from the operation panel. The temporary collection case is partitioned according to the maximum shape of the product, and is sure to receive the transferred product. The product transferred to the temporary collection case is again transferred to a shipping case manufactured according to the product by an operator. As a result, a large variety of small products are surely shipped.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of an automatic piece picking system according to the present invention will be described below in detail with reference to the accompanying drawings. Parts having the same functions as those of the related art are given the same symbols in the last two digits.

FIG. 1 is a conceptual plan view of an automatic piece picking system according to an embodiment of the present invention, FIG. 2 is a partially enlarged plan view of the automatic piece picking system, and FIG. 3 is a side view of the automatic picking device.

The embodiment of the automatic piece picking system 1 shown in FIG. 1, FIG. 2 or FIG. 3 is configured as follows. The case storage shelf 11 is constituted by, for example, racks partitioned at predetermined intervals in the vertical and horizontal directions, and the racks are provided with predetermined addresses in rows, steps, and partitioned sections. I have. The case storage shelf 11 has a picking case 13 in which products are stored.
a, 13b, 13c,... are placed at predetermined address positions where storage positions are determined. Each of the picking cases 13a, 13b, 13c,.
For example, wines stored in bottles having different contents such as red, white, or a production place and having various external shapes are stored. Further, as another example, boxes of different sizes (product 45 shown in FIG. 6) in which products are stored are stored in the picking cases 13a, 13b, 13c,. The case storage shelf 11 is composed of, for example, a pair of opposed shelves 11a and 11b, and a large number of picking cases 13a, 13b, 13c,. In the following, the picking cases 13a, 13
When no distinction (specification) is made, b, 13c,... are displayed as the picking case 13. Therefore, it is possible to place the picking case 13 that stores wine and the like stored in bottles having different contents and various external shapes. Each picking case 13 is placed on a tray 15 having a fixed size and then placed on the case storage shelf 11. Thereby, each picking case 13 can maintain a fixed position at the time of conveyance, and positioning is easy. The tray 15 or each picking case 13 is provided with an identification code 17 such as a label or a bar code for identifying the stored product.

A stacker crane 19 having a fork (not shown) is disposed between the pair of opposite shelves 11a and 11b of the case storage shelf 11, and is controlled by the stacker crane 19 using the fork. The corresponding picking case 13 is put in and out of a corresponding predetermined position on one of the shelves 11a and 11b.

The stacker crane 19 is connected to an input / output command device 21 and operates according to a command from the input / output command device 21. The stacker crane 19 has a control device (not shown). When receiving a command from the input / output command device 21, the control device operates the stacker crane 19 according to a predetermined procedure, and the picking case 13
The control procedure is input to the storage device of the control device such that the storage device is moved in and out of either of the shelves 11a and 11b. In the input / output command device 21, an operator who inputs a command for an ordered product for each product and a delivery quantity thereof is arranged. The input / output command device 21 outputs a command to the stacker crane 19 so as to store each picking case 13 in which products to be taken in and out are stored at a predetermined address, and the picking case stored at a predetermined address. Inventory management of the number of products and the number of products. Also, management is performed so that the number of stored products is stored in a predetermined amount or more.

At each end of the shelves 11a and 11b,
An in-and-out conveyor 23 as an in-and-out U-shaped in-and-out conveyor means for conveying the picking case 13 at the time of in-and-out operation is provided. The incoming / outgoing conveyor 23 includes an incoming conveyor 23a for transporting the picking case 13 to be inbound, and an outgoing conveyor 23 for transporting the picking case 13 to be in / out.
b, and the picking case 13 is disposed between the incoming conveyor 23a and the outgoing conveyor 23b and moves the picking case 13 to a fixed position (Rp).
Intermediate conveyor 23c provided with a picking case positioning device 25 shown in FIG.
It is composed of The picking case positioning device 25 is configured by a positioning cylinder as shown in FIG.

That is, the shelves 11a and 11b to be stored are determined by the input / output command device 21 for the carried-in product,
It is conveyed to the entrance of the shelf passage where the goods are stored by the storage conveyor 23a, and the shelves 11a, 11
b. In order to leave the warehouse, the information on the products to be delivered is input to the input / output command device 21 and collated with the inventory management information, the corresponding shelves 11a and 11b are found, and a delivery instruction is given to the stacker crane 19. The stacker crane 19 conveys to the exit of the shelf passage from which the exit conveyor 23b exits, and places the conveyor on the exit conveyor 23b. The picking case 13 that has been delivered is conveyed via the delivery conveyor 23b and once stopped at the standby position (Wp), and then stopped at the fixed position (Rp) by the picking case positioning device 25 of the intermediate conveyor 23c. .

An identification device 26 for detecting the identification code 17 of the picking case 13 is attached to either the standby position (Wp) or the fixed position (Rp) by the picking case positioning device 25. Whether or not the case 13 matches the picking case 13 in which the corresponding product is stored may be detected.

As shown in FIG. 2 or FIG. 3, next to the loading / unloading conveyor 23, a shipping product is
A temporary collection case circulation conveyor 29 for circulating the temporary collection case 27 which is temporarily received once is provided. The temporary collection case 27 is partitioned at intervals larger than the cross-sectional area having the maximum dimension of the product, and is configured to store a plurality of types of shipping products. The temporary collection case 27
For example, it is made of a hard synthetic resin material such as a plastic case whose inside is partitioned at equal intervals. The temporary collection case circulation conveyor 29 is provided with a temporary collection case positioning device 31 at a position where the temporary collection case 27 receives the shipping product from the picking case 13. The temporary collection case positioning device 31 is provided at the same position as the positioning cylinder of the picking case 13, and the temporary collection case 2
7 and the picking case 13 are stopped at the same position. Thereby, the temporary collection case 27 can temporarily temporarily receive the shipped product more easily than the picking case 13. As another example, it is arranged within the operating range (Md) of the automatic picking device 35 described later.

As shown in FIG. 1 or FIG. 3, between the loading / unloading conveyor 21 and the temporary collection case circulation conveyor 29, there is an automatic transfer for transferring the shipping product to the temporary collection case 27 which temporarily receives the product temporarily from the picking case 13. A picking device 35 is provided. In the present embodiment, an articulated robot device is used as an example of the automatic picking device 35.

The automatic picking device 35 has a control device (not shown) and is connected to the input / output command device 21 to receive commands. When the automatic picking device 35 receives a command from the input / output command device 21, the control device operates the articulated robot according to a predetermined procedure, takes out the product from the picking case 13 according to a predetermined procedure, and temporarily removes the product. It has been transferred to the collection case 27. The control device of the automatic picking device 35 is the picking case 1
3 stores the shape of the product delivered, automatically operates the multi-joint according to a command from the control device to grip the product, and transfers the product from the picking case 13 to the temporary collection case 27 according to a predetermined procedure. Picking can be done. The temporary collection case 27 in which the product has been once transferred from the picking case 13 is transported by the temporary collection case circulation conveyor 29 and transported to the manual refilling station (St).

As shown in FIG. 1 or FIG. 2, a shipping case transport conveyor 41 is disposed next to the temporary collection case circulation conveyor 29, and the shipping case transport conveyor 41 is provided.
Transports the shipping case 43 according to the shipping product.
The shipped product is transferred from the temporary collection case 27 to the shipping case 43 by an operator. The transferred shipping case 43 is transported to the shipping position by the shipping case transport conveyor 41. The temporary collection case 27 to which the shipping product has been transferred is circulated around the temporary collection case circulation conveyor 29 and stopped by the temporary collection case positioning device 31, and returns to the position where the shipping product is received from the picking case 13. .

Thus, conventionally, an operator picks up products according to the number of orders from the picking case 13 and transfers them to the shipping case 43 while looking at the picking slip (order sheet). Thus, the product once picked from the picking case 13 to the temporary collection case 27 in accordance with a predetermined procedure is transferred as it is by an operator, so that even a large variety of small products can be surely shipped according to the order. Further, since the worker does not need to look at the work slip (order sheet or the like), the number of work steps can be reduced. Alternatively, the work table may be used as shown in FIG.

The operation of the embodiment of the automatic piece picking system 1 configured as described above is as follows. FIG. 4 and FIG. 5 are flowcharts for explaining the same embodiment.

The input / output command device 21 controls the stacker crane 19 and the automatic picking device 35.
A predetermined procedure for picking is stored in the stacker crane 19 and the automatic picking device 35. For example, in the stacker crane 19, at each position of the rack of the three-dimensional automatic warehouse, a production place, an outer shape, and what kind of wine products such as red and white are stored are stored. In addition, the automatic picking device 35 stores what kind of wine product is present at the rack position, and also stores a picking procedure.

First, the input / output command device 21 initializes each device (step S10). Next, the input / output command device 2
1 outputs a picking command to each device (step S11).

It is assumed that the shipped product input from the input / output command device 21 is stored in, for example, the picking cases 13a and 13c. Based on a command from the input / output command device 21, the stacker crane 19 moves the predetermined shelf 11 in which the corresponding picking cases 13a and 13c are stored.
a, 11b, and transported to the delivery position of the delivery conveyor 23b (steps S12, S13). Thus, the picking-up (take-out) of the corresponding picking cases 13a and 13c is completed (step S14).

Picking cases 13a, 13
c is conveyed by the outgoing conveyor 23b and the intermediate conveyor 2
3c to the standby position (Wp) (Step S)
15). Next, a fixed position (Rp) of the intermediate conveyor 23c.
Is checked whether it is empty (step S16), and if it is not empty, it stands by (step S17).
However, when it is empty, it is positioned and set at a certain position (Rp) by the picking case positioning device 25 (step S18).

Initially, at the time of a command from the input / output command device 21, an empty temporary collection case 27 is circulated and conveyed by the temporary collection case circulation conveyor 29. Empty temporary collection case 27
Is set to a position where the shipped product can be transferred from the picking case 13 by the temporary collection case positioning device 31 (step S19).

Initially, at the time of a command from the input / output command device 21, the empty shipping case 43 is
1 transported. The empty shipping case 43 is set at a position where the shipping products can be transferred from the temporary collection case 27 (step S20).

Temporary collection case 27 and picking case 13
When a is set at the same position, the automatic picking device 35 that has received a command from the input / output command device 21 operates the articulated robot according to a predetermined procedure, and determines the corresponding product from the picking case 13a. And is transferred to the temporary collection case 27 (step S21).

Picking case 13 from which the product has been taken out
Is transferred from the intermediate conveyor 23c to the storage conveyor 23a (step S22). Similarly, for the other ordered products input to the input / output command device 21, the relevant products are taken out from the stored picking case 13 c according to a predetermined procedure, and are taken out to the temporary collection case 27. Once relocated.

Thus, in the temporary collection case 27, the corresponding product Qa from the picking case 13a and the corresponding product Qc from the picking case 13c are temporarily received and stored. At this time, all the picking cases 13 are processed for all the ordered (input) products, and it is determined whether or not all the products have been temporarily received and stored in the temporary collection case 27 once (step S23). This allows
The picking operation ends (step S24).

After the picking operation is completed, the picking case 13 is transported to a standby position where the picking case 13 is stored by the storage conveyor 23a (step S25). The picking case 13 transported to the standby position is the stacker crane 1
9, it is determined whether or not the racks have been returned to the original storage positions of the shelves 11a and 11b, and are returned to the predetermined storage positions (steps S26 and S27). Thus, the operation of returning the picking case 13 is completed (step S2).
8).

The temporary collection case 27 in which all the products are temporarily received and stored is transported by the temporary collection case circulation conveyor 29 and transported to the position of the manual refilling station (St) (step S29). All the products transported to the position of the manual refilling station (St) are manually refilled and transferred to the shipping case 43 by an operator (step S30). Thus, the work of refilling the shipping case 43 is completed (step S31).

In the above embodiment, the temporary collection case 2
Although 7 is described using one unit, picking may be performed automatically at night using a plurality of units, and after the commencement of the operation, shipping refilling operation may be performed so that the working time can be used efficiently. Even in a normal work time zone, it is possible to carry out refilling work alone by automatically picking ones picked by a plurality of picking robots.

In the above-described embodiment, the picking case 13 has been described as an example in which the bins are transferred. However, as shown in FIG. , 45b, 45c may be stored in the picking case 13A. Further, as shown in FIG. 7, a glass plate 47 may be housed in the picking case 13B as shown in a plan view of the second embodiment of another product.

[0044]

As described above, according to the present invention, the automatic picking device packs various different external shapes and contents from the picking case conveyed to a predetermined position according to the command of the input / output command device. After removing the required number of products and transferring them to the temporary collection case for temporary storage, the products are simply refilled manually from the temporary collection case to the shipping box again. Can be shipped. Also, once the product is temporarily transferred to the temporary collection case to be temporarily stored by the automatic picking device, the product is manually refilled from the temporary collection case to the shipping box again, so that even glass bottles or glass plates, etc., that are easily broken can be handled. It becomes possible. In addition, since the automatic picking device can temporarily store in a plurality of temporary collection cases, the number of workers can be reduced, and work efficiency can be improved. Further, the structure can be simplified as compared with the conventional picking semi-auto.

[Brief description of the drawings]

FIG. 1 is a plan conceptual view of an automatic piece picking system according to an embodiment of the present invention.

FIG. 2 is a partially enlarged plan view of the automatic piece picking system according to the embodiment of the present invention.

FIG. 3 is a side view showing an example of the automatic picking device of the present invention.

FIG. 4 is a flow chart for explaining an embodiment of the automatic piece picking system of the present invention.

FIG. 5 is a flow chart for explaining an embodiment of the automatic piece picking system of the present invention.

FIG. 6 is a side view showing the first embodiment other than the picking case.

FIG. 7 is a plan view showing a second embodiment other than the picking case.

FIG. 8 is a conceptual plan view of automatic piece picking of a product by a conventional fine picker.

FIG. 9 is a side view of automatic piece picking of a product by a conventional picking robot semi-automatic.

FIG. 10 is a side view of automatic piece picking of a product by a conventional picking robot semi-automatic.

FIG. 11 is a plan conceptual view of automatic piece picking of a product by a conventional automatic three-dimensional warehouse.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic piece picking system 11 Case storage shelf 13 Picking case 15 Tray 19 Stacker crane 21 Input / output command device 23 Entry / exit conveyor 25 Positioning device for picking case 27 Temporary collection case 29 Bearing for flap wave making plate 23 Temporary collection case circulation Conveyor 31 Positioning device for temporary collection case 35 Automatic picking device 41 Shipping case transport conveyor 43 Shipping case

Claims (2)

[Claims] 1. A plurality of types of picking cases having different dimensions of the case and at least one of the number, size, contents, and arrangement of the pieces stored in the case are taken out, and a plurality of pieces are taken out to another shipping case. In a picking system that packs and packs pieces, remove the relevant pieces from the picking case with an automatic picking device, transfer them once to a temporary collection case with partitions, and then refill the temporary collection case into a shipping case before shipping. An automatic piece picking system. 2. A case storage shelf for storing a plurality of types of picking cases each having a different case size and at least one of the number, size, contents, and arrangement of pieces stored therein, An input / output command device that inputs and outputs the goods, a stacker crane that moves the picking case containing the corresponding piece into and out of the case storage shelves based on commands from the input / output command device, and a picking case that is discharged by the stacker crane To the predetermined position, transfer the pieces from the picking case, and then return to the position where they are stored in the case storage shelf. Automatic picking device to transfer the corresponding piece according to Automatic piece picking system, wherein the temporary current component case for temporarily storing pieces, a station ship refill shipping box from the temporary collection component case, in that it consists of.