JP2022152111A - Picking device for automated warehouse, and automated warehouse system - Google Patents

Abstract

To provide a picking device for an automated warehouse which is capable of stably holding a plurality of loads.SOLUTION: A picking device 3 for an automated warehouse in an embodiment is a picking device to move a plurality of loads 10 held by a holding mechanism 32 capable of holding the loads 10. The holding mechanism 32 includes a plurality of holding parts 34 to suck the loads 10. The plurality of holding parts 34 carry out a holding operation of the load 10 as a picking object on the basis of a surface state of the load that is the picking objects.SELECTED DRAWING: Figure 5

Description

The present invention relates to an automated warehouse picking device and an automated warehouse system.

2. Description of the Related Art There is known an automatic warehouse picking device for collecting products at a storage location or temporarily placed at a shipping location. For example, Patent Literature 1 describes an article transfer device that sucks the upper surface of an article to suspend the article and move the article to a transfer destination. This device includes a suction unit including a plurality of suction blocks having suction pads, and a suction controller. The suction control unit horizontally moves the suction block according to the dimension information of the target article, the weight information of the target article, the coordinate data relating to the center of gravity of the target article, and the like.

JP 2015-40130 A

The present inventor has obtained the following recognition. In the automatic warehouse picking apparatus, it is desirable to be able to pick a plurality of items at the same time in order to efficiently pick items. In addition, when handling cargo wrapped in a case such as cardboard, the case may have perforations, a sticker may be affixed to the case, or a non-slip rubber may be provided on the surface of the case to prevent the surface from slipping. Sufficient adsorption force cannot be obtained in a region that is not suitable for adsorption due to unevenness on the surface, etc., and the holding of the load becomes unstable. In particular, when picking a plurality of cargoes at the same time, the influence of the areas unsuitable for adsorption becomes more pronounced, and the holding of the cargoes becomes more unstable.

The picking device described in Patent Literature 1 does not sufficiently deal with the viewpoint of stably holding a plurality of items while avoiding areas unsuitable for adsorption.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic warehouse picking device capable of stably holding a plurality of articles.

In order to solve the above-mentioned problems, an automatic warehouse picking device according to one aspect of the present invention is a picking device for moving a load held by a holding mechanism capable of holding a plurality of loads, wherein the holding mechanism adsorbs the load. It has a plurality of holding portions. The plurality of holding units perform an operation of holding the cargo to be picked based on the surface state of the cargo to be picked.

Another aspect of the invention is an automated warehouse system. This automated warehouse system consists of a shelf having a plurality of storage units capable of storing goods, a moving means for moving goods to be stored in or out of the shelf, and a holding mechanism capable of holding a plurality of goods. and a picking device for moving. The holding mechanism has a plurality of holding parts for holding loads. The plurality of holding units perform a holding operation based on the surface condition of the cargo to be picked.

Arbitrary combinations of the above constituent elements, and mutually replacing the constituent elements and expressions of the present invention in methods, systems, etc. are also effective as aspects of the present invention.

ADVANTAGE OF THE INVENTION According to this invention, the picking apparatus for automatic warehouses which can hold|maintain a several load stably can be provided.

1 is a plan view schematically showing an automated warehouse system according to a first embodiment; FIG. It is a perspective view which shows an example of a packing appearance in which several loads were laminated|stacked. FIG. 2 is a front view schematically showing an example of first moving means of the automated warehouse system of FIG. 1; 2 is a front view schematically showing an example of second moving means of the automated warehouse system of FIG. 1; FIG. 2 is a diagram illustrating an example of the picking device of FIG. 1; FIG. FIG. 2 is a front view showing a holding mechanism of the picking device of FIG. 1; FIG. 2 is a plan view showing a suction mechanism of the picking device of FIG. 1; FIG. 8 is a plan view showing a first example of a suction area of the suction mechanism of FIG. 7; FIG. 8 is a plan view showing a second example of a suction area of the suction mechanism of FIG. 7; FIG. 2 is an explanatory diagram illustrating an example of picking operation of the picking device of FIG. 1; FIG. 2 is a flowchart for explaining the depalletizing operation of the picking device of FIG. 1; FIG. It is a top view which shows the adsorption|suction mechanism of the picking apparatus of 2nd Embodiment. 13 is a diagram showing a holding portion of the adsorption mechanism of FIG. 12; FIG. 13 is a diagram showing a holding portion of the adsorption mechanism of FIG. 12; FIG. 13 is a diagram showing a holding portion of the adsorption mechanism of FIG. 12; FIG. FIG. 13 is a flowchart for explaining the depalletizing operation of the picking device of FIG. 12; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiment and modified examples, the same or equivalent constituent elements and members are denoted by the same reference numerals, and overlapping descriptions are omitted as appropriate. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in each drawing, some of the members that are not important for explaining the embodiments are omitted.

Also, terms including ordinal numbers such as first, second, etc. are used to describe various components, but these terms are used only for the purpose of distinguishing one component from other components, and the terms The constituent elements are not limited by

[First embodiment]
The configuration of an automated warehouse system 1 equipped with a picking device 3 according to the first embodiment will be described with reference to the drawings. FIG. 1 is a plan view schematically showing an automated warehouse system 1 according to the first embodiment.

For convenience of explanation, an XYZ orthogonal coordinate system in which a certain horizontal direction is the X-axis direction, a horizontal direction orthogonal to the X-axis direction is the Y-axis direction, and a direction orthogonal to both, that is, the vertical direction is the Z-axis direction determine. The positive direction of each of the X-axis, Y-axis, and Z-axis is defined in the direction of the arrow in each figure, and the negative direction is defined in the direction opposite to the arrow. Also, the direction along the X-axis is sometimes called the column direction, the direction along the Y-axis is called the row direction, and the direction along the Z-axis is called the row direction (vertical direction). Such directional notation does not limit the configuration of the automated warehouse system 1, and the automated warehouse system 1 can be used in any configuration depending on the application.

In this specification, the following terms are used for cargo. A case such as cardboard containing the contents is called a "load". A load may contain multiple items.

An empty pallet is simply referred to as "pallet 12j". A pallet 12j on which one or a plurality of loads 10 are placed is referred to as a "loading pallet 12". The loading pallet 12 exemplifies a collection of loads including a plurality of loads 10 . Loading pallet 12 refers to the combination of pallet 12j and load 10 on pallet 12j. The loading pallet 12 may be constructed of multiple layers that are stacked, and each layer may contain multiple loads 10 . For example, loading pallet 12 contains six loads 10 in each of three layers. The loading pallet 12 may be the minimum unit for warehousing, storage, and shipment in the automated warehouse system 1 . A load 10 may be the smallest unit handled when picking.

FIG. 2 is a perspective view showing an example of a packing appearance in which a plurality of packages 10 are stacked. The side that is supposed to be opened in order to take out the contents is called "anti-bottom", and the opposite bottom is the opposite side. The example of FIG. 2 shows the load 10 in a non-inverted state in which the opposite bottom surface is the upward surface and the bottom surface is the downward surface. The load 10 may be reversed by a reversing device (not shown) and handled such as picking in the reversed state in which the bottom surface is an upward surface and the opposite bottom surface is a downward surface. The anti-bottom may be easier to open than the bottom, and the bottom may be stronger than the anti-bottom. As an example of the display method, if the characters printed on the side surface of the case are in a reversed direction, they may be in a reversed state.

As shown in FIG. 1, the automated warehouse system 1 includes a shelf section 22 having a plurality of storage sections 26 capable of storing goods 10, a moving means 14 for moving the goods 10 to enter or leave the shelf section 22, 16 and 18 , a picking device 3 that moves a plurality of loads 10 by a holding mechanism 32 capable of holding a plurality of loads 10 , and a control unit 50 .

The moving means 14, 16, and 18 include a first moving means 14 (eg, first cart), a second moving means 16 (eg, second cart), and a third moving means 18 (eg, lifting device). include. The first moving means 14, the second moving means 16 and the third moving means 18 constitute a conveying means 8 for moving the loaded pallet 12 in the row direction, the column direction and the column direction. The first moving means 14 can move the loading pallet 12 along the row direction. The second moving means 16 can move the loading pallet 12 along the column direction. The third moving means 18 can move the loading pallet 12 in the step direction.

For example, the transport means 8 can unload the loading pallet 12 from the storage section 26 of the shelf section 22 . For example, the transport means 8 can carry the loading pallet 12 into the storage section 26 of the shelf section 22 . For example, the transport means 8 can transport the loading pallet 12 from one storage section 26 of the shelf section 22 to another storage section 26 of the shelf section 22 .

The shelf 22 is a storage space capable of storing a large number of goods 10 and is sometimes called a storage shelf. The shelf portion 22 of the present embodiment includes two shelf portions 22a and 22b that are divided across the second running path 44. As shown in FIG. The configuration of the shelf 22 is not particularly limited as long as it can accommodate and store a plurality of articles 10 . The shelf section 22 includes a plurality of storage sections 26 arranged along the X-axis direction (column direction), the Y-axis direction (row direction), and the Z-axis direction (column direction). Each storage unit 26 is configured to accommodate the loading pallet 12 .

The shelf 22 has a first travel path 40 (for example, a first rail) on which the first moving means 14 travels and a second travel path 44 (for example, a second rail) on which the second moving means 16 travels. rails) are provided. The first travel path 40 extends in the Y-axis direction in the shelf portions 22 a and 22 b and the picking space 302 . The first moving means 14 can travel under each storage section 26 . The second travel path 44 extends in the X-axis direction adjacent to the shelves 22 a and 22 b and the picking space 302 .

(First moving means)
FIG. 3 is a front view schematically showing an example of the first moving means 14. As shown in FIG. The first moving means 14 drives a plurality of wheels 14f by a motor (not shown), and travels along the first travel path 40 in the Y-axis direction with an empty pallet or a loaded pallet 12 mounted thereon. The first moving means 14 raises and lowers the loading pallet 12 on the mounting table portion 14c by means of a lift mechanism 14d. In FIG. 3, the mounting table portion 14c in the raised state is indicated by a broken line, and the mounting table portion 14c in the lowered state is indicated by a solid line. The first moving means 14 can unload the loading pallet 12 to the storage section 26 . The first moving means 14 can lift and support the loading pallet 12 from the storage section 26 . The first moving means 14 can get on and off the second moving means 16 and the third moving means 18 .

(Second moving means)
FIG. 4 is a front view schematically showing an example of the second moving means 16, showing a state in which the first moving means 14 is mounted. The second moving means 16 drives a plurality of wheels 16f by a motor (not shown) and travels along the second travel path 44 in the X-axis direction. The second moving means 16 transports the first moving means 14 in an empty state or in a state where the loading pallet 12 is loaded.

(Third moving means)
As shown in FIG. 1 , the third moving means 18 is provided adjacent to the second travel path 44 . The third moving means 18 can move the first moving means 14 and the loading pallet 12 up and down from an arbitrary storage stage to another storage stage. In the example of FIG. 1, a single loading/unloading section 52 is provided for all stages, and the third moving means 18 is connected to the loading/unloading section 52 .

In this example, the loading pallet 12 to be stored is carried into the loading/unloading section 52 by the external transport means 54 (for example, a forklift) and transferred to the target stage by the third moving means 18 . In addition, the loading pallet 12 to be delivered is moved up and down from the stored stage to the stage of the loading/unloading section 52 by the third moving means 18, is transferred to the loading/unloading section 52, and is transferred from the loading/unloading section 52 by the external transport means 54. be carried away.

A third transfer means 18 is capable of transferring the first transfer means 14 with the loading pallet 12 to each storage level, including the uppermost storage level. The first moving means 14 transferred to each storage stage moves together with the loading pallet 12 to the second moving means 16 of each storage stage. The third moving means 18 may move up and down with the loading pallet 12 mounted on the first moving means 14, or may move up and down the loading pallet 12 independently.

Return to FIG. The control unit 50 includes an MPU (Micro Processing Unit) and the like, and controls movement of the loading pallet 12 for warehousing, shipping, unloading, transfer, etc., based on the operation results from the user. As an example, the control unit 50 controls the first moving means 14, the second moving means 16 and the third moving means 14 so as to transfer the loading pallet 12 between the storage area and the storage area or between a plurality of storage areas. It controls the operation of the moving means 18 . Also, the control unit 50 controls the operation of the picking device 3 to pick the cargo 10 .

Further, the control unit 50 acquires the surface condition from a storage device in which the surface condition of the cargo to be picked is stored in advance. In this example, the storage device is a database DB provided in the information management center 90 . The control unit 50 acquires data on the surface condition of the cargo to be picked from the database DB through the network NW. In the database DB, data of a specific area suitable for adsorption is registered in advance with respect to the cargo to be picked, and the control unit 50 can acquire the registered data of the specific area from the database DB. Hereinafter, the specific region suitable for adsorption exemplifies a specific region suitable for holding, and the non-specific region unsuitable for adsorption exemplifies a non-specific region unsuitable for holding.

The configuration of the picking device 3 will be described with reference to FIGS. 1 and 5. FIG. First, the picking space 302 will be described. In the example of FIG. 1, the picking space 302 includes a picking space 302a provided on the shelf 22a and a picking space 302b provided on the shelf 22b. The picking space 302 may be provided in one shelf or may be provided in part of the shelf. FIG. 5A is an enlarged plan view of the picking device 3. FIG. FIG. 5B is an enlarged side view of the picking device 3. As shown in FIG. These figures omit the description of some columns and beams. The picking space 302 is a space for picking using the picking device 3, and is provided in the shelf 22 in this embodiment (see also FIG. 1). In the picking space 302, there are a first placing portion 26p for placing a loading pallet 12 before picking (hereinafter referred to as "first loading pallet 12S") and a loading pallet 12 after picking (hereinafter referred to as "second loading pallet 12S"). A second placement portion 26s for placing a loading pallet 12M'') is provided.

Note that the first placement portion 26p and the second placement portion 26s do not refer to specific locations within the picking space 302, but refer to spaces in which the loading pallet 12 is temporarily stored. Therefore, the positions and ranges of the first receiver 26p and the second receiver 26s in the picking space 302 may change for each picking operation. The first placement section 26p and the second placement section 26s of the present embodiment have the same configuration as the storage section 26. As shown in FIG.

A first travel path 40 extends in the Y-axis direction in the picking space 302 of the present embodiment. The first placement portion 26 p and the second placement portion 26 s are provided on the first travel path 40 . The first moving means 14 can travel under the first placement section 26p and the second placement section 26s. The first loading pallet 12S before picking is carried into the first loading section 26p by the first moving means 14. As shown in FIG. The second loading pallet 12M after picking is carried out from the second placing section 26s by the first moving means 14. As shown in FIG.

The configuration of the picking device 3 will be described. As shown in FIG. 5B, the picking device 3 picks the cargo 10 from the first loading pallet 12S before picking and transfers it to the second loading pallet 12M. The picking device 3 of this embodiment includes a so-called gantry-type crane mechanism 30 and a holding mechanism 32 . The crane mechanism 30 includes a pair of cross beams 30e, a cross girder 30k, a crane truck 30d, and a hanging portion 30j. A pair of horizontal beams 30e are provided separately on both sides in the Y-axis direction in the upper space of the picking space 302 . Both ends of the horizontal beam 30e are supported by the upper ends of the vertical columns 30g.

The horizontal girder 30k is a rail-shaped structure extending in the Y-axis direction, and spans between a pair of horizontal girder 30e. The cross beam 30k is configured to be self-propelled in the X-axis direction on the cross beam 30e. The cross girder 30k is sometimes called a crane garter. The crane truck 30d is a truck capable of self-propelled in the Y-axis direction on the horizontal girder 30k. The crane truck 30d is sometimes called a trolley truck. The suspending portion 30j suspends the holding mechanism 32 from the crane carriage 30d and can vertically move the holding mechanism 32 in the Z-axis direction. Moreover, the suspension part 30j can rotate the holding mechanism 32 horizontally. The holding mechanism 32 is provided at the tip of the hanging portion 30j and configured to lift the load 10. As shown in FIG.

The crane mechanism 30 supports the holding mechanism 32 so as to be freely movable in horizontal column and row directions (X-axis direction and Y-axis direction). Further, the crane mechanism 30 supports the holding mechanism 32 so as to be movable in the step direction (Z-axis direction).

The holding mechanism 32 will be described with reference to FIG. 6 is a front view showing the holding mechanism 32. FIG. As described above, the holding mechanism 32 has a plurality of holding portions 34 that attract and hold the load 10 . A plurality of holding portions 34 constitute an adsorption mechanism 33 .

In addition, as shown in FIG. 6, the picking device 3 of this embodiment includes cameras 391 and 392 for acquiring images. Cameras 391 and 392 are arranged so as to be able to acquire an image of the lower side from holding mechanism 32 . In this example, the cameras 391 and 392 are two first cameras 391 capable of imaging the load 10 on the loading pallet 12 held by the holding mechanism 32, and the loading pallet 12 positioned below the holding mechanism 32. and two second cameras 392 . A second camera 392 can detect the relative positions of the loading pallet 12 and the holding mechanism 32 . The two first cameras 391 are provided on both sides of the holding mechanism 32 in the width direction. The two second cameras 392 are provided on both sides of the holding mechanism 32 in the width direction. The camera 391 may be fixed at a fixed position without being provided with the holding mechanism 32 . Camera 392 may use a sensor.

The adsorption mechanism 33 will be described with reference to FIG. FIG. 7 is a diagram showing the adsorption mechanism 33 in plan view. The adsorption mechanism 33 has a substantially rectangular shape in plan view. A plurality of holding portions 34 are arranged in a matrix in the X-axis direction and the Y-axis direction in the adsorption mechanism 33 . In the example of FIG. 7, the adsorption mechanism 33 has 238 holding portions 34 in 17 rows in the X-axis direction and 14 columns in the Y-axis direction. In this description, the plurality of holding units 34 are identified by row codes 1-17 and column codes A-M. Each of the plurality of holding portions 34 can adjust the magnitude of the holding force. The holding portion 34 of this example generates an adsorption force due to negative pressure by sucking air. That is, the holding force in this example is the attraction force. Each holding portion 34 can adjust the negative pressure to increase or decrease the adsorption force. Each holding part 34 can adjust the negative pressure to turn off the adsorption force. The shape of the holding portion 34 may be square or circular.

Each holding portion 34 can be switched between an ON state in which an attractive force capable of holding the load 10 is generated and an OFF state in which substantially no attractive force is generated. Generating an attracting force capable of attracting the load 10 to the holding part 34 is called "turning on the holding part 34", and not generating substantially the holding part 34 is called "turning off the holding part 34". The adsorption mechanism 33 can change the pattern of the adsorption region (hereinafter referred to as “suction pattern”) by controlling the on and off of the plurality of holding portions 34 . In addition, the adsorption mechanism 33 can adjust the adsorption pattern to adsorb and hold all the loads 10, some of the loads 10, or a single load 10 in one layer. The suction pattern is a planar pattern obtained by plotting the planar positions of the holding portions 34 to be turned on and the holding portions 34 to be turned off among the plurality of holding portions 34 .

A first example of the suction pattern of the suction mechanism 33 will be described with reference to FIG. FIG. 8 is a plan view showing a first example of the suction pattern of the suction mechanism 33. FIG. This figure shows 12 loads 10 stacked in one layer of a loading pallet with 13 columns and 17 rows of holders 34 superimposed thereon. In the first example, the adsorption mechanism 33 adsorbs six loads 10 (10-A to 10-F) indicated by thick lines. In this example, the areas on both sides of the upper surface of the load 10 excluding the central ⅓ area in the Y-axis direction are areas determined by the controller 50 to be suitable for adsorption (hereinafter referred to as “specific areas P”). ). A non-specific area Q is a central ⅓ area in the Y-axis direction of the upper surface of the load 10 excluding the specific area P. As shown in FIG. In FIG. 8, the specific region P is indicated by hatching, and the non-specific region Q is indicated by white.

In the example of FIG. 8, the holding mechanism 32 turns on the holding portions 34 corresponding to the specific areas P of the six loads 10-A to 10-F. Specifically, for the load 10-A, the holding units 34 for A2, A5, B2, B5, C2, and C5 are turned on, and for the load 10-B, the holding units for A7, A10, B7, B10, C7, and C10 are turned on. 34 is turned on, and for load 10-C, the holders 34 of D2, D5, E2, E5, F2, F5 are turned on, and for load 10-D, the holders of D7, D10, E7, E10, F7, F10 34 is turned on, and the holding portions 34 of G2 to G7 and J2 to J7, which are continuous in the Y-axis direction, are turned on for the loads 10-E and 10-F, respectively. Note that the holding portion 34 adjacent to the holding portion 34 that is turned on may also be turned on. Note that the holding mechanism 32 determines a non-specific area of the surface of the load 10 that is determined to be unsuitable for holding based on the surface condition, and selects the holding parts 34 that do not correspond to the non-specific area among the plurality of holding parts 34 . can be turned on.

A second example of the suction pattern of the suction mechanism 33 will be described with reference to FIG. FIG. 9 is a plan view showing a second example of the suction pattern of the suction mechanism 33. FIG. This figure shows eight loads 10 stacked in one layer of a loading pallet with 13 columns and 17 rows of holders 34 superimposed thereon. In the second example, the adsorption mechanism 33 adsorbs five loads 10 (10-A to 10-E) indicated by thick lines.

In the example of FIG. 8, the holding mechanism 32 turns on the holding portions 34 corresponding to the specific areas P of the five loads 10-A to 10-E. Specifically, for the loads 10-A, 10-B, and 10-C, the holders 34 of A1 to M1, A2 to M2, A5 to M5, and A6 to M6, which are connected in the X-axis direction, are turned on, and the load 10 For -D and 10-E, the holders 34 of A7 to A11, B7 to B11, E7 to E11, H7 to H11, I7 to I11, L7 to L11, and M7 to M11, which are connected in the Y-axis direction, are turned on.

(Picking operation)
Next, the picking operation of the picking device 3 will be described with reference to FIG. FIG. 10 is an explanatory diagram illustrating an example of the picking operation of the picking device. The picking operation includes a depalletizing operation and a palletizing operation, which will be described later. In this description, "-A", "-B", and "-C" are added to the end of the code to distinguish different types of packages and pallets. In FIG. 10, the load 10-A is shown in white, the load 10-B is shown by straight hatching, and the load 10-C is shown by broken line hatching.

In the picking operation of this example, the goods 10 are taken out from the first loading pallet 12S based on the shipping plan, and the second loading pallet 12M for shipping to the destination such as a store is created. The first load pallets 12S-A, 12S-B, 12S-C are loaded with different types of loads 10-A, 10-B, 10-C. In this operation the loading pallet 12 is moved by the moving means 14,16,18.

In the example of FIG. 10, the first loading pallets 12S-A, 12S-B, and 12S-C are placed on the first placement parts 26p-A, 26p-B, and 26p-C of the picking space 302, and the second loading pallets 12S-A, 12S-B, and 12S-C The second loading pallet 12M is placed on the placing portion 26s.

By the picking operation of the picking device 3, the required number of goods 10-A are taken out from the first loading pallet 12S-A and stacked on the second loading pallet 12M. Similarly, the required number of cargoes 10-B are taken out from the first loading pallet 12S-B and stacked on the second loading pallet 12M, and the required number of cargoes 10-C are taken out from the first loading pallet 12S-C. are stowed on the second loading pallet 12M.

In the course of the picking operation, the holding mechanism 32 may be horizontally rotated to change the posture of the load 10 . The second loading pallet 12M that has been stowed may be transferred to the shelf section 22 and temporarily stored, or may be transferred to the loading/unloading section 52 and carried out to the outside of the warehouse. These operations complete the picking operation.

(Depalletizing operation)
Next, process S110 will be described as an example of the depalletizing operation of the picking device 3 with reference to FIGS. 10 and 11. FIG. FIG. 11 is a flow chart of process S110. Here, a process of picking a plurality of (N) loads 10-B from the first loading pallet 12S-B placed at the target position will be described. In this description, the N loads 10-B are the loads to be picked, and may be simply referred to as "loads 10-B".

After starting the process S110, the picking device 3 acquires a depalletizing instruction from the control unit 50 (step S111). By way of example, the instructions include the location of the first load pallet 12S-B and the placement and quantity of the load to be picked.

After executing step S111, the picking device 3 causes the crane mechanism 30 to travel in the X-axis direction or the Y-axis direction to move the holding mechanism 32 toward the target position (step S112).

After executing step S112, the picking device 3 determines whether the holding mechanism 32 has reached the target position (step S113). In this step, whether the target position has been reached can be determined based on the captured images of one or both of the first camera 391 and the second camera 392 . For example, based on this obtained image, the relative positional relationship between the first loading pallet 12S-B and the holding mechanism 32 is recognized, and this determination is made depending on whether the positional deviation from the target position is equal to or less than a predetermined reference value. You may If it is determined that the target position has not been reached (N in step S113), the picking device 3 returns the process to step S112 and repeats steps S112 to S113.

When it is determined that the target position has been reached (Y in step S113), the picking device 3 acquires the surface condition of the cargo to be picked from the detection means 39 for detecting the surface condition. In this example, the sensing means 39 is one or both of the first camera 391 and the second camera 392 . Therefore, the picking device 3 acquires a surface image of the surface of the cargo to be picked (step S114). In this step, the picking device 3 determines an area (non-specific area) not suitable for adsorption from the surface image of the cargo. As an example, the non-specific area may be a location having a disturbance factor of attraction, four corners of the case, or a location near the bent portion of the case. Locations with disturbance factors include locations where hot melt adheres, locations with perforations and the like, and locations where there is a lot of deformation due to external force. After determining the non-specific areas, the picking device 3 determines specific areas of the surface of the cargo that are judged to be suitable for adsorption, avoiding the non-specific areas.

Also, the picking device 3 acquires the registered data of the specific area related to the cargo to be picked from the database DB through the control unit 50 (step S115). The picking device 3 determines the specific area of the cargo to be picked based on the registered data.

After determining the specific area in steps S114 and S115, the picking device 3 determines a suction pattern corresponding to the specific area (step S116). In this step, the picking device 3 determines the holding portions 34 to be turned on and the holding portions 34 to be turned off among the plurality of holding portions 34 according to the specific area.

After determining the suction pattern in step S116, the picking device 3 performs on/off control to turn on and off the plurality of holding units 34 based on the suction pattern (step S117).

After generating the adsorption force in step S117, the picking device 3 lowers the holding mechanism 32 (step S118).

After executing step S118, the picking device 3 sucks the load 10-B on the first loading pallet 12S-B with the suction mechanism 33 (step S119), and raises the holding mechanism 32 (step S120).

After executing step S120, the picking device 3 determines whether or not the suction is successful (step S121). In this step, it can be determined based on the acquired images of one or both of the first camera 391 and the second camera 392 whether or not the adsorption was successful.

If it is determined that the suction has not succeeded (N in step S121), the process returns to step S118, and steps S118 to S121 are repeated. As a result, the picking device 3 lowers the holding mechanism 32 again and redoes the picking operation.

In this step, the picking device 3 may change the pickup position (holding position) according to the pickup state (holding state) of the picked up cargo 10 . The holding state of the load 10 includes the adsorbed state of the adsorbed load 10 . In other words, the picking device 3 may change the holding portion 34 to be turned on and the holding portion 34 to be turned off among the plurality of holding portions 34 .

If it is determined that the adsorption has succeeded (Y in step S121), the process S110 ends. The cargo 10 unloaded by the depalletizing operation described above is stowed on another pallet by the palletizing operation. Various modifications are possible for each of the steps described above.

(Palletizing operation)
In the palletizing operation, the picking device 3 uses the crane mechanism 30 to move the holding mechanism 32 to the stacking position based on the loading instruction for the cargo 10-B acquired from the control unit 50, and the cargo 10-B is moved to the stacking position. 2 Load on loading pallet 12M.

(Incoming and outgoing operations)
A warehousing operation and a warehousing operation of the automated warehouse system 1 will be described with reference to FIG. These operations are controlled by the controller 50 . In the warehousing operation, the loaded pallet 12 produced at the manufacturing factory is transported to the automated warehouse system 1 by a truck or the like, and carried into the warehousing/dispatching section 52 by the external transport means 54 . The loading pallet 12 carried into the loading/unloading unit 52 is transferred to the shelf of the storage destination by the third moving means 18, and transferred to the storage unit 26 of the storage destination by the first moving means 14 and the second moving means 16, It is housed in the storage section 26 thereof. Warehousing is performed by these operations.

In the unloading operation, the loading pallet 12 of the storage unit 26 of the transportation source is transferred to the third moving unit 18 by the first moving unit 14 and the second moving unit 16, and then transferred to the loading/unloading unit 52 by the third moving unit 18. be. The loading pallets 12 transferred to the loading/unloading section 52 are loaded onto a truck (not shown) or the like by the external transport means 54 . Delivery is performed by these operations. The picking operation may be performed after the warehousing operation, or may be performed before the warehousing operation.

Features of the automatic warehouse picking device 3 configured as described above will be described. The picking device 3 is a picking device that moves a load 10 held by a holding mechanism 32 capable of holding a plurality of loads 10. The holding mechanism 32 has a plurality of holding units 34 that adsorb the loads 10, and a plurality of The holding unit 34 performs a holding operation of the cargo 10 to be picked based on the surface condition of the cargo to be picked.

According to this configuration, since the adsorption area of the adsorption mechanism 33 is changed according to the surface condition of the cargo to be picked, the influence of the area unsuitable for adsorption can be reduced and a plurality of cargoes can be stably held.

In this embodiment, the holding mechanism 32 determines a specific area of the surface of the load 10 that is determined to be suitable for adsorption based on the surface condition, and determines the holding part 34 corresponding to the specific area among the plurality of holding parts 34 . to turn on. In this case, a specific area suitable for adsorption can be adsorbed, so a plurality of loads can be held stably. Since the plurality of holding portions 34 are selectively turned on/off, the load on the compressor that supplies the negative pressure to the holding portions 34 is reduced, which is advantageous in terms of size reduction and energy saving of the compressor.

In this embodiment, a detection means 39 for detecting the surface condition of the cargo to be picked is provided, and the surface condition is acquired from the detection means 39 . In this case, it is possible to detect disturbance factors specific to the cargo to be picked.

In this embodiment, the surface condition is acquired from a storage device in which the surface condition of the cargo to be picked is stored in advance. In this case, since registered data is used, the influence of regions unsuitable for adsorption can be further reduced.

In this embodiment, the holding mechanism 32 changes the suction position according to the holding state (suction state) of the suctioned cargo 10 . In this case, the effects of disturbance factors specific to the cargo to be picked can be reduced.

Features of the automated warehouse system 1 will be described. The automated warehouse system 1 includes a shelf section 22 having a plurality of storage sections 26 capable of storing goods 10, moving means 14, 16, and 18 for moving the goods 10 for entering or leaving the shelf section 22, and a plurality of and a picking device 3 that moves the load 10 by a holding mechanism 32 capable of holding the load 10 . The holding mechanism 32 has a suction mechanism 33 that has a plurality of holding portions 34 that are movably provided to hold the cargo 10, acquires the surface condition of the cargo to be picked, and uses the suction mechanism 33 based on the surface condition. Change the adsorption area.

According to this configuration, since the adsorption area of the adsorption mechanism 33 is changed according to the surface condition of the cargo to be picked, the influence of the area unsuitable for adsorption can be reduced and a plurality of cargoes can be stably held. If a holding operation is performed while a plurality of loads are in contact with each other, the adjacent loads interact with each other and the holding becomes unstable. Moreover, since a plurality of loads can be stably supported, the moving speed of the holding mechanism 32 can be increased, and the time required for picking can be shortened. For example, when the weight of the contents housed in the case, such as PET bottled beverages and canned beverages, is large, when the holding mechanism 32 exerts a large force on the surface of the cargo 10 when it is adsorbed by the adsorption mechanism, and when the load is affected by the environment. Even if the thickness of the case is thin for consideration, even if the bent loads 10 are in contact with each other and interact with each other, they can be stably supported.

[Second embodiment]
Next, the picking device 3 according to the second embodiment will be described. In this embodiment, a plurality of holding parts 34 are arranged side by side so as to be movable in two directions perpendicular to each other in the adsorption mechanism 33, and the holding mechanism 32 determines that the surface of the load 10 is suitable for adsorption based on the surface condition. It is different from the first embodiment in that a specific area to be held is selected and the holding part 34 is moved so as to attract the specific area, and other configurations are the same. Duplicate description will be omitted, and the configuration different from the first embodiment will be mainly described.

FIG. 12 is a plan view showing the suction mechanism 33 of the picking device 3 according to the second embodiment. The adsorption mechanism 33 has a substantially rectangular shape in plan view. A plurality of holding portions 34 are arranged in a matrix in the X-axis direction and the Y-axis direction in the adsorption mechanism 33 . In the example of FIG. 12, the adsorption mechanism 33 has 20 holding portions 34 in 5 rows in the X-axis direction and 4 columns in the Y-axis direction. In this description, row codes 1 to 5 and column codes A to D are assigned to the plurality of holding units 34 to distinguish them, and they are denoted as "A1", for example.

The plurality of holding parts 34 are driven by driving means (not shown) to move in the horizontal X-axis direction and Y-axis direction within the adsorption mechanism 33 . In the example of FIG. 12 , the plurality of holding portions 34 are supported at intersections of the first supporting portions 331 , 332 , 333 , 334 and 335 and the second supporting portions 336 , 337 , 338 and 339 . The first supports 331, 332, 333, 334, and 335 are movable stages that extend in the X-axis direction and are movable in the Y-axis direction. The second supports 336, 337, 338, and 339 are movable stages that extend in the Y-axis direction and are movable in the X-axis direction.

Each holding portion 34 has a plurality of (for example, four) adsorption cells 36 . The four adsorption cells 36 are arranged in a matrix so as to be movable in the X-axis direction and the Y-axis direction within the holding portion 34 . Each adsorption cell 36 has a plurality of (for example, four) adsorption pads 37 . The suction pad 37 of this example generates suction force due to negative pressure by sucking air. The suction pad 37 can adjust the negative pressure to increase or decrease the suction force. The suction pad 37 can turn off the suction force by adjusting the negative pressure.

13 to 15 are diagrams showing the holding portion 34 of the adsorption mechanism 33. FIG. 13(A), 14(A), and 15(A) show the holding portion 34 in side view, and FIGS. A retainer 34 is shown. As shown in these figures, the adsorption cell 36 is supported by support links 382 and 383 of the drive mechanism 38. As shown in FIG. FIG. 13 shows the holding part 34 in an intermediate state in which the four adsorption cells 36 are spaced intermediately. FIG. 14 shows the holding portion 34 in a wide state with the four adsorption cells 36 widened. FIG. 15 shows the narrow holding portion 34 in which the four adsorption cells 36 are narrowed.

In this manner, the suction mechanism 33 of this embodiment moves the plurality of holding portions 34 in the X-axis direction and the Y-axis direction, changes the intervals between the four suction cells 36, and further increases the suction force of each suction pad 37. A desired adsorption pattern can be obtained by on/off control. In other words, the suction mechanism 33 selects a specific region of the cargo to be picked, moves the plurality of holding units 34, and changes the spacing of the suction cells 36 so as to realize a suction pattern corresponding to the specific region. , controls the suction force of the suction pad 37 on/off.

Next, referring to FIG. 16, process S210 will be described as an example of the depalletizing operation of this embodiment. FIG. 16 is a flow chart of process S210. Here, descriptions that overlap with the first embodiment are omitted. Also, the palletizing operation is the same as that of the first embodiment, and the description thereof is omitted.

After starting the process S210, the picking device 3 acquires a depalletizing instruction from the control unit 50 (step S211). By way of example, the instructions include the location of the first load pallet 12S-B and the placement and quantity of the load to be picked.

After executing step S211, the picking device 3 moves the crane mechanism 30 in the X-axis direction or the Y-axis direction to move the holding mechanism 32 toward the target position (step S212).

After executing step S212, the picking device 3 determines whether the holding mechanism 32 has reached the target position (step S213). In this step, whether the target position has been reached can be determined based on the captured images of one or both of the first camera 391 and the second camera 392 . For example, based on this obtained image, the relative positional relationship between the first loading pallet 12S-B and the holding mechanism 32 is recognized, and this determination is made depending on whether the positional deviation from the target position is equal to or less than a predetermined reference value. You may When determining that the target position has not been reached (N in step S213), the picking device 3 returns the process to step S212 and repeats steps S212 to S213.

When it is determined that the target position has been reached (Y in step S213), the picking device 3 acquires the surface condition of the cargo to be picked from the detection means 39 for detecting the surface condition. In this example, the sensing means 39 is one or both of the first camera 391 and the second camera 392 . Therefore, the picking device 3 acquires a surface image of the surface of the cargo to be picked (step S214). In this step, the picking device 3 determines an area (non-specific area) not suitable for adsorption from the surface image of the cargo. As an example, the non-specific area may be a location having a disturbance factor of attraction, four corners of the case, or a location near the bent portion of the case. Locations with disturbance factors include locations where hot melt adheres, locations with perforations and the like, and locations where there is a lot of deformation due to external force. After determining the non-specific areas, the picking device 3 determines specific areas of the surface of the cargo that are judged to be suitable for adsorption, avoiding the non-specific areas.

Also, the picking device 3 acquires the registration data of the specific area from the database DB through the control unit 50 (step S215). The picking device 3 determines the specific area based on the registration data.

After determining the specific area in steps S214 and S215, the picking device 3 determines a suction pattern corresponding to the specific area (step S216). In this step, the picking device 3 selects the positions of the plurality of holding units 34, the positions of the four suction cells 36, the suction pads 37 to be turned on among the suction pads 37, and the suction pads 37 to be turned off, according to the specific area. Pad 37 is determined.

After determining the suction pattern in step S216, the picking device 3 moves the plurality of holding units 34 based on the suction pattern (step S217), changes the intervals between the four suction cells 36 (step S218), on/off control is executed (step S219).

After executing step S219, the picking device 3 lowers the holding mechanism 32 (step S220), sucks the load 10-B of the first loading pallet 12S-B with the suction mechanism 33 (step S221), and moves the holding mechanism 32. Raise (step S222).

After executing step S222, the picking device 3 determines whether or not the pickup is successful (step S223). In this step, it can be determined based on the acquired images of one or both of the first camera 391 and the second camera 392 whether or not the adsorption was successful.

If it is determined that the suction has not succeeded (N in step S223), the process returns to step S220, and steps S220 to S223 are repeated. As a result, the picking device 3 lowers the holding mechanism 32 again and redoes the picking operation.

In this step, the picking device 3 may change the pick-up pattern according to the holding state (picked state) of the picked-up cargo 10 .

If it is determined that the adsorption has succeeded (Y in step S223), the process S210 ends. The cargo 10 unloaded by the depalletizing operation described above is stowed on another pallet by the palletizing operation. Various modifications are possible for each of the steps described above.

This embodiment has the same actions and effects as the first embodiment.

Exemplary embodiments of the present invention have been described above in detail. All of the above-described embodiments merely show specific examples for carrying out the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of constituent elements can be made without departing from the spirit of the invention defined in the claims. It is possible. In the above-described embodiment, descriptions such as "of the embodiment", "in the embodiment", etc. are attached to the contents that allow such design changes. Changes are not unacceptable. In addition, the hatching in the drawings does not limit the material of the hatched object.

(Modification)
Modifications will be described below. In the drawings and description of the modified example, the same reference numerals are given to the same or equivalent components and members as the embodiment. Explanations that overlap with the embodiment will be omitted as appropriate, and the explanation will focus on the configuration that is different from the embodiment.

In the description of the embodiment, an example was shown in which the holding mechanism 32 generates the adsorption force by the negative pressure of air, but the present invention is not limited to this. The holding mechanism 32 can include a holding portion capable of applying a force to the upper surface of the load 10 to move the load 10 upward. In the embodiment, the holding portion 34 is shown as an example of the holding portion. For example, the holding mechanism 32 may use a magnetic attractive force such as a magnet or an attractive force based on other physical principles instead of the negative pressure of the air. For example, when the content is a steel can, the holding mechanism 32 may hold the case by magnetically attracting the steel can with an electromagnet provided in the holding mechanism 32 instead of the suction pad 37 .

In the description of the embodiment, an example in which the picking space 302 is provided integrally with the shelf 22 is shown, but the present invention is not limited to this, and the picking space 302 may be provided outside the shelf 22. . In this case, the loading pallet 12 may be transported between the shelf 22 and the picking space 302 by a transport mechanism such as a forklift.

In the description of the embodiment, an example in which the second moving means 16 and the third moving means 18 are provided separately was shown, but the present invention is not limited to this. As the second moving means, a moving means (for example, a stacker crane) capable of moving the loading pallet 12 in the row direction and the row direction may be adopted. In this case, the stacker crane may not be able to mount the first moving means, or may be able to mount the first moving means together with the loading pallet 12 .

In the description of the embodiment, an example in which a single loading/unloading section 52 is provided for all stages and the third moving means 18 is connected to the loading/unloading section 52 is shown, but the present invention is not limited to this. A loading/unloading section may be provided for each stage, and cargo to be loaded/unloaded may be loaded/unloaded to/from the loading/unloading section of each stage by a forklift. Also, the loading/unloading section may be divided into a loading section and a loading/unloading section.

In the description of the embodiment, an example was shown in which the picking device 3 transfers the load 10 picked up from the first load pallet 12S to the second load pallet 12M. Not limited. For example, the picking device 3 may transfer the picked-up cargo 10 onto a belt conveyor or the like, or onto a forklift or truck bed, or a self-propelled carriage such as the first moving means 14. You can transfer it to the top.

In the description of the embodiment, an example in which the picking space 302 is provided on the same plane as the shelf 22 is shown, but the present invention is not limited to this, and the picking space 302 may be provided on a different plane from the shelf 22. good.

The holding mechanism 32 may hold the side of the load with an arm and a hand.

Although the picking device 3 is supported from the ceiling side by the gantry-type crane mechanism 30 in the description of the embodiment, the present invention is not limited to this. For example, the picking device may be supported by an articulated robot or another support means. Alternatively, the picking device may be attached to a lateral wall and supported from the side.

In the description of the embodiment, in the picking operation, an example was shown in which the loads 10 taken out from the loading pallets 12 of the same type of loads 10 are stowed on the loading pallets 12 of multiple types of loads 10, but the present invention is not limited to this. . The picking operation may include an operation of taking out the loads 10 from the loading pallets 12 of multiple types of loads 10 , or may create the loading pallets 12 of the same type of loads 10 from the taken out loads 10 . Also, the loading pallet 12 of the same type of cargo 10 created by picking may be delivered.

In the description of the embodiment, in the picking operation, an example of picking from a plurality of first receivers 26p-A, 26p-B, and 26p-C to a single second receiver 26s was shown. is not limited to this. Picking may be performed from a plurality of first receivers 26p to a plurality of second receivers 26s.

In the description of the embodiment, FIG. 10 shows an example in which a plurality of first receivers 26p-A, 26p-B, and 26p-C are arranged in a row in the Y-axis direction. Not limited. It is not essential to arrange the plurality of first receivers in a line, and they may be arranged separately from each other.

In the description of the embodiment, an example in which the entire picking device 3 is included in the plane range of the shelf 22 is shown, but the present invention is not limited to this. Part or all of the picking device 3 may protrude outside the plane range of the shelf 22 .

Each of these modifications has the same actions and effects as the embodiment.

Any combination of the above embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the effects of each of the combined embodiments and modifications.

1 automated warehouse system, 3 automated warehouse picking device, 10 load, 22 shelf, 26 storage unit, 32 holding mechanism, 33 suction mechanism, 34 holding unit, 36 suction cell, 37 suction pad, 39 detection means.

Claims (8)

A picking device for moving a load held by a holding mechanism capable of holding a plurality of loads,
The holding mechanism has a plurality of holding parts that adsorb a load,
A picking apparatus for an automated warehouse, wherein the plurality of holding units perform a holding operation of the cargo to be picked based on the surface state of the cargo to be picked. The holding mechanism determines a specific area on the surface of the load that is judged to be suitable for holding operation based on the surface condition, and turns on the holding part corresponding to the specific area among the plurality of holding parts. The picking device for an automated warehouse according to claim 1. The holding mechanism determines a non-specific area on the surface of the load determined to be unsuitable for holding on the basis of the surface condition, and turns on the holding sections that do not correspond to the non-specific area among the plurality of holding sections. The automatic warehouse picking device according to claim 1. The plurality of holding parts are arranged side by side so as to be movable in two directions perpendicular to each other,
2. The holding mechanism according to claim 1, wherein the holding mechanism selects a specific area of the surface of the load judged to be suitable for holding based on the surface condition, and moves the holding part so as to hold the specific area. Picking equipment for automated warehouses. The picking device for an automated warehouse according to any one of claims 1 to 4, further comprising detecting means for detecting a surface condition of a cargo to be picked, and acquiring the surface condition from the detecting means. The picking device for an automated warehouse according to any one of claims 1 to 5, wherein the surface condition is acquired from a storage device in which the surface condition of the goods to be picked is stored in advance. The picking device for an automated warehouse according to any one of claims 1 to 6, wherein the holding mechanism changes a suction position according to a holding state of the held cargo. a shelf having a plurality of storage units capable of storing cargo;
moving means for moving goods for entering or leaving the shelf;
a picking device that moves a load with a holding mechanism capable of holding a plurality of loads;
with
The holding mechanism is
Having a plurality of holding parts for holding loads,
The automatic warehouse system, wherein the plurality of holding units perform a holding operation based on the surface state of the cargo to be picked.

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