JP2023141993A - Picking device, automatic warehouse system - Google Patents

Abstract

To provide a picking device capable of stacking cargoes with high accuracy.SOLUTION: A picking device 10 comprises: a lifting device 2 provided movably relative to a cargo 12 and capable of holding the cargo 12; and a detection mechanism 3 provided vertically movably independently of the lifting device 2 and capable of detecting the cargo from at least two directions. The picking device positionally controls at least one of the lifting device 2 and the detection mechanism 3 on the basis of information on the cargo 12 detected by the detection mechanism 3.SELECTED DRAWING: Figure 3

Description

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

2. Description of the Related Art A picking device that moves a load from one storage section to another storage section is known. In Patent Document 1, the present applicant disclosed a technology related to an automated warehouse system including a picking device. This picking device is equipped with a holding part, a plurality of suction parts provided on the bottom of the holding part, and a gantry-type crane mechanism, and it takes out the target load from above one storage part and moves it horizontally. The object can be moved and unloaded onto a pallet in another storage section from above.

Japanese Patent Application Publication No. 2020-200185

The present inventor has obtained the following recognition. In a picking device, when a part of a load is taken out from a loaded pallet and stacked on another pallet, from the viewpoint of stably holding the load, it is desirable that the gaps between the loaded loads be small. In order to reduce the gaps between loads, it is important to stack the loads accurately. However, the picking device described in Patent Document 1 has room for improvement from the viewpoint of stacking loads with high accuracy.

The present invention has been made in view of such problems, and one of the objects of the present invention is to provide a picking device that can stack cargo with high accuracy.

In order to solve the above problems, a picking device according to an aspect of the present invention is provided so as to be movable relative to a load on the ground, and the relative position between a lifting device capable of holding the load and the lifting device can be changed up or down. a first detection mechanism that can detect the load from at least two directions, and based on information about the load detected by the first detection mechanism, at least one of the hanging tool and the first detection mechanism; control the position of

Another aspect of the invention is an automated warehouse system. This automated warehouse system includes shelves having a storage section for storing loads, and a picking device for moving the loads in the storage section, and the picking device is movable relative to the loads on the ground. The first detection mechanism is provided with a hanging device which is provided in the holder and is capable of holding a load, and a first detection mechanism which is provided so that the relative position of the hanging device can be changed up and down and can detect the load from at least two directions. The position of at least one of the hanging tool and the first detection mechanism is controlled based on information regarding the load detected by the first detection mechanism.

Note that arbitrary combinations of the above-mentioned components and mutual substitution of the components and expressions of the present invention between methods, systems, etc. are also effective as aspects of the present invention.

According to the present invention, it is possible to provide a picking device that can stack cargo with high accuracy.

1 is a plan view schematically showing an automated warehouse system according to an embodiment. FIG. 2 is a perspective view showing an example of a package in which a plurality of packages are stacked. It is a front view showing an example of a picking device of an embodiment. FIG. 4 is a diagram showing a first state of the picking device of FIG. 3; FIG. 4 is a diagram showing a second state of the picking device of FIG. 3; It is a flow chart which shows an example of picking operation of a picking device. FIG. 7 is a diagram schematically showing a first process of the picking operation in FIG. 6; FIG. 7 is a diagram schematically showing a second process of the picking operation in FIG. 6; 7 is a diagram schematically showing a third process of the picking operation in FIG. 6. FIG. 7 is a diagram schematically showing a fourth process of the picking operation in FIG. 6. FIG. 7 is a diagram schematically showing a fifth process of the picking operation in FIG. 6. FIG. 7 is a diagram schematically showing a sixth process of the picking operation in FIG. 6. FIG. 7 is a diagram schematically showing a seventh process of the picking operation in FIG. 6. FIG. 7 is a diagram schematically showing an eighth process of the picking operation in FIG. 6. FIG. 7 is a diagram schematically showing a ninth process of the picking operation in FIG. 6. FIG. 7 is a diagram schematically showing a tenth process of the picking operation in FIG. 6. FIG. 7 is a diagram schematically showing an eleventh process of the picking operation in FIG. 6. FIG. FIG. 7 is a diagram schematically showing a twelfth process of the picking operation in FIG. 6; FIG. 7 is a diagram schematically showing a thirteenth process of the picking operation in FIG. 6; 7 is a diagram schematically showing a fourteenth process of the picking operation in FIG. 6. FIG. 7 is a diagram schematically showing a fifteenth process of the picking operation in FIG. 6. FIG. 7 is a diagram schematically showing a sixteenth process of the picking operation in FIG. 6. FIG. FIG. 7 is a diagram schematically showing a seventeenth process of the picking operation in FIG. 6; 7 is a diagram schematically showing an 18th process of the picking operation in FIG. 6. FIG. FIG. 7 is a diagram schematically showing a nineteenth process of the picking operation in FIG. 6;

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modified examples, the same or equivalent components and members are given the same reference numerals, and redundant explanations will be omitted as appropriate. Further, the dimensions of members in each drawing are shown enlarged or reduced as appropriate to facilitate understanding. Further, in each drawing, some members that are not important for explaining the embodiments are omitted.

Also, although ordinal terms such as first, second, etc. are used to describe various components, these terms are used only to distinguish one component from another; The components are not limited by this.

[Embodiment]
The configuration of an automated warehouse system 100 including a picking device 10 according to an embodiment will be described with reference to the drawings. FIG. 1 is a plan view schematically showing an automated warehouse system 100.

For convenience of explanation, as shown in the figure, an XYZ orthogonal coordinate system is defined in which a certain horizontal direction is the X direction, a horizontal direction perpendicular to the X direction is the Y direction, and a direction perpendicular to both, that is, the vertical direction is the Z direction. Further, the X direction may be referred to as a lateral direction, the Y direction may be referred to as a front-back direction, and the Z direction may be referred to as an up-down direction. Such directional notation does not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be used in any configuration depending on the application.

In this specification, the following terms regarding loads are used. A case such as a cardboard box containing contents is called a "cargo". A load may contain multiple items. Further, the empty pallet is simply referred to as "pallet 11." A collection of one or more loads 12 placed on one pallet 11 is referred to as a "load set." In the following description, the term "load 12" includes the case of the load 12 alone and the case of the load 12 mounted on the pallet 11. The load 12 may be the smallest unit handled during picking.

FIG. 2 is a perspective view showing an example of a package in which a plurality of packages 12 are stacked. The side that is intended to be opened in order to take out the contents is called the "anti-bottom side," and the side opposite to the anti-bottom side is called the bottom side. In FIG. 2, the load 12 is shown with the opposite bottom surface facing upward and the bottom surface facing downward. The load 12 may be reversed by a reversing device (not shown) and handled such as picking in an inverted state in which the bottom surface is an upward surface and the opposite bottom surface is a downward surface. The opposite bottom surface may be easier to open than the bottom surface, and the bottom surface may be stronger than the opposite bottom surface. As an example of a display method, if the characters printed on the side surface of the case are in an inverted direction, the display may be in an inverted state.

First, the overall configuration of the automated warehouse system 100 will be explained. As shown in FIG. 1, the automated warehouse system 100 includes a shelf 5 having a plurality of storage sections 52 capable of storing cargo 12, moving means 74, 75 for moving the cargo 12 to be stored in or taken out from the shelf 5, 76, a picking device 10 that holds and moves the cargo 12, and a control section 78.

The moving means 74, 75, and 76 include a first moving means 74 (for example, a first truck), a second moving means 75 (for example, a second truck), and a third moving means 76 (for example, a lifting device). include. The first moving means 74, the second moving means 75, and the third moving means 76 constitute a conveying means that moves the load 12 in the Y direction, the X direction, and the Z direction. The first moving means 74 can move the load 12 along the X direction. The second moving means 75 can move the load 12 along the Y direction. The third moving means 76 can move the load 12 in the Z direction.

For example, the transport means can transport the load 12 from the storage section 52 of the shelf 5. For example, the transport means can carry the load 12 into the storage section 52 of the shelf 5. For example, the transport means can transport the load 12 from one storage section 52 of the shelf 5 to another storage section 52 of the shelf 5.

The shelf 5 is a storage space that can store a large number of items 12, and is sometimes referred to as a storage shelf. The shelf 5 of this embodiment is divided into a shelf 55 on the right side in the figure and a shelf 56 on the left side in the figure with the second running path 73 in between. The configuration of the shelf 5 is not particularly limited as long as it can accommodate and store a plurality of loads 12. In this example, the shelf 5 includes a plurality of storage units 52 arranged along the X direction, the Y direction, and the Z direction (row direction). A plurality of storage sections 52 arranged in the X direction and the Y direction are referred to as a storage stage. In other words, the shelf 5 includes a plurality of storage stages (for example, three stages) arranged in the tier direction. Each storage section 52 is configured to be able to accommodate the cargo 12.

The shelf 5 has a first running path 71 (for example, a first rail) for the first moving means 74 to run, and a second running path 73 (for example, a second rail) for the second moving means 75 to run. ) is provided. The first travel path 71 extends in the X direction between the shelves 55 and 56 and the picking space 58. The first moving means 74 can run under each storage section 52 . The second travel path 73 extends in the Y direction adjacent to the shelves 55, 56 and the picking space 58.

The first moving means 74 drives wheels by a motor (not shown), and travels along the first travel path 71 in the X direction with no cargo or with a cargo 12 mounted thereon. The first moving means 74 can get on and off the second moving means 75 and the third moving means 76. The second moving means 75 drives wheels by a motor (not shown) and travels along the second travel path 73 in the Y direction. The second moving means 75 transports the first moving means 74 in an empty state or in a state in which the cargo 12 is loaded. The third moving means 76 is provided adjacent to the second travel path 73. The third moving means 76 can move the first moving means 74 and the load 12 up and down from any storage stage to another storage stage. In the example of FIG. 1, a single loading/unloading section 77 is provided for all stages, and the third moving means 76 is connected to the loading/unloading section 77.

In this example, the cargo 12 to be warehoused is carried into the warehouse loading/unloading section 77 by an external transport means (not shown) such as a forklift, and is transferred to the target stage by the third moving means 76. The goods 12 to be delivered from the warehouse are lifted up and down by the third moving means 76 from the storage stage to the stage of the warehouse loading/unloading section 77, transferred to the loading/unloading section 77, and carried out from the loading/unloading section 77 by an external conveyance means.

The control unit 78 is configured to include an MPU (Micro Processing Unit) and the like, and controls the movement of the cargo 12 for warehousing, warehousing, unloading, transfer, etc. based on the operation results from the user. As an example, the control unit 78 controls the first moving means 74, the second moving means 75, and the third moving means to transfer the cargo 12 between the storage area and the storage section or between a plurality of storage sections. controlling the operation of means 76; Further, the control unit 78 controls the operation of the picking device 10 in order to pick the cargo 12.

(picking device)
The picking device 10 of the embodiment is used to prepare a plurality of single pallets loaded with a single type of load (for example, by warehousing), and to create a mixed pallet with multiple types of load mixed in accordance with customer requests. suitable for When creating a mixed pallet, the picking device 10 picks up some of the loads (one or more loads) from one layer of the single pallet and transfers them to the mixed pallet. It is possible to grasp the status of loads on mixed pallets and control the loading position of transferred loads with high precision.

The picking device 10 will be explained with reference to FIGS. 1, 3, 4, and 5. FIG. 3(A) is a front view schematically showing an example of the picking device 10. FIG. In this figure, descriptions of some columns, beams, frames, etc. are omitted.

The picking space 58 is a space for picking using the picking device 10. Although the picking space 58 may be provided outside the shelf 56, it is provided within the shelf 56 in this example.

The picking space 58 includes a first area 521 for placing the loads 12 before picking (hereinafter referred to as "first load set 121") and a first area 521 for placing loads 12 before picking (hereinafter referred to as "second load set 122"). A second area 522 is provided for placing the item. The picking device 10 can move the loads 12 taken out from the first load set 121 in the first area 521 to the second area 522 and stack them on the second load set 122 in the second area 522 .

Note that the first area 521 and the second area 522 do not refer to a specific location within the picking space 58, but refer to an area where the cargo 12 is temporarily stored. Therefore, the positions and ranges of the first region 521 and the second region 522 in the picking space 58 may change for each picking operation. The first area 521 and the second area 522 of this embodiment have the same configuration as the storage section 52.

In the picking space 58 of this embodiment, a first travel path 71 extends in the X direction. The first region 521 and the second region 522 are provided on the first travel path 71. The first moving means 74 can travel under the first area 521 and the second area 522. The first set of goods 121 before picking is carried into the first area 521 by the first moving means 74. The picking device 10 picks up a predetermined load 12 from a first load set 121, lifts it, moves it, and loads it into a second load set 122. The second package set 122 after picking is carried out from the second area 522 by the first moving means 74.

As shown in FIG. 3A, the picking device 10 picks one or more loads 12 from a first load set 121 before picking and transfers them to a second load set 122. The picking device 10 of this embodiment is supported by a so-called gantry type crane mechanism 60. The crane mechanism 60 includes a pair of cross beams 63, a cross beam 62, a crane truck 64, and a lifting mechanism 66. The pair of cross beams 63 are provided spaced apart on both sides in the Y direction in the upper space of the picking space 58. Both ends of the horizontal beam 63 are supported by the upper end of the vertical column 61.

The cross beam 62 is a rail-shaped structure extending in the Y direction, and is spanned between a pair of cross beams 63. The cross beam 62 is configured to be self-propelled on the cross beam 63 in the X direction. The cross beam 62 is sometimes referred to as a crane girder. The crane truck 64 is a truck that can run on the cross beam 62 in the Y direction. The lifting mechanism 66 suspends the picking device 10 from the crane truck 64 and can move the picking device 10 up and down in the Z direction.

The crane mechanism 60 supports the picking device 10 so as to be freely movable in the horizontal X and Y directions. Further, the crane mechanism 60 supports the picking device 10 so as to be movable in the row direction (Z direction).

FIG. 4 is a diagram schematically showing a first state of the picking device 10, in which the lifting tool 2 is lowered the most with respect to the crane mechanism 60, and the cargo receiving part 9 is lowered the most with respect to the lifting tool 2. shows. FIG. 5 is a diagram schematically showing the second state of the picking device 10, and shows a state in which the hanging tool 2 and the cargo receiving part 9 are raised the most. 4(A) and FIG. 5(A) are front views, and FIG. 4(B) and FIG. 5(B) are side views. In these figures, descriptions of some pillars, frames, etc. that are not important for the explanation are omitted.

As shown in FIGS. 3 and 4, the picking device 10 includes a hanging tool 2, a cargo receiving section 9, a first detection mechanism 3, a second detection mechanism 4, a third detection mechanism 16, and a relative position change mechanism. 8. The first detection mechanism 3, the second detection mechanism 4, and the third detection mechanism 16 are collectively referred to as detection means.

In the example of FIG. 4, the hanging tool 2 has a lifting tool main body 22 and a holding part 6 that can hold the load 12, and is relative to the load 12 on the ground (hereinafter sometimes referred to as "ground load"). It is provided movably. In this specification, "above ground" means an area that is the lower surface of the picking space 58 and includes the first area 521 and the second area 522. The hanging main body 22 has a substantially rectangular parallelepiped shape formed by combining a plurality of frame members. The hanging tool main body 22 is connected to the lower end of the lifting tool lifting mechanism 66, and the upper end of the hanging tool lifting mechanism 66 is connected to the crane truck 64 of the crane mechanism 60.

The lifting mechanism 66 includes a guide portion 661 connected to the crane truck 64, a first slider 662, and a second slider 663. The first slider 662 can slide up and down with respect to the guide part 661. The second slider 663 can slide up and down with respect to the first slider 662. The hanging tool lifting mechanism 66 lifts and lowers the hanging tool main body 22 by moving the first slider 662 and the second slider 663 up and down by a driving means (not shown) including a motor under the control of the control unit 78. can be done.

The holding part 6 can hold the load 12 to be picked, and is attached below the hanging tool 2 . The holding part 6 in this example includes a plurality of suction parts 68 and a bracket 67 that supports the plurality of suction parts 68. The plurality of suction parts 68 are arranged in a matrix at predetermined intervals in the Y direction and the X direction.

The suction section 68 has a suction pad, and air (hereinafter referred to as "suction fluid") at a pressure lower than atmospheric pressure generated by a vacuum generation source (not shown) is passed through the suction pad. The generated negative pressure generates an adsorption force for adsorbing the load 12. The vacuum source can include a vacuum pump, an ejector, a vacuum blower, and the like. Suction fluid from the vacuum source is supplied to the adsorption section 68 through piping (not shown).

When the suction section 68 generates a suction force capable of suctioning the load 12, the suction section 68 is referred to as an "on state", and when it is not on, it is referred to as an "off state". The holding unit 6 switches the on/off state of each of the plurality of suction units 68 based on the control of the control unit 78 to turn on the suction unit 68 in the area corresponding to the load 12 to be suctioned, and It is possible to adsorb and hold the load 12 to be adsorbed.

The load receiving section 9 is a mechanism for supporting the lower surface of the load 12 (hereinafter sometimes referred to as "held load") held by the holding section 6 of the hanging tool 2. In the example of FIG. 4, the cargo receiving section 9 includes a plurality of support members 91, a pair of deployment mechanisms 92, and a pair of retraction mechanisms 93. The support member 91 is a cylindrical pipe extending in the X direction, and when supporting the load 12, it is deployed on the lower surface of the load 12. The pair of unfolding mechanisms 92 are arranged apart from each other on both sides of the hanging tool 2 in the X direction, and can support both ends of the plurality of unfolded support members 91. The plurality of support members 91 may be referred to as slats.

The pair of retracting mechanisms 93 can support both ends of the plurality of retracted support members 91. The deployment mechanism 92 extends in the Y direction, and the retraction mechanism 93 extends in the Z direction, each having an angular C-shaped cross section. One end of the deploying mechanism 92 and the lower end of the retracting mechanism 93 are connected, and have a horizontal L-shape when viewed from the front. The plurality of support members 91 move between the expansion mechanism 92 and the retraction mechanism 93 based on the control of the control unit 78.

The cargo receiving part 9 is provided so that its relative position with the hanging tool 2 can be changed up and down. Although the load receiving part 9 may be able to be raised and lowered independently by a lifting mechanism different from the hanging tool lifting mechanism 66, in the example shown in FIG. 4, it is supported by the hanging tool 2. The cargo receiving section 9 is connected to the hanging tool main body 22 via a cargo receiving section elevating mechanism 96, and the relative position with respect to the lifting tool 2 can be changed up and down by the cargo receiving section elevating mechanism 96.

The load receiving part elevating mechanism 96 includes a guide part 961 connected to the hanger main body 22 and a slide part 962 that can slide up and down with respect to the guide part 961. The slide portion 962 is connected to the evacuation mechanism 93 of the cargo receiving portion 9. The cargo receiving section elevating mechanism 96 can raise and lower the cargo receiving section 9 by moving the slide section 962 up and down by a driving means (not shown) including a motor under the control of the control section 78.

The first detection mechanism 3 is provided so that its relative position with the hanging tool 2 can be changed up and down. The first detection mechanism 3 may be able to be raised and lowered independently by a lifting mechanism different from the hanging tool 2 and the load receiving part lifting mechanism 96, but in the example of FIG. 4, it is fixed to the load receiving part 9 and Moves in unison with 9. With this configuration, the first detection mechanism 3 can be raised and lowered relative to the load 12 to be detected. The first detection mechanism 3 can be raised and lowered relative to the ground load by one or both of the hanger lifting mechanism 66 and the load receiving part lifting mechanism 96. The first detection mechanism 3 can be raised and lowered relative to the held load by the load receiving part lifting mechanism 96.

The first detection mechanism 3 can detect the load 12 from at least two directions. The load 12 to be detected by the first detection mechanism 3 may be either the held load or the ground load, but in this example, it is both. The first detection mechanism 3 may include a plurality of first detection devices 32 arranged apart from each other so as to surround the load 12 to be detected. In particular, the first detection mechanism 3 may include two first detection devices 32 arranged at positions sandwiching the load 12 to be detected.

FIG. 3(B) is a schematic diagram showing an example of the arrangement of the first detection mechanism 3. In the example of FIG. 3(B), the first detection mechanism 3 includes four first detection devices 32 arranged at four corners of a rectangle surrounding the load 12 to be detected. In FIG. 3(B), the laser irradiation direction of the first detection device 32 is shown in quadrants, and each irradiation range includes the load 12. The optical axes L3 of the four first detection devices 32 are horizontal, and the irradiation light is irradiated in the direction of the illustrated arrow. That is, the first detection device 32 can detect the distance to the object in the direction of the arrow. Although the heights of the optical axes L3 of the four first detection devices 32 may be different from each other, in this example, they are the same.

The second detection mechanism 4 is provided separately from the first detection mechanism 3, is provided so as to be movable up and down relative to the load 12 to be detected, and can detect the load 12 from at least two directions. The second detection mechanism 4 is provided in the second area 522 for stacking the cargo 12. The load 12 to be detected by the second detection mechanism 4 may be either the ground load or the held load, but in this example, it is both.

FIG. 3(C) is a schematic diagram showing an example of the arrangement of the second detection mechanism 4. In the example of FIG. 3(C), the second detection mechanism 4 includes four second detection devices 42 arranged at four corners of a rectangle surrounding the load 12 to be detected. In FIG. 3C, the laser irradiation direction of the second detection device 42 is shown in quadrants, and each irradiation range includes the load 12. The optical axes L4 of the four second detection devices 42 are horizontal, and the irradiation light is irradiated in the direction of the illustrated arrow. In other words, the second detection device 42 can detect the distance to the object in the direction of the arrow. The heights of the optical axes L4 of the four second detection devices 42 may be different from each other, but in this example, they are the same.

The second detection mechanism 4 is provided so as to be movable up and down relative to the load 12 to be detected. In FIG. 3C, the four second detection devices 42 are provided on pillars 44 erected at the four corners so as to be slidable up and down. In particular, each second detection device 42 can be moved up and down by a drive means (not shown) including a motor under the control of the control unit 78.

The third detection mechanism 16 is fixed to the upper part of the hanging tool main body 22, and can detect the state of the ground load or the held load from above.

The first detection mechanism 3, second detection mechanism 4, and third detection mechanism 16 (hereinafter collectively referred to as "detection mechanisms") are not limited in configuration as long as they can detect the load 12, but in this example, laser It includes a laser sensor that can measure scattered light in response to irradiation and detect the distance to the target. As an example, the detection mechanism includes LIDAR (Light Detection and Ranging). The detection mechanisms can transmit their respective detection results to the control unit 78.

It is desirable that the system for loading retained cargo onto ground cargo be high. Therefore, the embodiment includes a relative position change mechanism 8 that can change the relative position between the load 12 on the ground and the load 12 held by the hoist 2, in addition to the crane mechanism 60 for moving the hoist 2. . In the embodiment, the first detection mechanism 3 and the second detection mechanism 4 detect the relative positions of the ground load and the held load, and the relative position change mechanism 8 changes the positions of these loads based on the detection results of the relative positions. After correcting the position, the retained cargo is loaded onto the ground cargo.

The relative position changing mechanism 8 may move either the ground load or the held load, or may move both of them. In the example of FIG. 4, the relative position changing mechanism 8 is provided on the hanging tool 2, and can correct the position of the held load by horizontally moving the holding part 6 using a drive means (not shown) including a motor.

The control unit 78 controls the above-mentioned driving means based on information regarding the load 12 detected by at least one of the first detection mechanism 3 and the second detection mechanism 4, thereby controlling the lifting device 2 and the first detection mechanism. 3 and the second detection mechanism 4 can be changed. The control unit 78 can control the relative position changing mechanism 8 based on the information regarding the load 12, thereby correcting the relative position of the load on the ground and the held load.

An example of the picking operation of the picking device 10 configured as described above will be explained. FIG. 6 is a flowchart showing operation S110 of the picking device 10. 7 to 25 are diagrams schematically showing each process of operation S110. In these figures, descriptions of members that are not important to the explanation are omitted. In operation S110, the load 12 to be picked (hereinafter referred to as "target load 12A") is lifted from the first load set 121 (ground load) in the first area 521 and loaded onto the second load set 122 in the second area 522. This is the action of attaching.

As shown in FIG. 7, operation S110 is started in a state where the picking device 10 is located above the first load set 121, which is the ground load in the first area 521. When operation S110 is started, as shown in FIG. 8, the control unit 78 detects a positional shift of the target load 12A using the third detection mechanism 16, and confirms that there is no interference between the target load and the picking device 10. (Step S111).

After executing step S111, as shown in FIG. 9, the control section 78 lowers the cargo receiving section 9 so that the first detection mechanism 3 is at a position lower than the target cargo 12A, and also lowers the lower end of the holding section 6. The hoist 2 is lowered until it comes into contact with the target load 12A (step S112). During this descent, the optical axis L3 of the first detection mechanism 3 intersects the target load 12A. In this step, the control section 78 controls the height position of the holding section 6 based on the detection result of the first detection mechanism 3 so as to ensure desired positioning accuracy and suppress variations in height.

After executing step S112, as shown in FIG. 10, the control unit 78 turns on the suction unit 68 in the area corresponding to the target load 12A to adsorb the target load 12A (step S113). In FIG. 10, the suction section 68 in the on state is shown filled in black.

After executing step S113, as shown in FIG. 11, the control unit 78 holds the adsorbed target load 12A and raises the hanging tool 2 (step S114). In this step, the control unit 78 checks whether the attracted target load 12A is normally separated from the first load set 121 and held in a normal posture based on the detection result of the first detection mechanism 3. This confirmation operation can be performed while raising the first detection mechanism 3.

After executing step S114, as shown in FIG. 12, the control unit 78 further raises the hanging tool 2 while holding the target load 12A (step S115). In this step, the control unit 78 checks whether the height interval between the target load 12A and the first load set 121 exceeds the distance that allows the plurality of support members 91 to be deployed, based on the detection result of the first detection mechanism 3. do. This confirmation operation can be performed while raising the hanging tool 2.

After executing step S115, as shown in FIG. 13, the control unit 78 deploys the plurality of support members 91 while further raising the hanging tool 2 while holding the target load 12A (step S116).

After executing step S116, as shown in FIG. 14, the control unit 78 raises the cargo receiving portion 9 to a height at which the plurality of support members 91 can support the lower surface of the target cargo 12A (step S117). This step can be performed while raising the hanger 2.

After executing step S117, as shown in FIG. 15, the control unit 78 checks the height of the target load 12A based on the detection result of the first detection mechanism 3 (step S118). In this step, after confirming the height of the target load 12A, the control unit 78 raises the load receiving unit 9 so that the plurality of support members 91 come into contact with the lower surface of the target load 12A. This step can be performed while raising the hanger 2.

After executing step S118, as shown in FIG. 16, the control unit 78 causes the crane mechanism 60 to move the picking device 10 to a position above the second load set 122, which is the ground load in the second area 522 ( Step S119). In this step, the control unit 78 confirms the position and orientation of the second package set 122 based on the detection result of the second detection mechanism 4. This confirmation operation can be performed while moving the second detection mechanism 4 up and down. Further, if necessary, the second load set 122 may be rotated in advance.

After executing step S119, as shown in FIG. 17, the control unit 78 moves the picking device 10 so that the target load 12A is above the planned position (indicated by a broken line frame) of the second load set 122. (Step S120). In this step, the control unit 78 uses the first detection mechanism 3 to detect the position of the target load 12A, and the second detection mechanism 4 to detect the position of the load adjacent to the planned position (hereinafter referred to as "adjacent load 12B"). Then, the crane mechanism 60 and the relative position change mechanism 8 are controlled so that the gap between the target load 12A and the adjacent load 12B is within a predetermined range.

After executing step S120, as shown in FIG. 18, the control unit 78 lowers the hanging tool 2 and the load receiving part 9 in order to lower the target load 12A to the scheduled position of the second load set 122 (step S121).

After executing step S121, as shown in FIG. 19, the control unit 78 further lowers the hanger 2 and the load receiving portion 9 to a height where the load receiving portion 9 does not interfere with the second load set 122 (step S122).

After executing step S122, as shown in FIG. 20, the control unit 78 causes the plurality of support members 91 to be retracted by the retracting mechanism 93 (step S123). As a result, the lower part of the target load 12A is opened, and the target load 12A can be lowered to the planned position.

After executing step S123, as shown in FIG. 21, the control section 78 raises the cargo receiving section 9 relative to the hanging tool 2 (step S124). As a result, the cargo receiving section 9 is in a state where it does not interfere with the second cargo set 122.

After executing step S124, as shown in FIG. 22, the control unit 78 further lowers the hanging tool 2 to lower the target load 12A (step S125). In this step, the hoist 2 is lowered until the target load 12A reaches a predetermined height H (for example, 30 mm) from the planned position.

After executing step S125, as shown in FIG. 23, the control unit 78 detects the position of the target load 12A with the first detection mechanism 3, detects the position of the adjacent load 12B with the second detection mechanism 4, and detects the position of the target load 12B with the second detection mechanism 4. The relative position changing mechanism 8 is controlled based on the detection result to reduce the gap g between the target load 12A and the adjacent load 12B (step S126).

After executing step S126, as shown in FIG. 24, the control unit 78 lowers the hanging tool 2 and lowers the target load 12A to the scheduled position (step S127). In this step, the control section 78 turns off the suction section 68 that was suctioning the target load 12A.

After executing step S127, as shown in FIG. 25, the control unit 78 raises the picking device 10 to a predetermined position using the crane mechanism 60 (step S128). In this step, the empty cargo hanger 2 and the cargo receiving section 9 are raised.

When the picking device 10 rises to a predetermined position, operation S110 ends. Each step described above is an example, and various modifications are possible.

The features of the picking device 10 configured as above will be explained. The picking device 10 is provided so as to be movable relative to the load 12 on the ground, and is provided so that the relative position of the hanger 2 capable of holding the load 12 and the hanger 2 can be changed up and down, and at least A first detection mechanism 3 capable of detecting the load 12 from two directions is provided. The picking device 10 controls the position of at least one of the hanging tool 2 and the first detection mechanism 3 based on information regarding the load 12 detected by the first detection mechanism 3.

According to this configuration, when stacking the lifted cargo 12, the accuracy of the stacking position of the cargo 12 can be improved. By increasing the positional accuracy in this way, the gap between adjacent loads 12 can be reduced. Since the load 12 is detected from at least two directions, the position of the load 12 can be detected with high precision.

As an example, the first detection mechanism 3 is provided so as to be movable up and down relative to the load 12 to be detected. In this case, the three-dimensional position, shape, and attitude of the load 12 to be detected can be detected based on the detection result of the first detection mechanism 3 that moves up and down.

As an example, the first detection mechanism 3 includes two first detection devices 32 arranged at positions sandwiching the load 12 to be detected. In this case, since the detection is performed from the positions sandwiching the load 12, the position and shape of the load 12 can be detected from both sides.

As an example, the first detection mechanism 3 is attached to a load receiving part 9 for supporting the lower surface of the load 12 held by the hanger 2. In this case, the first detection mechanism 3 can be raised and lowered by the mechanism that raises and lowers the cargo receiving section 9. This is more advantageous in terms of size, weight, and cost reduction than when a dedicated elevating mechanism is provided for the first detection mechanism 3.

As an example, the cargo receiving part 9 can be moved up and down with respect to the hanger 2. In this case, the load receiving part 9 can be raised and lowered together with the hanging tool 2, and can also be raised and lowered separately from the hanging tool 2.

As an example, in addition to the first detection mechanism 3, a second detection mechanism 4 is provided which is movable up and down relative to the load 12 to be detected and is capable of detecting the load 12 from at least two directions. In this case, the relative positional relationship between the held load and the ground load can be grasped with high precision from the detection result of the held load by the first detection mechanism 3 and the detection result of the ground load by the second detection mechanism 4.

As an example, the second detection mechanism 4 includes two second detection devices 42 arranged at positions sandwiching the load 12 to be detected. In this case, since the detection is performed from the positions sandwiching the load 12, the position and shape of the load 12 can be detected from both sides.

As an example, the second detection mechanism 4 is provided in the second area 522 for stacking the cargo 12. In this case, the position of the ground cargo placed in the second area 522 can be detected with high accuracy.

As an example, in addition to the mechanism 60 for moving the hanging tool 2, a relative position changing mechanism 8 that can change the relative position between the load 12 on the ground and the load 12 held by the hanging tool 2 is provided. In this case, the relative positions of these loads can be finely adjusted to reduce the gap between them.

Examples of embodiments of the present invention have been described above in detail. The embodiments described above are merely specific examples for carrying out the present invention. The content of the embodiments does not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of constituent elements may be made without departing from the idea of the invention defined in the claims. It is possible. In the above-mentioned embodiment, contents that allow such design changes are explained with the notations such as "in the embodiment" and "in the embodiment", but the design does not include such notations. This does not mean that changes are not allowed. Furthermore, the hatching in the drawings does not limit the material of the hatched object.

(Modified example)
A modified example will be explained 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 in the embodiment. Explanation that overlaps with the embodiment will be omitted as appropriate, and configurations that are different from the embodiment will be mainly explained.

In the description of the embodiment, an example was shown in which the first and second detection mechanisms 3 and 4 detect the load 12 to be detected from the side, but the present invention is not limited to this. For example, the first and second detection mechanisms can include a detection device capable of detecting the load to be detected from above or below.

In the description of the embodiment, an example was shown in which the relative position changing mechanism 8 is provided on the hanging tool 2 to correct the position of the held load, but the present invention is not limited to this. For example, the relative position change mechanism may include a means (for example, a truck) capable of changing the position of the ground load, and may be configured to correct the position of the ground load by the means.

In the description of the embodiment, an example is shown in which the picking device 10 is applied to an automated warehouse, but the present invention is not limited thereto. For example, the picking device of the present invention can be applied not only to automated warehouses but also to depalising devices and palletizing devices that use arm robots.

In the description of the embodiment, an example is shown in which the picking space 58 is provided integrally with the shelf 5, but the present invention is not limited to this, and the picking space 58 may be provided outside the shelf 5. In this case, the load 12 may be transported between the shelf 5 and the picking space 58 by a transport mechanism such as a forklift.

In the description of the embodiment, an example is shown in which the picking space 58 is provided on the same plane as the shelf 5, but the present invention is not limited to this, and the picking space 58 may be provided on a different plane from the shelf 5. Further, a part of the picking device 10 may be provided on the same plane as the shelf 5, and another part may extend outside the plane range of the shelf 5.

In the description of the embodiment, an example is shown in which the second moving means 75 and the third moving means 76 are provided separately, but the present invention is not limited to this. As the second moving means, a moving means (for example, a stacker crane) that can move the load 12 in the row direction and the row direction may be employed. In this case, the stacker crane may be one that cannot mount the first moving means, or may be one that can mount the first moving means together with the load 12.

In the description of the embodiment, an example has been shown in which a single loading/unloading section 77 is provided for all stages and the third moving means 76 is connected to the loading/unloading section 77, but the present invention is not limited to this. Each stage may be provided with a storage/unloading section, and the cargo to be stored/unloaded may be taken into/out of the storage/unloading section of each stage by a forklift. Moreover, the warehousing/receiving section may be divided into a warehousing section and a warehousing section.

In the description of the embodiment, an example was shown in which the picking device 10 is supported from the ceiling side by the gantry type crane mechanism 60, but the present invention is not limited to this. For example, the picking device may be supported by an articulated robot or other supporting means. Further, the picking device may be attached to a side wall and supported from the side.

Each of these modified examples has the same functions and effects as the embodiment.

Any combination of the above-described embodiments and modifications are also useful as embodiments of the present invention. A new embodiment resulting from a combination has the effects of each of the combined embodiments and modified examples.

2 hanging tool, 3 first detection mechanism, 4 second detection mechanism, 5 shelf, 8 relative position change mechanism, 9 cargo receiving section, 10 picking device, 12 cargo, 32 first detection device, 42 second detection device, 52 storage Part, 66 Lifting device lifting mechanism, 100 Automatic warehouse system.

Claims (10)

a hoist that is movable relative to the load on the ground and capable of holding the load;
a first detection mechanism that is provided so that the relative position with the hanging tool can be changed up and down and that can detect the load from at least two directions;
Equipped with
A picking device that controls the position of at least one of the hanging tool and the first detection mechanism based on information regarding the load detected by the first detection mechanism. The picking device according to claim 1, wherein the first detection mechanism is provided so as to be movable up and down relative to the load to be detected. The picking device according to claim 1 or 2, wherein the first detection mechanism includes two first detection devices arranged at positions sandwiching a load to be detected. The picking device according to any one of claims 1 to 3, wherein the first detection mechanism is attached to a load receiving part for supporting the lower surface of the load held by the hanging tool. The picking device according to claim 4, wherein the cargo receiving section is movable up and down with respect to the hanging tool. Any one of claims 1 to 5, further comprising a second detection mechanism that is movable up and down relative to the load to be detected and capable of detecting the load from at least two directions, in addition to the first detection mechanism. The picking device according to item 1. The picking device according to claim 6, wherein the second detection mechanism includes two second detection devices arranged at positions sandwiching the load to be detected. The picking device according to claim 6 or 7, wherein the second detection mechanism is provided in an area for stacking goods. Any one of claims 1 to 8, further comprising a relative position changing mechanism that can change the relative position between a load on the ground and a load held by the hanger, in addition to a mechanism for moving the hanger. Picking equipment as described in Section. An automated warehouse system comprising a shelf having a storage section for storing cargo, and a picking device for moving the cargo in the storage section,
The picking device includes:
a hoist that is movable relative to the load on the ground and capable of holding the load;
a first detection mechanism that is provided so that the relative position with the hanging tool can be changed up and down and that can detect the load from at least two directions;
An automatic warehouse system that controls the position of at least one of the hanging tool and the first detection mechanism based on information regarding the load detected by the first detection mechanism.

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