JP2021008346A5 - Picking device for automated warehouse, automated warehouse - Google Patents

Picking device for automated warehouse, automated warehouse Download PDF

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JP2021008346A5
JP2021008346A5 JP2019122705A JP2019122705A JP2021008346A5 JP 2021008346 A5 JP2021008346 A5 JP 2021008346A5 JP 2019122705 A JP2019122705 A JP 2019122705A JP 2019122705 A JP2019122705 A JP 2019122705A JP 2021008346 A5 JP2021008346 A5 JP 2021008346A5
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range
picking device
load
picking
automated warehouse
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JP2021008346A (en
JP7393140B2 (en
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本発明は、自動倉庫用のピッキング装置および自動倉庫に関する。 The present invention relates to a picking device for an automated warehouse and an automated warehouse .

Claims (10)

荷を複数含む集合体からピッキング対象の荷を取り出すための取出ユニットを備え、
前記取出ユニットは、前記集合体と対向させる吸着部を複数有し、前記複数の吸着部の吸着力を制御して前記対象の荷を吸着する吸着範囲を変更可能に構成されることを特徴とする自動倉庫用のピッキング装置。 Equipped with an extraction unit for picking the load to be picked from an aggregate containing multiple loads.
The take-out unit has a plurality of suction portions facing the aggregate, and is characterized in that the suction range for sucking the target load can be changed by controlling the suction force of the plurality of suction portions. Picking device for automated warehouses. 前記取出ユニットは、取り出した前記対象の荷を上方に移動可能に支持されることを特徴とする請求項１に記載の自動倉庫用のピッキング装置。 The picking device for an automated warehouse according to claim 1, wherein the taking-out unit is supported so that the taken-out target load can be moved upward. 前記対象の荷を吸着するとき、前記複数の吸着部の平面視の配置範囲は、前記集合体の平面範囲をすべて含むことを特徴とする請求項１または２に記載の自動倉庫用のピッキング装置。 The picking device for an automated warehouse according to claim 1 or 2, wherein when sucking the load of the object, the arrangement range of the plurality of suction portions in a plan view includes the entire plane range of the aggregate. .. 前記取出ユニットは、前記対象の荷をピッキングする過程において前記吸着範囲を変更することを特徴とする請求項１から３のいずれかに記載の自動倉庫用のピッキング装置。 The picking device for an automated warehouse according to any one of claims 1 to 3, wherein the taking-out unit changes the suction range in the process of picking the target load. 前記取出ユニットは、前記対象の荷の第１範囲を吸着してから、前記対象の荷の前記第１範囲より広い第２範囲を吸着することを特徴とする請求項４に記載の自動倉庫用のピッキング装置。 The automated warehouse according to claim 4, wherein the extraction unit sucks a first range of the target load and then sucks a second range wider than the first range of the target load. Picking device . 前記第１範囲は、前記対象の荷の一端側に偏った範囲であり、
前記第２範囲は、前記第１範囲に加えて前記対象の荷の他端側を含む範囲であることを特徴とする請求項５に記載の自動倉庫用のピッキング装置。 The first range is a range biased toward one end of the load of the target.
The picking device for an automated warehouse according to claim 5, wherein the second range includes the other end side of the target load in addition to the first range. 前記取出ユニットは、前記対象の荷の前記第１範囲を吸着した状態で上昇と下降を行ってから前記対象の荷の前記第２範囲を吸着することを特徴とする請求項６に記載の自動倉庫用のピッキング装置。 The automated according to claim 6, wherein the ejecting unit ascends and descends in a state of adsorbing the first range of the target load, and then adsorbs the second range of the target load. Picking device for warehouse . 前記取出ユニットは、前記対象の荷の前記第１範囲を吸着した状態で上昇と下降を複数回行うことを特徴とする請求項７に記載の自動倉庫用のピッキング装置。 The picking device for an automated warehouse according to claim 7, wherein the taking-out unit performs ascending and descending a plurality of times in a state where the first range of the target load is adsorbed. 前記集合体に関する画像情報を取得する画像情報取得部をさらに備え、
本ピッキング装置は、前記画像情報取得部の取得結果に基づき前記第１範囲を決定することを特徴とする請求項５から８のいずれかに記載の自動倉庫用のピッキング装置。 Further, an image information acquisition unit for acquiring image information about the aggregate is provided.
The picking device for an automated warehouse according to any one of claims 5 to 8, wherein the picking device determines the first range based on the acquisition result of the image information acquisition unit. 荷を複数含む集合体を保管可能な収容部を複数有する保管棚と、 A storage shelf with multiple storage units that can store aggregates containing multiple loads,
荷を複数含む集合体からピッキング対象の荷を取り出すための取出ユニットと、 An extraction unit for taking out the load to be picked from an aggregate containing multiple loads,
前記取り出しユニットによってピッキングを行うピッキング部と、 A picking unit that picks by the take-out unit and
荷を含む集合体を前記ピッキング部へ移送する移送手段と、 A transfer means for transferring an aggregate containing a load to the picking unit, and
を備え、 Equipped with
前記取出ユニットは、前記移送手段によって前記ピッキング部へ移送された前記集合体と対向させる吸着部を複数有し、前記複数の吸着部の吸着力を制御して前記対象の荷を吸着する吸着範囲を変更可能に構成されることを特徴とする自動倉庫。 The take-out unit has a plurality of suction portions facing the aggregate transferred to the picking portion by the transfer means, and controls the suction force of the plurality of suction portions to suck the target load. An automated warehouse characterized by being configurable.
JP2019122705A 2019-07-01 2019-07-01 Picking equipment for automated warehouses, automated warehouses Active JP7393140B2 (en)

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JP2019122705A JP7393140B2 (en) 2019-07-01 2019-07-01 Picking equipment for automated warehouses, automated warehouses

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JP2021008346A JP2021008346A (en) 2021-01-28
JP2021008346A5 true JP2021008346A5 (en) 2022-07-14
JP7393140B2 JP7393140B2 (en) 2023-12-06

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CN114435109B (en) * 2021-12-31 2024-04-02 合肥赛摩雄鹰自动化工程科技有限公司 Driving mechanism and automatic guiding trolley

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JPS5275770A (en) * 1975-12-19 1977-06-25 Hitachi Ltd Article picking apparatus
JPH0891579A (en) * 1994-09-27 1996-04-09 Nippon Steel Corp Palletizing system
JP2010005769A (en) 2008-06-30 2010-01-14 Ihi Corp Depalletizing apparatus and depalletizing method
US7950708B2 (en) 2008-08-15 2011-05-31 Amf Automation Technologies, Inc. Programmable zoned end effector
JP5945968B2 (en) 2013-09-03 2016-07-05 株式会社安川電機 Robot hand, robot system, and article depalletizing method

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