JP2019156597A - Method and device for taking out work-piece - Google Patents

Abstract

To provide a method for taking out a work-piece capable of efficiently taking out a desired work-piece from a plurality of work-pieces laid one over another.SOLUTION: A method for taking out a work-piece comprises a first transport step that a carrier robot for carrying a work-piece by holding a side face thereof holds a side face of one work-piece out of a plurality of work-pieces laid one over another in a storage place and carries it to a temporary storage place, a second transport step that the carrier robot holds a side face of one work-piece out of a plurality of work-pieces laid one over another in a temporary storage place and carries it to the storage place, and a delivery transport step that the carrier robot holds a side face of an uppermost work-piece in the storage place or the temporary storage place and carries it. In the first transport step or the second transport step, the carrier robot carries one work-piece together with another work-piece laid on the one work-piece.SELECTED DRAWING: Figure 12

Description

  The present invention relates to a work picking method and a work picking apparatus.

  In Patent Document 1, in a method for supplying an object for transferring an object accumulated from a supply / discharge unit in which objects are accumulated to a working unit, each region of the object randomly stacked on the supply / discharge unit is searched. Detect and store the position of the area where the object exists and the amount of the object in the area, find the position where the object exists based on the stored result, take out the object, and sequentially supply the extracted object to the working unit It is described to do.

JP-A-6-255725

  However, in the above-mentioned Patent Document 1, a vacuum object that sucks the upper surface of an object can take out a desired object from the stacked objects by simply transporting the objects stacked on the supply / discharge unit sequentially from the top to the working unit. I can't.

  The present invention has been made in view of the above problems, and a main object thereof is to provide a work picking method and a work picking apparatus capable of efficiently picking up a desired work from a plurality of stacked works. There is.

  In order to solve the above-described problem, in a workpiece picking method according to an aspect of the present invention, a transport robot that holds and transports a side surface of a workpiece has a side surface of one of a plurality of workpieces stacked in a storage place. A first transfer step for holding and transferring to a temporary storage location; and a first transfer step in which the transfer robot holds a side surface of one of the plurality of workpieces stacked in the temporary storage location and transfers the workpiece to the storage location. In the first transfer step or the second transfer step, and a transfer step in which the transfer robot holds and transfers a side surface of the uppermost workpiece in the storage location or the temporary storage location. The transfer robot transfers the one workpiece together with other workpieces on the one workpiece.

  Said aspect WHEREIN: A said 1st conveyance step hold | maintains the target workpiece | work used as a leaving object among the several workpiece | work piled up in the said storage place, and conveys it with the upper stage workpiece | work on the said target workpiece | work, said 2nd conveyance step Among the target workpieces and the upper workpieces stacked in the temporary storage location, the side workpieces are transported while holding the side surfaces of the upper workpieces, and the unloading and transporting step is performed for the target workpieces left in the temporary storage locations. You may convey by hold | maintaining a side surface.

  The second transporting step may hold a lowermost work among a plurality of works included in the upper work and transport the work together with other work on the lowermost work.

  The said aspect WHEREIN: You may further provide the workpiece | work position acquisition step which acquires the position of the workpiece | work to hold | maintain based on the position management table which matches the identification information and position information of each workpiece | work.

  The position information may include the position of the storage location of each workpiece and the level at the storage location.

  Moreover, you may further provide the positional information update step which updates the positional information on the said position management table about the workpiece | work of the said storage location.

  The said aspect WHEREIN: You may further provide the workpiece | work height calculation step which calculates the height of a workpiece | work based on the thickness of each workpiece | work piled up in the said storage place.

  The workpiece may include a plurality of types of workpieces having different thicknesses.

  In addition, the transfer robot includes a sensor that detects a workpiece and a holding unit that holds the workpiece, and the uppermost workpiece of the plurality of workpieces is detected by the sensor, and then based on the height of the workpiece to be held. The height of the holding part may be adjusted.

  Moreover, the said transfer robot may hold | maintain the side surface of the said 1 workpiece | work, and the side surface of the other workpiece | work on the said 1 workpiece | work.

  In the above aspect, the temporary storage location may be provided on each of the shelves including a plurality of storage locations.

  According to another aspect of the present invention, there is provided a work picking device including a transport robot that transports while holding a side surface of the work, and a control device that controls the transport robot, and the control device is stacked in a storage place. A first transfer command generating means for generating a first transfer command for holding a side surface of one of the plurality of workpieces and transferring the workpiece to a temporary storage location; and among the plurality of workpieces stacked in the temporary storage location A second transfer command generating means for generating a second transfer command for holding the side of the one workpiece and transferring it to the storage location, and holding and transferring the uppermost workpiece side of the storage location or the temporary storage location An unloading / conveying command generating means for generating an unloading / conveying command. In the first conveying command or the second conveying command, the transfer robot transfers the one workpiece to another one on the one workpiece. To carry along with the over clause.

  According to the present invention, a desired workpiece can be efficiently taken out from a plurality of stacked workpieces.

It is a schematic diagram which shows the example of a conveyance robot and a warehouse shelf. It is a schematic diagram which shows the example of an end effector and a workpiece | work. It is a block diagram which shows the structural example of a workpiece taking-out apparatus. It is a block diagram which shows the structural example of a database. It is a table figure which shows the structural example of a parts master. It is a table figure which shows the structural example of the warehousing position number master. It is a table figure which shows the structural example of warehouse data. It is a table figure which shows the structural example of warehousing position component height product data. It is a flowchart which shows the example of a procedure of a warehousing process. It is a flowchart which shows the example of a procedure of a conveyance process. It is a flowchart which shows the example of a procedure of the leaving process. It is a figure for demonstrating the example of a 1st conveyance step. It is a figure for demonstrating the example of a 2nd conveyance step. It is a figure for demonstrating the example of the delivery conveyance step.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In addition, each embodiment shown below illustrates the method and apparatus for actualizing the technical idea of this invention, Comprising: The technical idea of this invention is not necessarily limited to the following. Absent. The technical idea of the present invention can be variously modified within the technical scope described in the claims.

[Transport robot]
FIG. 1 is a schematic diagram illustrating an example of a transport robot 30 of a workpiece picking apparatus 1 according to an embodiment and a warehouse shelf 90 for storing workpieces W. In the drawing, the X direction represents the width direction of the warehouse shelf 90, the Y direction represents the depth direction of the warehouse shelf 90, the Z direction represents the vertical direction, and the θ direction represents the rotation shaft 33 provided on the transfer robot 30. Represents the rotation direction.

  The transfer robot 30 has a column portion 31 extending in the vertical direction (Z direction). The column part 31 is movable in the width direction (X direction) of the warehouse shelf 90. An arm portion 32 extending in the horizontal direction is connected to the column portion 31. The arm part 32 is movable in the vertical direction with respect to the column part 31.

  A pivot shaft 33 extending in the vertical direction is connected to the distal end portion of the arm portion 32 so as to be pivotable. A rotating portion 34 is connected to the lower end portion of the rotating shaft 33. The rotation unit 34 can rotate together with the rotation shaft 33 in the rotation direction (θ direction) of the rotation shaft 33.

  An arm portion 35 extending in the horizontal direction is connected to the rotating portion 34. The arm part 35 is movable in the extending direction. Therefore, the arm part 35 is movable in the depth direction (Y direction) of the warehouse shelf 90 in a state where the arm portion 35 faces the direction of the warehouse shelf 90. A hand effector 50 (see FIG. 2), which will be described later, is connected to the distal end portion of the arm portion 35.

  The movement of the column portion 31 in the X direction, the movement of the arm portion 32 in the Z direction, the rotation of the rotation shaft 33 in the θ direction, and the movement of the arm portion 35 in the Y direction are each realized by a servo motor (not shown).

  A pallet 37 is connected to the lower end portion of the column portion 31. The pallet 37 is provided with a plurality of pins 38 extending in the vertical direction. The work piece W before warehousing or after warehousing is arranged on the pin 38. The pallet 37 is movable together with the column portion 31 in the width direction of the warehouse shelf 90.

  The warehouse shelf 90 has a plurality of shelves 92 arranged in the vertical direction. Each shelf 92 is provided with a plurality of pins 94. The plurality of pins 94 are two-dimensionally arranged in the width direction (X direction) and the depth direction (Y direction) of the warehouse shelf 90. In FIG. 1, only the pins 94 of the uppermost shelf 92 are illustrated, and the illustrations of the pins 94 of the other shelves 92 are omitted.

Each pin 94 serves as a storage place S for storing the workpiece W. Among the plurality of pins 94, one pin 94 (for example, the pin 94 at the end in the width direction of the warehouse shelf 90 and the foremost in the depth direction) is a temporary storage place for temporarily storing the workpiece W at the time of delivery. SX. Temporary storage locations SX are provided on each shelf 92. In addition, the pin 94 does not need to be provided in the storage location S and the temporary storage location SX.

  Two or more warehouse shelves 90 may be provided. For example, two or more warehouse shelves 90 may be continuous in the width direction (X direction), or may face each other so as to sandwich the transport robot 30 in the depth direction (Y direction).

  The workpiece W is formed in a plate shape and is stacked in the storage place S. The workpiece W is formed in an annular shape, and a pin 94 is passed through the hole of the workpiece W. The workpiece W is a container including a reel around which a long part such as an electric wire is wound. Not limited to this, the workpiece W may be a box-shaped workpiece such as a cardboard box, or may be a cylindrical or columnar workpiece. Any shape that can be stacked is not particularly limited.

[End effector]
FIG. 2 is a schematic diagram illustrating an example of the end effector 50 and the workpiece W. In the figure, a case where the third work W3 from the bottom among the works W1 to W5 stacked in the storage place S is held is illustrated. The workpieces W1 to W5 include a plurality of types of workpieces having different thicknesses.

  The end effector 50 has a main body 51 connected to the arm 35 (see FIG. 1) and a plurality of holding parts 52 extending downward from the main body 51. The plurality of holding portions 52 are arranged so as to surround the center and can move in the radial direction, hold the side surface of the workpiece W, that is, support the workpiece W from the side.

  In the illustrated example, the holding unit 52 holds and conveys the side surfaces of the workpieces W3 to W5, but is not limited thereto, and holds only the side surface of the workpiece W3 by hooking the lower end portion of the holding unit 52. You may convey with work W4, W5 on it.

  The end effector 50 further includes a sensor 55 for detecting the workpiece W. The sensor 55 is, for example, a photoelectric sensor, and includes a light projecting unit 55a and a light receiving unit 55b that are arranged apart from each other so as to sandwich the center. The light projecting portion 55 a and the light receiving portion 55 b are attached to the lower end portion of the bracket 54 that extends downward from the main body portion 51 so that light passes slightly below the lower end portion of the holding portion 52.

  The sensor 55 detects the workpiece W while the end effector 50 is being lowered. Specifically, the light from the light projecting unit 55a to the light receiving unit 55b is blocked by the uppermost workpiece W5 of the stacked workpieces W1 to W5 while the end effector 50 is descending. It is detected that the lower end portion is close to the uppermost surface of the stacked workpieces W1 to W5.

[Control device]
FIG. 3 is a block diagram illustrating a configuration example of the workpiece picking apparatus 1. The workpiece picking device 1 includes a main control device 10, a sub control device 20, a transfer robot 30, and a database 40.

  The main control device 10 is a computer including a CPU, RAM, ROM, nonvolatile memory, an input / output interface, and the like. The CPU executes information processing according to a program loaded from the ROM or nonvolatile memory into the RAM. The program may be supplied via an information storage medium such as an optical disk or a memory card, or may be supplied via a communication network such as the Internet.

  The main control device 10 can access the database 40. The database 40 may be realized in the main control device 10 or may be realized in a server device or the like different from the main control device 10.

  The sub-control device 20 is a PLC (programmable logic controller, so-called sequencer), for example, and controls the transport robot 30 in accordance with a command from the main control device 10.

[Database]
FIG. 4 is a block diagram illustrating a configuration example of the database 40. The database 40 includes a coordinate data master 41, a parts master 42, a warehousing position number master 43, a warehousing location instruction master 44, a warehousing / retrieving history 45, parts data 46, warehouse data 47, and temporary storage warehouse data 48. And warehousing position part height product data 49.

  The coordinate data master 41 associates the position number of the pin 94 (storage location S) provided on the warehouse shelf 90 with the robot coordinates (X, Y, Z coordinates) of the transfer robot 30.

  The parts master 42 stores information related to the workpiece W. Specifically, as shown in FIG. 5, the parts master 42 stores the part ID, part number, name, size, thickness, number, registration date, and the like of parts included in the work W. Here, the component ID corresponds to the identification information of the workpiece W, and the thickness corresponds to the thickness of the workpiece W.

  As shown in FIG. 6, the warehousing position number master 43 associates a warehouse number with a position number and a layer number. The layer number is the level at the pin 94. That is, among the stacked works W, the lowest work W has a layer number of 1, and the second work W from the bottom has a layer number of 2.

  The warehousing location instruction master 44 is data for designating the warehousing location of the work W. The entry / exit history 45 stores the entry / exit history. The component data 46 is management data for reels included in the workpiece W.

  The warehouse data 47 is an example of a position management table, and as shown in FIG. 7, the warehouse address is associated with the part ID of the workpiece W arranged there. The warehouse address is associated with the position number and the layer number in the warehousing position number master 43. Therefore, the warehouse data 47 stores which parts are arranged at which level of which pins.

  The temporary storage warehouse data 48 is data for simulation when creating an operation at the time of loading / unloading. The temporary storage warehouse data 48 is copied with the data of the warehouse data 47 at the time of loading / unloading.

  As shown in FIG. 8, the warehousing position component height product data 49 associates position numbers, layer heights, and reserved heights. The layer height is the height of the workpiece W stacked on the pin 94 and is calculated from the thickness of each workpiece W stored in the parts master 42. The reserved height is a layer height obtained by simulation when creating an operation at the time of loading and unloading.

[Goods receipt flow]
Hereinafter, a flow when the transfer robot 30 moves the workpiece W on the pallet 37 into the warehouse shelf 90 will be described. FIG. 9 is a flowchart showing an example of a procedure of the warehousing process executed by the main control device 10.

  First, the main controller 10 selects a warehouse address (pin / layer) where the workpiece W is received (S11). Specifically, main controller 10 refers to temporary storage warehouse data 48 to which data of warehouse data 47 (see FIG. 7) is copied, and stores a warehouse address (ie, work W that is not associated with a part ID). Is selected as a warehouse address where the work W is received.

  The method for selecting the warehouse address is not particularly limited. For example, the smallest warehouse address among the warehouse addresses not associated with the part ID is selected. Or a warehouse address may be selected at random. When there are a plurality of warehouse addresses having the same position number, the one with the lower layer number is selected first.

  Next, the main control device 10 generates a warehousing / conveying command and outputs it to the sub-control device 20 (S12). The warehousing and conveying command is a conveying command for causing the conveying robot 30 to convey the workpiece W on the pallet 37 to the warehouse address selected in S11. The conveyance command includes the position coordinates of the conveyance source, the position coordinates of the conveyance destination, and the like.

  When receiving the warehousing / conveying command from the main control device 10, the sub-control device 20 (PLC) executes a conveying process for controlling the conveying robot 30, and selects the workpiece W on the pallet 37 for the conveying robot 30 in S11. Transport to warehouse address. The conveyance process by the sub-control device 20 will be described later.

  Next, main controller 10 updates database 40 (S13). Specifically, main controller 10 associates the part ID of workpiece W received with the warehouse address selected in S11 of temporary storage warehouse data 48. When the receipt of all the works W to be received is completed, the data of the temporary storage warehouse data 48 is copied to the warehouse data 47 (see FIG. 7).

  Further, main controller 10 adds the thickness of workpiece W received to the layer height of the position number to which the warehouse address selected in S11 belongs in warehousing position part height product data 49 (see FIG. 8). .

  As described above, the work W can be stored in an empty warehouse address without predetermining the part-specific warehouse address, so that it is possible to respond flexibly even if the type and quantity of parts change daily. Is possible.

  FIG. 10 is a flowchart illustrating an example of a procedure of a conveyance process performed by the sub control device 20 (PLC). In the following, the transfer process when receiving a warehousing transfer command will be described, but the same transfer process is also performed when receiving a transfer command such as an unloading transfer command described later.

  First, the sub-control device 20 drives the transport robot 30 to position the end effector 50 on the pin 38 (transport source pin) of the pallet 37 (S21). The position of the conveyance source pin is designated by a conveyance command from the main controller 10. The movement of the end effector 50 is realized by driving the servo motors responsible for movement in the X direction, the Y direction, the Z direction, and the θ direction in a predetermined order.

  Next, the sub-control device 20 drives the transport robot 30 to lower the end effector 50 (S22), and determines whether or not the workpiece W is detected by the sensor 55 (see FIG. 2) (S23).

  When the workpiece W is detected (S23: YES), the sub-control device 20 drives the transport robot 30 to further lower the end effector 50 by the height of the workpiece W (S24). Thereby, the lower end part of the holding | maintenance part 52 (refer FIG. 2) is located in the side of the workpiece | work W. FIG. The height of the workpiece W is designated by a conveyance command from the main controller 10.

  Next, the sub-control device 20 drives the end effector 50 to turn on the workpiece W clamp (S25). That is, the holding part 52 of the end effector 50 is moved toward the work W, and the work W is held by the holding part 52 to hold the side surface of the work W, that is, the work W is supported from the side. Note that the side surface of the workpiece W may be held by suction.

  Next, the sub-control device 20 drives the transport robot 30 to raise the end effector 50 (S26). Thereby, the workpiece W held by the end effector 50 is lifted and detached from the pin 38.

  Next, the sub-control device 20 drives the transfer robot 30 to position the end effector 50 on the pin 94 (transfer destination pin) of the warehouse shelf 90 (S27). The position of the conveyance destination pin is also designated by a conveyance command from the main control device 10.

  Next, the sub-control device 20 drives the transport robot 30 to lower the end effector 50 (S28). The end effector 50 may be lowered by a predetermined amount, or until the pin 94 is detected by the sensor 55.

  Next, the sub-control device 20 drives the end effector 50 to turn off clamping of the workpiece W (S29). That is, the holding part 52 of the end effector 50 is retracted from the workpiece W, and the holding of the workpiece W is released. Thereby, the workpiece | work W falls and is arrange | positioned at the pin 94 (storage location S). When another work is already arranged on the pin 94, the work W released from the end effector 50 is stacked on the other work.

  Next, the sub-control device 20 drives the transport robot 30 to raise the end effector 50 (S30). As described above, the workpiece W arranged on the pin 38 of the pallet 37 is conveyed to the pin 94 of the warehouse shelf 90 and arranged.

[Outgoing flow]
Hereinafter, a flow when the transfer robot 30 issues the workpiece W in the warehouse shelf 90 to the pallet 37 will be described. FIG. 11 is a flowchart showing an example of a procedure of the leaving process executed by the main control device 10.

  First, main controller 10 empties temporary storage warehouse data 48 (S41), and copies the data of warehouse data 47 (see FIG. 7) to temporary storage warehouse data 48 (S42).

  Next, main controller 10 accepts substitution of the product number and quantity to be delivered (S43), and refers to temporary storage warehouse data 48 to confirm whether or not the assigned product number and quantity are in warehouse shelf 90. (S44, S45). Here, when the substituted quantity is in the warehouse shelf 90, the quantity is set as the outgoing quantity. On the other hand, if the assigned quantity is not in the warehouse shelf 90, the entire quantity in the warehouse shelf 90 is taken as the delivery quantity.

  Next, the main controller 10 acquires the warehouse address where the workpiece W of the product number to be delivered is arranged from the temporary storage warehouse data 48 (S46: workpiece position acquisition step). At this time, the order in which the workpieces W are selected may be first-in first-out (FIFO) in which the first goods are first delivered, or second-in first-out (LIFO) in which the first goods are delivered first. ).

  Next, main controller 10 acquires the position number to which the acquired warehouse address belongs from warehousing position number master 43 (FIG. 6) (S47), and all the workpieces arranged on pin 94 of the acquired position number. The number of W and the like are confirmed (S48).

  Next, the main controller 10 acquires the thickness of the workpiece W arranged on the pin 94 of the acquired position number, and calculates the height for holding the workpiece W to be delivered (S49: workpiece height). Calculation step).

  The height for holding the work W to be delivered is calculated based on, for example, the uppermost surface of the work W arranged on the pin 94. Specifically, when the uppermost workpiece W is a delivery target, the height to be lowered from the uppermost surface is calculated based on the thickness of the uppermost workpiece W. In addition, when the second workpiece W from the top is to be delivered, the height to be lowered from the top surface is calculated based on the sum of the thickness of the top workpiece W and the thickness of the second workpiece W from the top. The

  Next, main controller 10 determines whether or not the workpiece W to be delivered is the top of the workpieces W arranged on pin 94 (S50).

  When the workpiece W to be delivered is at the top (S50: YES), the main control device 10 generates a delivery conveyance command for delivering the workpiece W to be delivered at the top and outputs it to the sub-control device 20 ( S54). This unloading and conveying command is a conveying command for causing the conveying robot 30 to convey the uppermost workpiece W arranged on the pin 94 to the pin 38 of the pallet 37. The conveyance process executed by the sub-control device 20 is the same as that shown in FIG.

  On the other hand, when the work W to be delivered is not at the top (S50: NO), the main control device 10 generates the first conveyance command, the second conveyance command, and the delivery conveyance command, and outputs them to the sub-control device 20. (S51-S53), implement | achieves the 1st conveyance step shown in FIGS. 12-14, the 2nd conveyance step, and the warehousing conveyance step, and unloads the workpiece | work W to be evacuated, rearranging the stacked workpiece | work W. .

  12-14, the case where the 3rd workpiece | work W3 from the bottom is shipped out among the workpiece | work W1-W5 piled up in the storage place S is illustrated. In the following description, the work W3 to be delivered is called “target work W3”, the works W4 and W5 on the target work W3 are called “upper work W4 and W5”, and the works W1 and W2 below the target work W3 are “ It is called “lower work W1, W2.”

  As shown in FIGS. 12A to 12C, in the first transport step based on the first transport command (S51), the end effector 50 is a plurality of workpieces W1 to W1 stacked in the storage place S (pin 94). 5, the side surface of the target workpiece W3 is held and conveyed to the temporary storage location SX together with the upper workpieces W4 and W5.

  The temporary storage locations SX are provided on the respective shelves 92 of the warehouse shelf 90 (see FIG. 1), and the target workpiece W3 and the upper work W4, W5 are transported to the temporary storage location SX in the same shelf 92 as the storage location S. Is done.

  When the uppermost workpiece W5 is detected by the sensor 55 (see FIG. 2) when the end effector 50 is lowered, the height of the holding portion 52 is adjusted based on the height calculated in S49. Specifically, when the uppermost work W5 is detected, the end effector 50 further descends and stops by the total thickness of the target work W3 and the upper work W4, W5.

  As shown in FIGS. 13D to 13F, in the second transport step based on the second transport command (S52), the end effector 50 has a plurality of workpieces W3 to W5 (targets) stacked in the temporary storage place SX. Of the work W3 and the upper work W4, W5), the upper work W4, W5 is returned to the original storage location S. As a result, only the target workpiece W3 remains in the temporary storage location SX.

  Specifically, the end effector 50 holds the side surface of the lowermost upper work 4 among the upper work W4, W5, and conveys it to the storage location S together with the upper work W5 above it. Upper work W4, W5 is stacked on lower work W1, W2 in storage place S.

  As shown in FIGS. 14G to 14H, in the unloading / conveying step based on the unloading / conveying command (S53), the end effector 50 holds and conveys the target workpiece W3 remaining in the temporary storage location SX. This unloading and conveying command is a conveying command for causing the conveying robot 30 to convey the target workpiece W3 remaining in the temporary storage location SX to the pin 38 of the pallet 37.

  When the output of the warehousing / conveying command (S53, S54) is completed, main controller 10 updates the data of warehouse data 47 (see FIG. 7) (S55: position information updating step).

  When the work W other than the top is delivered in S51 to S53, the main control apparatus 10 in the warehouse data 47, the part of the target work W3 associated with the warehouse address where the target work W3 to be delivered is arranged. While deleting the ID, the part IDs of the upper workpieces W4 and W5 are moved up. That is, the part ID of the upper work W4 is registered at the warehouse address where the target work W3 was placed, and the part ID of the upper work W5 is registered at the warehouse address where the upper work W4 was placed.

  The main control device 10 repeats the processes of S46 to S55 for all of the workpieces W with the quantity of goods to be delivered (S56), and ends the delivery process.

  In addition, it is not restricted to the aspect shown in FIGS. 12-14, For example, only the upper stage work W4, W5 is conveyed from the workpiece | work W1-W5 piled up in the storage place S to the temporary storage place SX (1st conveyance step), The target work W3 that appears at the top of the storage location S by the transfer of the upper workpieces W4 and W5 is unloaded (shipment transfer step), and the upper workpieces W4 and W5 arranged in the temporary storage location SX are returned to the original storage location S. (Second conveyance step) may be performed.

DESCRIPTION OF SYMBOLS 1 Work picking apparatus, 10 Main control apparatus, 20 Sub control apparatus, 30 Transfer robot, 31 Column part, 32 Arm part, 33 Rotating shaft, 34 Rotating part, 35 Arm part, 37 Pallet, 38 pin, 40 Database, 41 Coordinate data master, 42 Parts master, 43 Warehousing position number master, 44 Warehousing location instruction master, 45 Warehousing history, 46 reel data, 47 warehouse data, 48 temporary storage warehouse data, 49 warehousing part height product data, 50 End effector, 51 Main body, 52 Holding part, 54 Bracket, 55 Sensor, 55a Light emitting part, 55b Light receiving part, 90 Warehouse shelf, 92 shelf, 94 pins, S storage place, SX temporary storage place, W work

Claims (12)

A first transfer step in which a transfer robot that holds and transfers a side surface of the workpiece holds a side surface of one of the plurality of workpieces stacked in the storage location and transfers the workpiece to the temporary storage location;
A second transfer step in which the transfer robot holds a side surface of one of the plurality of workpieces stacked in the temporary storage location and transfers the workpiece to the storage location;
Unloading and transporting step in which the transport robot holds and transports the side surface of the uppermost workpiece in the storage location or the temporary storage location;
With
In the first transfer step or the second transfer step, the transfer robot transfers the one workpiece together with other workpieces on the one workpiece.
Work removal method. The first transport step holds a target work to be delivered out of a plurality of works stacked in the storage location, and transports the work together with an upper work on the target work,
The second transport step transports the target work and the upper work stacked in the temporary storage place while holding a side surface of the upper work,
The unloading and conveying step holds and conveys the side surface of the target workpiece left in the temporary storage place.
The work removal method according to claim 1. The second transport step holds the lowermost workpiece among the plurality of workpieces included in the upper workpiece, and conveys it together with other workpieces on the lowermost workpiece,
The work picking method according to claim 2. A work position acquisition step of acquiring the position of the work to be held based on a position management table that associates the identification information and position information of each work;
The work picking method according to any one of claims 1 to 3. The position information includes the position of the storage location of each workpiece and the level at the storage location.
The work picking method according to claim 4. A location information update step of updating location information in the location management table for the work in the storage location;
The work removal method according to claim 4 or 5. A work height calculating step of calculating the height of the work based on the thickness of each work stacked in the storage place;
The work removal method according to claim 1. The workpiece includes a plurality of types of workpieces having different thicknesses.
The work picking method according to claim 7. The transfer robot includes a sensor that detects a workpiece and a holding unit that holds the workpiece, and the uppermost workpiece among the plurality of workpieces is detected by the sensor, and then based on the height of the workpiece to be held. Adjust the height of the holding part,
9. The work picking method according to claim 7 or 8. The transfer robot holds a side surface of the one workpiece and a side surface of another workpiece on the one workpiece.
The work removal method according to claim 1. Each of the shelves including a plurality of storage locations is provided with the temporary storage location.
The work picking method according to claim 1. A transfer robot that holds and transfers the side of the workpiece;
A control device for controlling the transfer robot;
With
The control device includes:
A first transfer command generating means for generating a first transfer command for holding a side surface of one of the plurality of workpieces stacked in a storage location and transferring the workpiece to a temporary storage location;
A second transport command generating means for generating a second transport command for holding a side surface of one of the plurality of workpieces stacked in the temporary storage location and transporting the workpiece to the storage location;
An unloading and conveying command generating means for generating an unloading and conveying command for holding and conveying the side surface of the uppermost workpiece of the storage location or the temporary storage location;
With
In the first transport command or the second transport command, the transport robot transports the one workpiece together with other workpieces on the one workpiece.
Work picking device.

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