JP2010023944A - Picking robot and picking system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a picking robot and a picking system, capable of reliably reading an IC tag attached to an article being picked up. <P>SOLUTION: The picking robot 10 picks a workpiece W with the IC tag attached thereto. The picking robot 10 has an ID reader 15 and a hand 12. The ID reader 15 has a loop antenna 15a formed thereon to acquire information on an RFID tag. The hand 12 disposed inside the antenna 15a picks the workpiece W by means of suction. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a picking robot and a picking system used for article management in a distribution route or the like.

In the article delivery system, for example, a label on which a barcode is printed is attached to the article, and a computer manages the delivery status of each article based on identification information read from the barcode.
For example, Patent Document 1 discloses an automatic warehouse including a picking system that manages an article to which an IC tag is attached. The picking system has a picking robot that takes out articles one by one from a carrier or the like and loads them at a predetermined position. An ID reader for reading the IC tag data of the article is attached to the picking robot hand. Each time the hand performs an article stacking operation, the ID reader reads the ID of the article. As a result, the computer can accurately recognize the relationship between the ID and position of each article stacked by the hand.
WO2006 / 059676

However, the conventional picking robot has the following problems.
An ID reader is known that recognizes information from an IC tag attached to an article by short-range wireless communication using an electromagnetic field or a radio wave. This ID reader has an antenna for wireless communication. The antenna of the ID reader is attached to the upper part of the hand, for example. Therefore, when the hand picks up the article, the ID reader is separated from the IC tag attached to the article by a predetermined distance. As a result, the ID reader cannot reliably read information from the IC tag attached to the picked-up article, or reads information from the IC tag of the article that has not been picked up.

  The present invention solves the above-described conventional problems, and an object thereof is to provide a picking robot and a picking system capable of reliably reading information from an IC tag attached to a picked-up article.

The picking robot of the present invention is a picking robot for picking an article to which an IC tag is attached, and includes an ID reader and a picking unit. The ID reader has an antenna formed in a loop shape, and acquires information on the IC tag. The picking unit is disposed inside the antenna and picks an article.
In this picking robot, the picking unit is arranged to be inserted into the ID reader. Here, the picking unit refers to a mechanism that holds an article by suction, gripping, etc., and stacks the article at a predetermined position. Due to the above arrangement relationship, the ID reader is arranged in the vicinity of the picking unit. As a result, the distance between the ID reader and the IC tag attached to the picked-up article can be shortened, and as a result, the ID reader is picked up. The distance between the article and the ID tag is shortened, and the ID reader can reliably read information from the IC tag attached to the picked-up article.

In the picking robot of the present invention, the picking unit has an adsorbing unit that adsorbs an article, and a resin-made cylindrical unit connected to the adsorbing unit, and the cylindrical unit is inserted into the antenna. It is preferable.
In this picking robot, the picking unit sucks and holds the article by a suction force from a suction device such as a vacuum pump. Here, generally, when another member is inserted in the loop portion of the antenna, the sensitivity of the antenna may be deteriorated. Therefore, in the picking robot of the present invention, the deterioration of the sensitivity of the antenna is suppressed by making the cylindrical portion inserted in the loop portion of the antenna made of resin.

In the picking robot of the present invention, it is preferable that the ID reader acquires information on the IC tag during an operation in which the picking unit picks an article.
In this picking robot, the ID reader acquires information on the IC tag while the picking unit picks up the article. Therefore, even if the electromagnetic field and radio wave intensity from the IC tag are set low, the ID reader Only the information of the IC tag of the article picked by the part can be acquired.

A picking system of the present invention includes the picking robot and a controller. The controller acquires the attribute information of the article from the IC tag information of the article acquired by the ID reader. The ID reader communicates constantly with the IC tag in order to acquire information on the IC tag. The controller uses the IC tag information transmitted after the picking unit lifts the article from the IC tag information constantly transmitted from the ID reader as the information from the IC tag of the article being picked. to decide.
In this picking system, since the ID reader does not use the information from the IC tag of the article until the picking unit lifts the article, a malfunction such as reading the IC tag of another article that has not been picked is unlikely to occur. Note that “after the picking unit lifts the article” includes the moment when the picking unit lifts the article, immediately after that, and after several seconds have passed.

The picking system of the present invention preferably further includes an attachment device for attaching the IC tag to the upper surface of the article.
Since this picking system can attach an IC tag to the upper surface of an article, the ID reader can reliably read the IC tag.

  According to the picking robot according to the present invention, it is possible to reliably read an IC tag attached to a picked-up article.

A picking system 1 according to an embodiment of the present invention will be described below with reference to FIGS.
[Configuration of Picking System 1]
The picking system 1 is a system for picking works W one by one from a picking work box 40 such as a bucket in which a large number of works (articles) W are stored, and stacking them on a work box 41 for loading. As shown in FIG. 1, the picking system 1 includes a picking robot 10 and a controller 20. Here, the RFID tag T includes a memory chip that stores various information and a loop-shaped communication antenna connected to the memory chip. Each work W is provided with an RFID (Radio Frequency IDentification) tag T.

As shown in FIG. 1, the picking robot 10 includes an arm 11, a hand (suction part) 12, a cylindrical part 13, a jig 14, an ID reader 15, and a vacuum pump (suction device) 16. ing. In addition, the hand 12, the cylindrical part 13, and the jig | tool 14 comprise the picking part for picking the workpiece | work W. FIG.
The arm 11 is configured to be movable in a vertical direction and a horizontal direction (X, Y, Z direction) by a mechanism such as an air cylinder or a drive unit, and is controlled by a controller 20 described later.

The hand 12 is disposed at the tip of the arm 11 via a cylindrical portion 13 which will be described later, and sucks and holds the workpiece W. Specifically, the hand 12 is supplied with a suction force by a vacuum pump 16 to be described later via the cylindrical portion 13. The hand 12 can attract and hold the workpiece W by this suction force.
The cylindrical portion 13 connects the vacuum pump 16 and the hand 12 and is formed in a cylindrical shape with resin. The cylindrical portion 13 supplies the hand 12 with a suction force generated in the vacuum pump 16. Moreover, the cylindrical part 13 is inserted inside the antenna 15a (described later) formed in a loop shape.

The jig 14 is disposed between the arm 11 and the ID reader 15 and is made of resin. The ID reader 15 can suppress sensitivity deterioration of the antenna 15a by being attached to the arm via a jig made of resin.
As shown in FIG. 3, the ID reader 15 is a small ID reader in which an antenna 15a is formed in a loop shape. Then, the ID reader 15 transmits the acquired identification information of the workpiece W to a selection unit (controller) 22 described later. In addition, the ID reader 15 is provided with a hole 15b inside an antenna formed in a loop shape, and the cylindrical portion 13 is inserted in this portion. Here, the cylindrical portion 13 is formed of a resin member. Accordingly, it is possible to minimize a problem that the sensitivity of the antenna is deteriorated by changing the magnetic field by inserting another member in the loop portion of the antenna.

The vacuum pump 16 supplies a suction force to the hand 12 through a pipe such as the cylindrical portion 13. The vacuum pump 16 is controlled by a controller 20 that improves.
Here, the part which becomes the characteristic of this embodiment is demonstrated below.
As described above, the tubular portion 13 is inserted inside the loop-shaped antenna 15 a, and the hand 12 is disposed at the tip of the tubular portion 13. Conventionally, for example, the antenna of an ID reader is attached to the upper part of the hand. Therefore, when the hand picks up an article, the ID reader is separated from the IC tag attached to the article by a predetermined distance. As a result, conventionally, an ID reader cannot reliably read an IC tag attached to a picked-up article, or reads an IC tag of an article that has not been picked up. However, in the picking system 1 of the present embodiment, the structure shown above allows the distance between the ID reader 15 and the hand 12 to be close to each other. The distance from the RFID tag T is shortened, and the ID reader 15 can reliably acquire the identification information of the RFID tag T. Further, by arranging the hand 12 at the center of the antenna 15a, the ID reader 15 and the hand 12 appear to overlap each other in plan view. For this reason, the ID reader 15 acquires only the identification information of the workpiece W directly under the ID reader 15, that is, the workpiece W attracted to the hand 12 even in a place where a plurality of workpieces W are arranged. It becomes possible.

The ID reader 15 is attached so as to be horizontal to the work W when the hand 12 sucks the work W. As a result, the reading range of the ID reader 15 can be limited. In addition, it is advantageous in terms of air resistance during balance and movement, compared to the case where the ID reader is mounted obliquely in order to bring the work and the ID reader close to each other.
The controller 20 controls the entire picking system 1. Here, control of the picking operation in the picking robot 10 will be described.

  The controller 20 controls the picking robot 10 by executing the picking program PG. Specifically, for example, the controller 20 reads the picking program PG stored in a ROM (not shown) or the like into a RAM (not shown), thereby selecting the control unit 21 and the selection as shown in FIG. A functional block including the portion 22 is formed. The functional blocks are in a state that can be executed by a CPU (not shown) included in the controller 20.

  The control unit 21 performs control such as movement of the arm 11 and holding of the workpiece W in the picking robot 10 according to a control command input in advance by the user. Thereby, it becomes possible to pick a predetermined workpiece W. Here, the control command includes information for picking the work W arranged at the first predetermined position P1 in the picking work box 40 and loading the work W at the second predetermined position P2 in the work box 41 for loading. .

The selection unit 22 selects the identification information of the workpiece W that is actually attracted by the hand 12 from the identification information continuously acquired by the ID reader 15. A specific selection method will be described in detail later.
The storage unit 25 stores a database DB in the attribute information of the work W. Here, database DB memorize | stored in the memory | storage part 25 is comprised by items, such as identification information, a manufacturer code, a product number, and an option, as shown in FIG. In the option item, for example, the expiration date, the next destination, the next destination, the next process, the identification information of the final product incorporating the work W, the wholesale price, and the like are stored. The picking system 1 can acquire the attribute information of the picked work W by matching the identification information acquired by the ID reader 15 with the identification information stored in the database DB.

[Description of operation of picking system 1]
Here, the operation of the picking system 1 will be described with reference to FIGS.
In step S <b> 1, the ID reader 15 starts acquiring identification information of the RFID tag T attached to the workpiece W. Specifically, the ID reader 15 and the RFID tag T start short-range wireless communication using an electromagnetic field or a radio wave. Here, the ID reader 15 acquires the identification information of the RFID tag T within the range in which wireless communication can be continuously performed during wireless communication. Further, when the ID reader 15 moves, the acquisition information of the RFID tag T acquired by the ID reader 15 may change with the movement.

  In step S <b> 2, the picking robot 10 picks the work W placed at the first predetermined position P <b> 1 on the picking work box 40 in accordance with the control command transmitted from the controller 20. Specifically, the arm 11 in the picking robot 10 is moved above the first predetermined position P1. Next, the hand 12 is moved downward in the vertical direction (Z direction) to attract the workpiece W and lift up upward in the vertical direction. Note that. The control command here is to move the workpiece W at the first predetermined position P1 on the picking work box 40 to the second predetermined position P2 on the loading work box 41.

  In step S <b> 3, the selection unit 22 selects the identification information of the workpiece W actually attracted by the hand 12 from the identification information transmitted from the ID reader 15. Specifically, the selection unit 22 selects the identification number of the workpiece W acquired from the ID reader 15 immediately after the arm 11 lifts up the workpiece W in step S1. Thereby, the ID reader 15 can reliably acquire the identification information of the RFID tag T of the workpiece W picked from the workpieces W placed on the work box 41 for loading.

  In step S4, the picking system 1 acquires attribute information of the workpiece W attracted by the hand 12. Specifically, the database DB stored in the storage unit 25 is searched using the identification information selected by the selection unit 22 as a key. Then, attribute information on the DB that matches the identification information acquired by the selection unit 22 is extracted. Thereby, the attribute information of the picked work W can be acquired.

  In step S <b> 5, the picking system 1 loads the workpiece W sucked in step S <b> 1 at the second predetermined position P <b> 2 in the loading work box 41 in accordance with the control command transmitted from the controller 20. Specifically, the arm 11 in the picking robot 10 is moved above the second predetermined position P2. Next, the hand 12 that has attracted the workpiece W is moved downward in the vertical direction, and the workpiece W is placed on the stacking work box 41.

[Other Embodiments]
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of invention.
(A)
In the picking system 1 of the above-described embodiment, an example in which the cylindrical portion 13 is disposed inside the loop-shaped antenna 15a and the hand 12 is disposed at the tip thereof has been described. However, the present invention is not limited to this.
For example, the hand may be provided inside the antenna formed in a loop shape. Also in this case, the same effect as the picking system 1 according to the above embodiment can be obtained.

(B)
In the picking system 1 of the above-described embodiment, the example in which the hand 12 sucks and holds the workpiece W by the suction force supplied from the vacuum pump 16 has been described. However, the present invention is not limited to this.
For example, the hand may have a structure in which a workpiece is gripped by a mechanism constituted by a portion such as a claw.

(C)
In the picking system 1 of the above-described embodiment, the selection unit 22 has been described with an example in which the identification number of the workpiece W acquired from the ID reader 15 is selected at the moment when the arm 11 lifts the workpiece W in step S1. However, the present invention is not limited to this.

For example, the ID reader may acquire information on the IC tag attached to the work when the hand sucks the work without providing the selection unit. Specifically, the strength of the electromagnetic field or radio wave transmitted by the ID reader is adjusted so that only the IC tag of the work picked by the hand can be communicated.
Further, for example, the ID reader does not always communicate with the IC tag to acquire the information on the IC tag, but controls to communicate only when the arm 11 lifts up the workpiece W. Also good. Also in this case, the same effect as the picking system 1 according to the above embodiment can be obtained.

(D)
In the picking system 1 of the above embodiment, the example in which the attribute information of the database DB stored in the storage unit 25 is acquired using the identification information acquired by the ID reader 15 as a key has been described. However, the present invention is not limited to this.
For example, as the attribute information of each workpiece, the attribute data as described above may be directly stored in the IC tag. Also in this case, the same effect as the picking system 1 according to the above embodiment can be obtained.

(E)
The picking system 1 is a picking system provided with a label attaching device (tag attaching device) 50 for attaching a label L including an RFID tag T to a work W in an upstream process of the picking robot 10 of the embodiment. May be.
Hereinafter, the label sticking apparatus 50 will be described with reference to FIG.

The label L is attached with an RFID (Radio Frequency IDentification) tag T and is temporarily attached to a belt-like mount D in order.
The label sticking device 50 includes a frame 51, a label supply unit 52 provided on the frame 51, and a label sticking unit 60.
The label supply unit 52 feeds the mount D while rotatably supporting a roll 53 around which the mount D on which the label L attached with the RFID tag T is temporarily attached is wound. The mount D sent out from the label supply unit 52 is transported by the label transport mechanism 54. In the label transport mechanism 54, the mount D is transported by a plurality of feed rollers provided on the frame 51, folded back by a not-shown peeling roller, peeled off the label L, and wound on a reel not shown.

  The label sticking unit 60 includes a box-like support 61 provided on the frame 51 and a suction plate 62 provided below the support 61 so as to be movable up and down. The suction plate 62 sucks the label L at the predetermined suction position X, and sticks the label L to the article W at the predetermined sticking position Y. The suction plate 62 is provided with a plurality of small holes (not shown) for sucking air for sucking the surface of the label L. The suction plate 62 is supported so as to be able to move back and forth with respect to the base 64 via a coil spring 63 that is always urged to the forward movement position. The base 64 is attached to an air cylinder device 65 that moves the suction plate 62 to the suction position X or the sticking position Y.

In the labeling device 50 having the above-described structure, the picking system attaches a label L to the upper surface of the work placed on the work box 70 for conveyance, and transfers the work box to the picking robot 10 arranged on the downstream side. Deliver 70. Then, the picking robot 10 picks the work W to which the RFID tag T is attached.
In the picking system, since the RFID tag T can be attached to the upper surface of the workpiece W, the ID reader can reliably read the information of the RFID tag T.

(F)
In the picking system 1 of the said embodiment, the example provided with only one work box 41 for packing as a work box for packing was given and demonstrated. However, the present invention is not limited to this.
Here, when the workpiece W is picked, the IC tag T may not be read normally due to breakage of the IC tag T or the like. Further, there is a case where the picked work W is different from what is assumed (the work W selected by the selection unit 22 is different from the work W originally intended to be picked).

  Therefore, as shown in FIG. 7, an irregular work box 42 may be provided separately from the stacking work box 41. In this case, in the event of an abnormality as described above, the corresponding workpiece W can be stacked on the irregular work box 42, so that mixing of different products or the like can be prevented.

  According to the present invention, since the identification information of the actually picked workpiece can be obtained with certainty, the sorting status of the workpiece, the delivery status, etc. are managed by the computer. Applicable.

Explanatory drawing which showed the structure of the picking system which concerns on one Embodiment of this invention. The perspective view which expanded the hand periphery of the picking robot of FIG. The perspective view which shows the ID reader of FIG. Explanatory drawing about the content of the database memorize | stored in the memory | storage part of FIG. The flowchart which showed operation | movement of the picking system which concerns on one Embodiment of this invention. Sectional drawing which showed the label sticking apparatus which concerns on other embodiment of this invention. Explanatory drawing which showed the structure of the picking system which concerns on other embodiment of this invention.

Explanation of symbols

1 Picking System 10 Picking Robot 11 Arm 12 Hand (Suction Unit)
13 Cylindrical part 14 Jig 15 ID reader 15a Antenna 15b Hole 16 Vacuum pump (suction device)
20 controller 21 control unit 22 selection unit (controller)
25 Storage Unit 40 Picking Work Box 41 Stacking Work Box 42 Irregular Work Box 50 Labeling Device (Tag Mounting Device)
51 Frame 52 Label Supply Unit 53 Roll 54 Label Transport Mechanism 60 Label Attaching Unit 61 Support 62 Adsorption Plate 63 Coil Spring 64 Base 65 Air Cylinder Device 70 Transport Work Box P1 First Predetermined Position P2 Second Predetermined Position T RFID Tag ( IC tag)
DB Database PG Picking Program W Work

Claims (5)

A picking robot for picking an article to which an IC tag is attached,
An antenna is formed in a loop shape, and an ID reader that acquires information of the IC tag;
A picking portion disposed inside the antenna and picking the article;
It is equipped with a picking robot. The picking part has an adsorption part that adsorbs the article, and a resin-made cylindrical part connected to the adsorption part,
The cylindrical part is inserted in the antenna,
The picking robot according to claim 1. The ID reader acquires information on the IC tag during an operation in which the picking unit picks the article.
The picking robot according to claim 1 or 2. The picking robot according to any one of claims 1 to 3,
A controller that acquires attribute information of the article from information of an IC tag of the article acquired by the ID reader;
With
The ID reader constantly communicates with the IC tag in order to obtain information on the IC tag,
The controller includes the IC tag information that is picked up from the information of the IC tag that is constantly transmitted from the ID reader, and the information of the IC tag that is transmitted after the picking unit lifts the article. Judge that the information is from the IC tag.
Picking system. A tag attaching device for attaching the IC tag to the upper surface of the article;
The picking system according to claim 4.

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