JP2017165513A - Picking system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the efficiency of an automatic picking system.SOLUTION: A picking system 100 places articles into each receiving container 200 and includes: a shelf 101 which holds the multiple receiving containers 200; a transport device 102 having a transfer device 121 which transfers the receiving containers 200 to the shelf 101; a moving device 103 which moves a movable body 131 relative to the shelf 101; and a picking robot 104 which is attached to the movable body 131 and places the articles into each receiving container 200 held by the shelf 101.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a picking system that automatically puts a predetermined article into a receiving container.

  Conventionally, there has been a system in which a picking robot is introduced to a picking system that puts a plurality of types of articles according to orders into a receiving container so as to automate the picking work. For example, in the picking system described in Patent Document 1, a picking robot picks up a type of article according to an order from a shelf in which a plurality of types of articles are stored for each type, and the picked-up article is transferred to a pallet The technology to be transferred in is described.

JP-A-8-104404

  However, in the conventional picking system, if the goods of the type corresponding to the order cannot be arranged in one receiving container or pallet, the goods cannot be put into the next receiving container. There were cases where it was difficult to do.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a picking system that allows a picking robot to put articles into a plurality of receiving containers held on one shelf.

  In order to achieve the above object, a picking system according to the present invention is a picking system for loading an article into a receiving container, a shelf for holding a plurality of receiving containers, and a transfer for transferring a receiving container to the shelf. A transport device having a device, a moving device that moves a moving body relative to the shelf, and a picking robot that is attached to the moving body and that throws articles into a receiving container held on the shelf. To do.

  According to this, by moving one picking robot together with the moving body, it is possible to put one type of article into each of the plurality of receiving containers stored on the shelf.

  Further, the shelf may include an article supply unit that holds a supply container in which articles to be put into the receiving container are stored.

  According to this, since the receiving container and the supply container can be arranged in one shelf, it is possible to save the space of the picking system. In addition, since the supply container that holds the article can be transported and transferred by the transport device, the efficiency of the picking operation can be improved.

  In addition, the moving device may include a container holding unit that holds the supply container that is attached to the moving body and stores an article to be supplied to the receiving container.

  According to this, even when the picking robot moves together with the moving body, the supply container can always be arranged in the vicinity of the picking robot, and the supply container and the picking robot can be brought closer to the receiving container. It is possible to shorten the picking time by the picking robot and improve the efficiency of the picking work.

  Further, the moving device may be arranged on the opposite side of the conveying device with the shelf interposed therebetween.

  According to this, since the moving device and the transport device do not interfere with each other, the picking operation by the picking robot and the transport of the receiving container can be performed independently. For example, during the picking work, the receiving container can be carried in and out of the shelf. It is possible to improve the efficiency of the entire picking system.

  The shelf includes a first shelf and a second shelf, and the picking robot is held on the first shelf by moving the movable body between the first shelf and the second shelf. It may be possible to supply goods to the receiving container to be received and the receiving container held on the second shelf.

  According to this, one picking robot can put articles into receiving containers stored in a plurality of shelves, and efficiently perform the steps of picking work and loading / unloading of receiving containers and supply containers. Is possible.

  According to the present invention, it is possible to improve the efficiency of the automatic picking system.

FIG. 1 is a perspective view showing a picking system. FIG. 2 is a perspective view showing the shelf and the transfer device. FIG. 3 is a front view showing a shelf. FIG. 4 is a front view showing the shelf and the moving device. FIG. 5 is a side view showing a shelf and a moving device when the picking robot performs picking work. FIG. 6 is a side view showing a shelf and a moving device when the picking robot is moved between the first shelf and the second shelf. FIG. 7 is a diagram illustrating an operation flow of the picking system. FIG. 8 is a perspective view showing another picking system 100.

  Next, an embodiment of a picking system according to the present invention will be described with reference to the drawings. The following embodiment is merely an example of the picking system according to the present invention. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.

  Also, the drawings are schematic diagrams in which emphasis, omission, and ratio adjustment are performed as appropriate to show the present invention, and may differ from actual shapes, positional relationships, and ratios.

  FIG. 1 is a perspective view showing a picking system.

  As shown in the figure, the picking system 100 is a system that inputs a predetermined number of a plurality of types of articles (not shown) according to an order associated with a receiving container 200, and includes a shelf 101, a conveying device 102, A moving device 103 and a picking robot 104 are provided. In the case of the present embodiment, the picking system 100 includes a container holding means 105.

  FIG. 2 is a perspective view showing the shelf and the transfer device.

  FIG. 3 is a front view showing a shelf.

  As shown in these drawings, the shelf 101 is a facility that holds a plurality of receiving containers 200, and a shelf board 113 that is a holding member that holds the receiving containers, and a frame 110 that holds the shelf board 113 in a predetermined position. And. In the case of the present embodiment, the shelf 101 includes a first shelf 111 and a second shelf 112 that are arranged adjacent to each other. A shelf 113 that is a holding member provided on the first shelf 111 is a member that holds the receiving container 200 in a mounted state, and includes a bottom shelf 114 that extends to the entire bottom of the first shelf 111, and a bottom shelf 114. The upper shelf board 115 arrange | positioned upward is provided. A movement space 116, which is a space in which the picking robot 104 can move, is present above the central portion of the bottom shelf board 114 in the width direction (X-axis direction in the figure), and the upper shelf board is located on both sides of the movement space 116. 115 are arranged. The upper shelf plate 115 is arranged so as to protrude toward the moving space 116 in a cantilevered state on the frame 110 arranged in the vertical direction (Z-axis direction in the drawing). In addition, the first shelf 111 includes an article supply unit 117 that holds a supply container 210 in which an article to be supplied to the receiving container 200 is accommodated in a central portion in the width direction of the bottom shelf plate 114. Further, the shelf plate 113 can hold a plurality (two in the present embodiment) of receiving containers 200 side by side in the depth direction (Y-axis direction in the drawing) of the first shelf 111. The first shelf 111 and the second shelf 112 have the same structure and shape. The first shelf 111 and the second shelf 112 share a part of the frame 110. Note that an imaging device 119 capable of imaging an article that is the content of the supply container 210 disposed below is provided above the moving space 116. In the present embodiment, the imaging device 119 is provided on both the first shelf 111 and the second shelf 112, but it may be provided on only one of them.

  The transport device 102 is a cart having a transfer device 121 that can transport the receiving container 200 between the shelf 101 and another place and can transfer the receiving container 200 to the shelf 101.

  In the case of the present embodiment, the conveying device 102 is arranged on one side of the shelf 101 (the positive side in the Y-axis direction in the drawing) and moves along a rail 122 laid along the shelf 101 on the floor surface. Then, after stopping at a predetermined position with respect to the shelf 101, the receiving container 200 is transferred to and from the shelf 101 using the transfer device 121.

  Further, the transport device 102 includes a number of transfer devices 121 (six in this embodiment) according to the position where the receiving container 200 is stored in the first shelf 111, and each shelf of the first shelf 111. The receiving container 200 can be transferred to the plate 113 at a time. Further, the transfer device 121 can transfer a plurality of receiving containers 200 arranged in the depth direction (Y-axis direction in the drawing) of the first shelf 111 at a time. In other words, in the case of the present embodiment, the transport device 102 can transport all the receiving containers 200 that can be held by the first shelf 111 at a time, and can transfer them to and from the first shelf 111 at a time. It has become.

  The transport device 102 includes not only a device that can transfer the receiving container 200 to the first shelf 111 at a time, but also a lifting means that lifts and lowers the transfer device 121, with respect to the shelf 113 of each stage. The transfer container 121 may be transferred with the height of the transfer device 121 matched. Further, the conveying device 102 may be not only one that moves on the rail 122 but also one that moves in a suspended state.

  In the case of the present embodiment, since the appearance shapes of the receiving container 200 and the supply container 210 are the same, the transport device 102 can transport not only the receiving container 200 but also the supply container 210, and the transfer device 121 is The supply container 210 can also be transferred to the article supply unit 117 of the shelf 101.

  FIG. 4 is a front view showing the shelf and the moving device.

  FIG. 5 is a side view showing a shelf and a moving device when the picking robot performs picking work.

  FIG. 6 is a side view showing a shelf and a moving device when the picking robot is moved between the first shelf and the second shelf.

  As shown in the figure, the moving device 103 is a device that moves a moving body 131 to which the picking robot 104 is attached relative to the shelf 101. In the case of the present embodiment, the moving device 103 is disposed on the opposite side of the conveying device 102 with the shelf 101 interposed therebetween.

  Here, the moving body 131 is a member that is moved by the moving device 103 and is a member for holding the picking robot 104. In the case of the present embodiment, the moving device 103 not only moves the picking robot 104 in the vertical direction (Z-axis direction in the figure) but also moves in the depth direction of the shelf 101 (Y-axis direction in the figure). ing. Specifically, the moving body 131 is a rod-like member extending in the depth direction of the shelf 101, and the picking robot 104 moves in the depth direction when the moving body 131 moves in and out of the shelf 101 in the depth direction.

  The moving device 103 is a device that can move the picking robot 104 (see FIGS. 4 and 5) arranged in the moving space 116 in the vertical direction via the moving body 131. In the case of the present embodiment, the moving device 103 further moves the picking robot 104 together with the moving body 131 to the outside of the shelf 101 as shown in FIG. The picking robot 104 can be moved in the width direction (X-axis direction in the figure).

  Specifically, the moving device 103 includes column members 139 at positions corresponding to both ends of the shelf 101 in the width direction. Further, the moving device 103 is arranged in a bridge shape between the two column members 139 and includes a beam member 138 that moves in the vertical direction with respect to the column member 139 and a slide member 137 that moves along the beam member 138. I have. Further, the slide member 137 of the moving device 103 holds the moving body 131 slidable in the depth direction of the shelf 101.

  The picking robot 104 is an apparatus that can put an article into the receiving container 200 held on the shelf 101 while being attached to a moving body. The type of picking robot 104 is not limited to the articulated robot as shown in the figure, and any robot can be selected according to the shape and weight of the article to be picked, such as a parallel link robot. it can.

  The container holding means 105 is an apparatus that can hold a supply container 210 in which an article to be supplied to the receiving container 200 is stored, and is an apparatus that is attached to the moving body 131 and is moved by the moving apparatus 103 together with the picking robot 104. is there.

  In the case of this embodiment, the container holding means 105 can hold the supply container 210 transferred to the article supply unit 117 by the transport device 102. Further, the supply container 210 held by the container holding means 105 can be moved out of the moving space 116 and the shelf 101 by the moving device 103 together with the picking robot 104.

  Next, the operation of the picking system 100 will be described.

  FIG. 7 is a diagram illustrating an operation flow of the picking system.

  The transfer device 121 of the transport device 102 transfers the empty receiving container 200 that has not been ordered to the shelf 113 of the first shelf 111 (S201). The number of receiving containers 200 transferred to the first shelf 111 is not particularly limited. Each receiving container 200 is associated with order information indicating the type and number of articles to be input.

  Next, the transfer device 121 transfers the supply container 210 that stores the articles included in the order information to the article supply unit 117 of the first shelf 111 (S202).

  Next, the article in the supply container 210 held by the article supply unit 117 is imaged by the imaging device 119, and the position of the article in the supply container 210 is grasped (S101).

  Here, the moving device 103 retracts the moving body 131 to the outside of the first shelf 111 (see FIG. 6) so as not to disturb the imaging (S301).

  On the other hand, at the same time as imaging, the transfer device 121 moves to a place other than the shelf 101 such as a receiving container storage shelf (not shown) in order to receive a new receiving container 200 (S203).

  Next, the moving device 103 moves the moving body 131 to a position where the container holding means 105 can hold the supply container 210. When the movement is completed, the container holding means 105 holds the supply container 210 (S302).

  At the stage where the container holding means 105 holds the supply container 210, the picking robot 104 is a position where the article in the supply container 210 arranged in the article supply unit 117 can be held, and is arranged at the same height as the supply container 210. It is in a state where it is arranged at a position where articles can be put into the receiving container 200. The picking robot 104 picks an article from the supply container 210 held on the bottom shelf 114 (lower stage in the figure) to the receiving container 200 according to the order information (S102).

  When picking work is being performed on the first shelf 111 by the picking robot 104, the transfer device 102 transfers the receiving container 200 to the second shelf 112 (S204).

  As described above, the picking system 100 includes the first shelf 111 and the second shelf 112 on both sides of the shelf 101, and includes the first shelf 111 and the second shelf 112. While the picking robot 104 and the moving device 103 are in operation, the transfer device 102 can perform a transfer operation on the second shelf 112, which enables efficient operation.

  When the picking work in the lower stage is completed, the moving device 103 raises the moving body 131 in the moving space 116 to a position corresponding to the middle stage (S303). As the moving body 131 rises, the picking robot 104 and the supply container 210 held by the container holding means 105 also rise to a position corresponding to the middle stage.

  When the raising is completed (if possible), the picking robot 104 picks an article from the supply container 210 held in the middle stage to the receiving container 200 according to the order information (S103).

  As described above, the picking robot 104 and the container holding means 105 are attached to the moving body 131 and moved simultaneously, so that the supply container 210 can be disposed in the vicinity of the picking robot 104, and the picking robot 104 and the supply container 210 are arranged. The picking robot 104 can always perform the picking operation with the same operation even when the picking location is changed. Therefore, efficient picking can be performed.

  Similarly, when the middle picking operation is completed, the moving device 103 raises the moving body 131 to the upper stage (S304), and the picking robot 104 performs the picking work on the upper stage (S104).

  When the picking operation on the first shelf 111 is completed, the moving device 103 moves the moving body 131 to the retracted position, and then moves the moving body 131 together with the supply container 210 held on the second shelf 112 (S305). ).

  When the retracting of the moving body 131 from the first shelf 111 is completed, the transfer device 121 of the transport apparatus 102 collects the receiving container 200 corresponding to the order information from the first shelf 111 (S206).

  On the other hand, in the second shelf 112, picking operations are sequentially performed from the upper level to the lower level (S105). When the picking operation is completed, the transfer device 121 of the transport device 102 collects the receiving container 200 corresponding to the order information from the second shelf 112 (S207). In addition, the container holding means 105 places the supply container 210 on the article supply unit 117 of the bottom shelf board 114 of the second shelf 112 (S306). The supply container 210 placed on the article supply unit 117 of the second shelf 112 is collected by the transport device 102 (S208).

  When a series of operations from the first shelf 111 to the second shelf 112 is performed on the second shelf 112, the receiving container 200 and the supply container 210 are transferred and the supply container 210 is transferred to the first shelf 111. It is possible to efficiently perform an automatic picking operation by repeatedly performing a part of the imaging such as imaging in a time-overlapping manner.

  As described above, when the picking robot 104 moves along with the moving body 131, it becomes possible to load articles into a plurality of receiving containers held on one shelf, and efficient picking work can be performed. Can be done.

  In addition, this invention is not limited to the said embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.

  For example, as shown in FIG. 8, the shelf 101 may be single. Further, the article supply unit 117 in which the supply container 210 is arranged does not have to be fixed on the shelf 101, and when the supply container 210 is arranged on the shelf plate 113, the place becomes the article supply unit 117.

  The transfer device 102 moves the supply container 210 in the width direction (X-axis direction in the figure) and the vertical direction (Z-axis direction in the figure), and transfers the supply container 210 to the corresponding holding member 113 of the shelf 101. But it doesn't matter.

  The moving device 103 may move the moving body 131 only by one axis or only two axes. Further, the imaging device 119 may be attached to the moving body 131.

  Further, the case has been described in which the shelf 101 includes the shelf plate 113 that holds the receiving container 200 and the like in the mounted state, but the holding mode of the receiving container 200 is not particularly limited, and the receiving container 200 is suspended and held. The shelf 101 may be provided with rails and hooks to be used.

  In addition, the transfer device 121 provided in the transport device 102 is not limited to a device that clamps a container such as the receiving container 200 or the supply container 210, and the container is disposed according to the container holding mode in the shelf 101. You may have a fork scooping from below or a hook to push and pull the container.

  Further, the container holding means 105 attached to the moving body 131 is not limited to the one that is hooked on the flange portion of the container and held in a suspended state, and may include a fork that supports the container from below. .

  The present invention can be used in a picking system in which a plurality of types of articles according to orders are packed in one container.

DESCRIPTION OF SYMBOLS 100 Picking system 101 Shelf 102 Conveying device 103 Moving device 104 Picking robot 105 Container holding means 110 Frame 111 First shelf 112 Second shelf 113 Shelf plate (holding member)
114 Bottom shelf plate 115 Upper shelf plate 116 Moving space 117 Article supply unit 119 Imaging device 121 Transfer device 122 Rail 131 Moving body 137 Slide member 138 Beam member 139 Column member 200 Receiving container 210 Supply container

Claims (5)

A picking system for loading an article into a receiving container,
A shelf holding a plurality of receiving containers;
A transfer device having a transfer device for transferring a receiving container to the shelf;
A moving device for moving a moving body relative to the shelf;
A picking system comprising: a picking robot attached to the moving body and for throwing articles into a receiving container held on the shelf. The picking system according to claim 1, wherein the shelf includes an article supply unit that holds a supply container in which an article to be supplied to the receiving container is stored. The mobile device is
The picking system according to claim 1, further comprising: a container holding unit that holds a supply container that is attached to the movable body and that stores an article to be supplied to the receiving container. The picking system according to any one of claims 1 to 3, wherein the moving device is disposed on the opposite side of the conveying device with the shelf interposed therebetween. The shelf includes a first shelf and a second shelf,
By moving the movable body between the first shelf and the second shelf, the picking robot can receive a container held on the first shelf and a receiver container held on the second shelf. The picking system according to any one of claims 1 to 4, wherein the article can be supplied.

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