JP7183732B2 - Transfer robot system and automated warehouse system - Google Patents

Description

The present invention relates to a transfer robot system and an automated warehouse system.

As a conventional transfer robot system, Patent Document 1 discloses a first line configured with a plurality of conveyors, a second line configured with a plurality of conveyors, and a container on the first line on the second line. A pinking system is described that includes a robot that transfers an item to a container. In the picking system described in Patent Literature 1, the two-line conveyor conveys the container to the area where the articles are transferred, and the two-line conveyor conveys the container from the area.

JP-A-2010-52878

In the transfer robot system as described above, an improvement in operating rate and a compact installation space are required.

SUMMARY OF THE INVENTION An object of the present invention is to provide a transfer robot system and an automated warehouse system capable of improving the operating rate and reducing the installation space.

A transfer robot system of the present invention includes a first transfer conveyor that transfers a first container to a transfer area, a second transfer conveyor that transfers a second container to the transfer area, a first transfer conveyor, and a second transfer conveyor. a third conveying conveyor disposed between and conveying the first container and the second container from the transfer area; and a first connection conveying the first container from the first conveying conveyor to the third conveying conveyor in the transfer area. a conveyor, a second connection conveyor for conveying the second container from the second conveying conveyor to the third conveying conveyor in the transfer area, a support member disposed above the transfer area, a first container supported by the support member; A robot that transfers articles from a first container on a connecting conveyor to a second container on a second connecting conveyor, and a controller that controls the robot.

In this transfer robot system, a robot supported above a transfer area transfers an article from a first container on a first connecting conveyor to a second container on a second connecting conveyor. As a result, compared to, for example, a case in which a robot transfers an article from a first container on the first conveyor to a second container on the second conveyor, the movement distance of the robot is reduced and the transfer by the robot is reduced. time is shortened. Further, the first and second containers transported to the transfer area by the first transport conveyor and the second transport conveyor are shared by a third transport conveyor arranged between the first transport conveyor and the second transport conveyor. from the transfer area. Therefore, compared with a configuration in which the first container and the second container are conveyed from the transfer area by two-line conveyors, the configuration of the system is made more compact. Furthermore, since the robot is supported above the transfer area, expansion of the installation space by the robot is prevented. Therefore, according to this transfer robot system, the operating rate can be improved and the installation space can be made compact.

The transfer robot system of the present invention includes a third connection conveyor arranged in parallel with the first connection conveyor for transferring the first container from the first transfer conveyor to the third transfer conveyor in the transfer area, and a second connection conveyor. a fourth connecting conveyor arranged in parallel to convey the second container from the second conveying conveyor to the third conveying conveyor in the transfer area; transferring articles to at least one of a second container on a connecting conveyor and a second container on a fourth connecting conveyor and transferring articles from the first container on the third connecting conveyor to the second container and the fourth container on the second connecting conveyor; Articles may be transferred to at least one of the second containers on the connecting conveyor. In this case, the goods are transferred from the first container on the first connecting conveyor to the second container on the second connecting conveyor, and the goods are transferred from the first container on the third connecting conveyor to the second container on the fourth connecting conveyor. or selectively transfer articles from the first container on the first connecting conveyor to the second container on the second connecting conveyor or the second container on the fourth connecting conveyor Then, it is possible to selectively transfer the articles from the first container on the third connecting conveyor to the second container on the second connecting conveyor or the second container on the fourth connecting conveyor. . As a result, the operating rate can be further improved.

The transfer robot system of the present invention further includes a first camera that images the first container on the first connection conveyor, and a second camera that images the first container on the third connection conveyor, and the control unit , based on the image of the first container by the first camera, recognize the position to pick up the article from the first container on the first connecting conveyor, based on the image of the first container by the second camera, the third connecting conveyor Recognizing where to pick an article from within the first container on top, the controller directs the robot to move from the first container on the first connecting conveyor to the second container on the second connecting conveyor and the second container on the fourth connecting conveyor. controlling the second camera to image the first container on the third connecting conveyor while the robot is transferring the article from the first container on the third connecting conveyor to the second container while transferring the article to at least one of the A first camera to image the first container on the first connecting conveyor while transferring the articles to at least one of the second container on the connecting conveyor and the second container on the fourth connecting conveyor. may be controlled. As a result, while the article is being transferred from one of the first container on the first connecting conveyor and the first container on the third connecting conveyor, the first container on the first connecting conveyor and the third container on the third connecting conveyor are being transferred. Since it is possible to advance the recognition of the position from which the article is to be taken with respect to the other of the first containers on the connecting conveyor, it is possible to further improve the operation rate.

The automated warehouse system of the present invention includes a plurality of transfer robot systems each being the above-described transfer robot system, a rack having a plurality of shelves, a first container and a second container stored in the plurality of shelves, A loading/unloading device for unloading first containers and second containers from a plurality of shelves, and at least one unit provided for each shelf of the plurality of shelves or for each of the plurality of shelves, and A plurality of transport vehicles for transferring and transporting the first container and the second container respectively, and a plurality of transfer robot systems are provided respectively, and the first container is transferred from the shelves in the plurality of stages to the first transport conveyor. A first transport device for transporting, a second transport device provided in each of the plurality of transfer robot systems, and transporting the second container from the plurality of shelves to the second transport conveyor, and each of the plurality of transfer robot systems and a third transport device provided in the third transport conveyor for transporting the first container and the second container from the third transport conveyor to the plurality of shelves.

In this automated warehouse system, it is possible to complete the transfer of goods to the second container within the system, and to efficiently take out the second container ready for delivery from the system.

In the automated warehouse system of the present invention, when the container scheduled to be stored, which is the first container scheduled to be stored, is stored in the rack, the control unit stores the same type of product as that stored in the container scheduled to be stored. Based on the storage status of the first container, one shelf is selected from the plurality of shelves, and the control unit controls the loading/unloading device so that the container scheduled to be stored on the selected shelf is stored. good. As a result, it is possible to prevent the first containers storing the same kind of articles from being concentrated on one shelf. Therefore, it is possible to efficiently transport the first container containing the same type of article to each of the plurality of transfer robot systems.

In the automated warehouse system of the present invention, the control unit is in a ready-to-ship state when the transfer-completed container, which is the second container that has become ready-to-ship in the transfer robot system, is transported to the rack. Based on the storage status of the second container, one shelf is selected from the plurality of shelves, and the control unit controls the third transport device to transport the transferred container to the selected one shelf. may As a result, it is possible to prevent the second containers that are ready to be taken out from being concentrated on one shelf. Therefore, it is possible to efficiently unload the second container that is ready to be unloaded.

In the automated warehouse system of the present invention, when the transfer-uncompleted container, which is the second container that has not reached a ready-to-be-shipped state in the transfer robot system, is transported to the rack, the controller controls the transfer-uncompleted container. One shelf is selected from a plurality of shelves based on the storage status of the first container that stores the same type of article as the article to be stored, and the control unit determines whether the selected one shelf has not been transferred. A third transport device may be controlled to transport the completed container. This prevents the incomplete transfer container and the first container C1 containing the same type of goods as the goods to be stored in the incomplete transfer container from being concentrated on one shelf. can do. Therefore, the transfer-uncompleted container and the first container containing the same type of goods as the goods to be housed in the transfer-uncompleted container can be efficiently transported to the transfer robot system.

ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the transfer robot system and automatic warehouse system which can improve an operation rate and can make installation space compact.

1 is a plan view of an automated warehouse system according to one embodiment; FIG. FIG. 2 is a cross-sectional view of the automated warehouse system along line II-II shown in FIG. 1; 2 is a block diagram of the automated warehouse system shown in FIG. 1; FIG. FIG. 2 is a plan view of the transfer robot system shown in FIG. 1; FIG. 2 is a side view of the transfer robot system shown in FIG. 1;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In each figure, the same or corresponding parts are denoted by the same reference numerals, and redundant explanations are omitted.
[Configuration of automated warehouse system]

As shown in FIGS. 1 and 2, an automated warehouse system 1 includes a pair of racks 2, a warehousing device (warehousing/dispatching device) 3, a warehousing device (warehousing/dispatching device) 4, and a plurality of transport vehicles 5. , is equipped with Objects to be transported and stored by the automated warehouse system 1 are containers containing articles, empty containers, and the like. Hereinafter, the first horizontal direction is called the X direction, the second horizontal direction perpendicular to the first horizontal direction is called the Y direction, and the vertical direction is called the Z direction.

A pair of racks 2 are installed so as to face each other in the X direction. Each rack 2 has a plurality of shelves 2a arranged along the Z direction. Each shelf 2a extends along the Y direction and can store a plurality of containers.

The storage device 3 is provided at one end of one rack 2 in the Y direction. The warehousing device 3 has a warehousing conveyor 3a, an elevating conveyor 3b, and a plurality of loading conveyors 3c. The warehousing conveyor 3a is arranged at a predetermined height. The carry-in conveyor 3c is provided at one end of each shelf 2a of one rack 2. As shown in FIG. The elevator conveyor 3b is arranged between the incoming conveyor 3a and the incoming conveyor 3c when viewed from the Z direction. The elevator conveyor 3b is attached to a mast 3d extending along the Z direction, and can ascend and descend along the mast 3d.

The warehousing device 3 warehousing a container to the shelf 2a of multiple stages|stages. Specifically, first, the elevator conveyor 3b ascends and descends and stops at the same height as the incoming conveyor 3a. In this state, the container is conveyed from the receiving conveyor 3a onto the lifting conveyor 3b. Subsequently, the elevating conveyor 3b on which the containers are placed is lifted and stopped at the same height as the shelf 2a where the containers are stored. In this state, the container is conveyed from the lifting conveyor 3b onto the carrying-in conveyor 3c.

The unloading device 4 is provided at one end of the other rack 2 in the Y direction. The unloading device 4 has an unloading conveyor 4a, an elevating conveyor 4b, and a plurality of unloading conveyors 4c. The delivery conveyor 4a is arranged at a predetermined height. The unloading conveyor 4c is provided at one end of each shelf 2a of the other rack 2. As shown in FIG. The elevator conveyor 4b is arranged between the unloading conveyor 4a and the unloading conveyor 4c when viewed from the Z direction. The elevator conveyor 4b is attached to a mast 4d extending along the Z direction, and can ascend and descend along the mast 4d.

The unloading device 4 unloads the containers from the multiple shelves 2a. Specifically, first, the elevator conveyor 4b ascends and descends and stops at the same height as the shelf 2a where the containers are stored. In this state, the container is conveyed from the unloading conveyor 4c onto the lifting conveyor 4b. Subsequently, the elevating conveyor 4b on which the containers are placed rises and lowers and stops at the same height as the unloading conveyor 4a. In this state, the container is conveyed from the lifting conveyor 4b onto the unloading conveyor 4a.

Between a pair of racks 2, multiple stages of rails 6 are arranged along the Z direction so as to correspond to multiple stages of shelves 2a. Each rail 6 extends along the Y direction. At least one transport vehicle 5 can travel on the rail 6 of one stage. The transport vehicle 5 can transfer and transport containers to and from the shelves 2a arranged on both sides of the rail 6 on which it travels. That is, in the automated warehouse system 1, at least one carrier vehicle 5 is provided for each shelf 2a among the plurality of shelves 2a. are transferred and transported.

When a container is stored, first, the carrier 5 corresponding to the shelf 2a where the container is stored runs and stops beside the carry-in conveyor 3c. In this state, the carrier 5 picks up the container from the carry-in conveyor 3c. Subsequently, the transport vehicle 5 carrying the container travels and stops on the side of the storage location on the shelf 2a. In this state, the transport vehicle 5 transfers the container to the storage location.

When a container is to be unloaded, first, the transport vehicle 5 corresponding to the shelf 2a where the storage location of the container is present travels and stops on the side of the storage location on the shelf 2a. In this state, the carrier 5 picks up the container from the storage place. Subsequently, the transport vehicle 5 carrying the container travels and stops beside the carry-out conveyor 4c. In this state, the transport vehicle 5 transfers the container onto the carry-out conveyor 4c.

The automated warehouse system 1 further includes a plurality of transfer robot systems 10 , a plurality of first transport devices 7 , a plurality of second transport devices 8 , and a plurality of third transport devices 9 . A plurality of transfer robot systems 10 are installed so as to line up along the Y direction on the back side of one rack 2 (the side opposite to the side on which the rails 6 of multiple stages are provided). One first transfer device 7 , one second transfer device 8 and one third transfer device 9 correspond to one transfer robot system 10 . That is, the first transport device 7 , the second transport device 8 and the third transport device 9 are provided for each transfer robot system 10 .

The first conveying device 7 has a plurality of unloading conveyors 7a and a lifting conveyor 7b. An unloading conveyor 7 a is provided on each shelf 2 a of one rack 2 . The elevator conveyor 7b is arranged between the carry-out conveyor 7a and the first transfer conveyor 11 (see FIG. 4) of the transfer robot system 10 when viewed from the Z direction. The elevator conveyor 7b is attached to a mast 7c extending along the Z direction, and can ascend and descend along the mast 7c.

The first transport device 7 transports containers from the multiple shelves 2 a to the transfer robot system 10 . Specifically, first, the elevating conveyor 7b ascends and descends, and stops at the same height as the shelf 2a where the containers are stored. In this state, the container is conveyed from the unloading conveyor 7a onto the lifting conveyor 7b. Subsequently, the elevating conveyor 7b on which the container is placed moves up and down, and stops at the same height as the first transport conveyor 11 (see FIG. 4). In this state, the container is transferred from the lift conveyor 7b onto the first transfer conveyor 11 (see FIG. 4). The transport of the container from the storage location to the carry-out conveyor 7a is performed by the transport vehicle 5 corresponding to the shelf 2a where the container storage location exists.

The second conveying device 8 has a plurality of unloading conveyors 8a and a lifting conveyor 8b. An unloading conveyor 8 a is provided on each shelf 2 a of one rack 2 . The elevator conveyor 8b is arranged between the carry-out conveyor 8a and the second transfer conveyor 12 (see FIG. 4) of the transfer robot system 10 when viewed from the Z direction. The elevator conveyor 8b is attached to a mast 8c extending along the Z direction, and can ascend and descend along the mast 8c.

The second transport device 8 transports containers from the multiple shelves 2 a to the transfer robot system 10 . Specifically, first, the elevating conveyor 8b ascends and descends, and stops at the same height as the shelf 2a where the containers are stored. In this state, the container is conveyed from the unloading conveyor 8a onto the lifting conveyor 8b. Subsequently, the elevating conveyor 8b on which the container is placed moves up and down, and stops at the same height as the second transport conveyor 12 (see FIG. 4). In this state, the container is transferred from the lift conveyor 8b onto the second transfer conveyor 12 (see FIG. 4). The transport of the container from the storage location to the unloading conveyor 8a is performed by the transport vehicle 5 corresponding to the shelf 2a where the container storage location exists.

The third conveying device 9 has a plurality of carry-in conveyors 9a and a lifting conveyor 9b. The carry-in conveyor 9a is provided on each shelf 2a of one rack 2. As shown in FIG. The elevator conveyor 9b is arranged between the loading conveyor 9a and the third transfer conveyor 13 (see FIG. 4) of the transfer robot system 10 when viewed from the Z direction. The elevator conveyor 9b is attached to a mast 9c extending along the Z direction, and can ascend and descend along the mast 9c.

The third transport device 9 transports containers from the transfer robot system 10 to the shelves 2a on multiple stages. Specifically, first, the elevator conveyor 9b ascends and descends and stops at the same height as the third transport conveyor 13 (see FIG. 4). In this state, the container is transferred from the third transfer conveyor 13 (see FIG. 4) onto the lifting conveyor 9b. Subsequently, the elevating conveyor 9b on which the containers are placed is lifted and stopped at the same height as the shelf 2a where the containers are stored. In this state, the container is conveyed from the lifting conveyor 9b onto the carrying-in conveyor 9a. The transport of the container from the carry-in conveyor 9a to the storage location is performed by the transport vehicle 5 corresponding to the shelf 2a where the storage location of the container exists.

As shown in FIG. 3 , the automated warehouse system 1 further includes a control section 30 . The control unit 30 controls the warehousing device 3, the warehousing device 4, the plurality of carrier vehicles 5, the plurality of first carrier devices 7, the plurality of second carrier devices 8, the plurality of third carrier devices 9, and the plurality of transfer robot systems. control 10. The control unit 30 is configured as a computer device including a processor, memory, storage, communication device, and the like. In the control unit 30, the software (program) read into the memory or the like is executed by the processor, and the reading and writing of data in the memory and storage and the communication by the communication device are controlled by the processor. Thereby, the control unit 30 realizes various functions.
[Configuration of transfer robot system]

As shown in FIGS. 4 and 5, the transfer robot system 10 is a picking robot system that transfers the required number of articles from the first container C1 to the second container C2. As an example, the first containers C1 are containers in which articles of the same type are stored in each first container C1. The second container C2 is a container in which the types and quantities of articles to be accommodated are determined.

The transfer robot system 10 includes a first transport conveyor 11 , a second transport conveyor 12 and a third transport conveyor 13 .

The first transport conveyor 11 extends from the rack 2 side to the transfer area R side along the X direction. The first transport conveyor 11 transports the first container C1 from the first transport device 7 to the transfer area R. As shown in FIG. The first transport conveyor 11 is composed of a plurality of conveyors 11a, 11b, and 11c. Conveyor 11a is a normal conveyor. Each of the conveyors 11b and 11c is a conveyor with a direction changing mechanism (for example, a lateral feeding mechanism that can advance and retreat from between adjacent rollers in a roller conveyor). The first container C<b>1 is transported from each rack 2 to the first transport conveyor 11 by controlling the transport vehicle 5 and the first transport device 7 by the control unit 30 .

The second transport conveyor 12 extends along the X direction from the rack 2 side to the transfer area R side. The second transport conveyor 12 transports the second container C2 from the second transport device 8 to the transfer area R. As shown in FIG. The second transport conveyor 12 is composed of a plurality of conveyors 12a, 12b and 12c. Conveyor 12a is a normal conveyor. Each conveyor 12b, 12c is a conveyor with a turning mechanism. The second container C<b>2 is transported from each rack 2 to the second transport conveyor 12 by controlling the transport vehicle 5 and the second transport device 8 by the control unit 30 .

The third transport conveyor 13 is arranged between the first transport conveyor 11 and the second transport conveyor 12, and extends from the transfer area R side to the rack 2 side along the X direction. The third transport conveyor 13 transports the first container C<b>1 and the second container C<b>2 from the transfer area R to the third transport device 9 . The third transport conveyor 13 is composed of a plurality of conveyors 13a, 13b, 13c. Conveyor 13a is a normal conveyor. Each conveyor 13b, 13c is a conveyor with a direction change mechanism. The first container C<b>1 and the second container C<b>2 are conveyed from the third conveyer 13 to each rack 2 by controlling the third conveying device 9 and the conveying vehicle 5 by the control unit 30 .

The transfer robot system 10 further includes a first connection conveyor 14 , a second connection conveyor 15 , a third connection conveyor 16 and a fourth connection conveyor 17 .

The first connection conveyor 14 is arranged between the conveyor 11c of the first transport conveyor 11 and the conveyor 13c of the third transport conveyor 13, and extends along the Y direction. The first connection conveyor 14 conveys the first container C<b>1 from the first conveyor 11 to the third conveyor 13 in the transfer area R. At this time, the conveying direction of the first container C1 is changed from the X direction to the Y direction by the direction changing mechanism of the conveyor 11c, and the conveying direction is changed from the Y direction to the X direction by the direction changing mechanism of the conveyor 13c.

The second connection conveyor 15 is arranged between the conveyor 12c of the second conveyor 12 and the conveyor 13c of the third conveyor 13, and extends along the Y direction. The second connecting conveyor 15 is linearly arranged along the Y direction with the first connecting conveyor 14 . The second connecting conveyor 15 conveys the second container C2 from the second conveying conveyor 12 to the third conveying conveyor 13 in the transfer area R. At this time, the conveying direction of the second container C2 is changed from the X direction to the Y direction by the direction changing mechanism of the conveyor 12c, and the conveying direction is changed from the Y direction to the X direction by the direction changing mechanism of the conveyor 13c.

The third connection conveyor 16 is arranged between the conveyor 11b of the first conveyor 11 and the conveyor 13b of the third conveyor 13, and extends along the Y direction. A third connecting conveyor 16 is arranged in parallel with the first connecting conveyor 14 . The third connecting conveyor 16 conveys the first container C1 from the first conveying conveyor 11 to the third conveying conveyor 13 in the transfer area R. At this time, the conveying direction of the first container C1 is changed from the X direction to the Y direction by the direction changing mechanism of the conveyor 11b, and the conveying direction is changed from the Y direction to the X direction by the direction changing mechanism of the conveyor 13b.

The fourth connection conveyor 17 is arranged between the conveyor 12b of the second conveyor 12 and the conveyor 13b of the third conveyor 13, and extends along the Y direction. The fourth connection conveyor 17 is arranged in parallel with the second connection conveyor 15 and linearly arranged with the third connection conveyor 16 along the Y direction. The fourth connecting conveyor 17 conveys the second container C2 from the second conveying conveyor 12 to the third conveying conveyor 13 in the transfer area R. At this time, the conveying direction of the second container C2 is changed from the X direction to the Y direction by the direction changing mechanism of the conveyor 12b, and the conveying direction is changed from the Y direction to the X direction by the direction changing mechanism of the conveyor 13b.

The lengths of the first connecting conveyor 14, the second connecting conveyor 15, the third connecting conveyor 16 and the fourth connecting conveyor 17 are equal to each other. That is, the distance between the first conveyor 11 and the third conveyor 13 is equal to the distance between the second conveyor 12 and the third conveyor 13 .

The transfer robot system 10 further includes a support member 21 , a robot 22 , a first camera 23 , a second camera 24 , a third camera 25 and a fourth camera 26 .

The support member 21 is arranged above the transfer area R. As shown in FIG. In this embodiment, the support member 21 is a beam member supported by a plurality of (for example, four) column members. Robot 22 is supported by support member 21 . The robot 22 transfers the article from the first container C1 on the stopped first connecting conveyor 14 to the second container C2 on the stopped second connecting conveyor 15 . The robot 22 transfers the article from the first container C1 on the stopped third connecting conveyor 16 to the second container C2 on the stopped fourth connecting conveyor 17 . In this embodiment, the robot 22 is a robot arm whose base end is rotatably supported by the support member 21 . Various robot hands can be applied to the tip 22a that holds the article in the robot 22 according to the shape of the article.

The first camera 23 is attached to the support member 21 so as to be positioned above the first connection conveyor 14 . The first camera 23 images the first container C<b>1 on the first connection conveyor 14 . A second camera 24 is attached to the support member 21 so as to be positioned above the third connecting conveyor 16 . The second camera 24 images the first container C1 on the third connecting conveyor 16 . A third camera 25 is attached to the support member 21 so as to be positioned above the second connecting conveyor 15 . The third camera 25 images the second container C2 on the second connecting conveyor 15 . A fourth camera 26 is attached to the support member 21 so as to be positioned above the fourth connecting conveyor 17 . A fourth camera 26 images the second container C<b>2 on the fourth connecting conveyor 17 .

In this embodiment, after the first camera 23 images the first container C1 on the first connecting conveyor 14 until the robot 22 picks up the article from the first container C1 on the first connecting conveyor 14, the first The connecting conveyor 14 is stopped and the position of the first container C1 on the first connecting conveyor 14 does not change. Similarly, after the second camera 24 images the first container C1 on the third connecting conveyor 16 until the robot 22 picks up an article from within the first container C1 on the third connecting conveyor 16, the third connecting conveyor 16 is stopped and the position of the first container C1 on the third connecting conveyor 16 does not change. As a result, it is possible to prevent the state inside the first container C1 from changing after the image of the first container C1 is picked up until the robot 22 picks up the article from the inside of the first container C1. Also, after the third camera 25 images the second container C2 on the second connecting conveyor 15, until the robot 22 places the article in the second container C2 on the second connecting conveyor 15, the second connecting conveyor 15 is stopped, and the position of the second container C2 on the second connecting conveyor 15 does not change. Similarly, after the fourth camera 26 images the second container C2 on the fourth connecting conveyor 17 until the robot 22 places an article in the second container C2 on the fourth connecting conveyor 17, the fourth connecting conveyor 17 is stopped, and the position of the second container C2 on the fourth connecting conveyor 17 does not change. As a result, it is possible to prevent the state inside the second container C2 from changing after the second container C2 is imaged until the robot 22 places the article in the second container C2.
[Operation of transfer robot system]

First, the control unit 30 (see FIG. 3) controls the first camera 23 so as to image the first container C1 on the first connecting conveyor 14, and also images the second container C2 on the second connecting conveyor 15. The third camera 25 is controlled so as to Based on the image of the first container C1 captured by the first camera 23 and the image of the second container C2 captured by the third camera 25, the control unit 30 determines the position at which the article is taken from the first container C1 and the second container C2. The robot 22 recognizes the position where an article is to be placed, etc., and determines the motion of the robot 22 .

Subsequently, the control unit 30 controls the robot 22 to transfer the articles from the first container C1 on the first connecting conveyor 14 to the second container C2 on the second connecting conveyor 15 . At this time (that is, while the robot 22 is transferring the article from the first container C1 on the first connecting conveyor 14 to the second container C2 on the second connecting conveyor 15), the control unit 30 controls the third The second camera 24 is controlled to image the first container C1 on the connecting conveyor 16, and the fourth camera 26 is controlled to image the second container C2 on the fourth connecting conveyor 17. Furthermore, while the robot 22 is transferring the article from the first container C1 on the first connecting conveyor 14 to the second container C2 on the second connecting conveyor 15, the controller 30 controls the second camera 24 to Based on the image of the first container C1 and the image of the second container C2 by the fourth camera 26, the robot 22 recognizes the position to pick up the article from the first container C1 and the position to place the article in the second container C2. determine the behavior of

Subsequently, the controller 30 controls the robot 22 to transfer the article from the first container C1 on the third connecting conveyor 16 to the second container C2 on the fourth connecting conveyor 17. FIG. At this time (that is, while the robot 22 is transferring the article from the first container C1 on the third connecting conveyor 16 to the second container C2 on the fourth connecting conveyor 17), the controller 30 controls the first The first camera 23 is controlled to image the first container C<b>1 on the connecting conveyor 14 and the third camera 25 is controlled to image the second container C<b>2 on the second connecting conveyor 15 . Furthermore, while the robot 22 is transferring the article from the first container C1 on the third connecting conveyor 16 to the second container C2 on the fourth connecting conveyor 17, the controller 30 controls the first camera 23 to Based on the image of the first container C1 and the image of the second container C2 by the third camera 25, the robot 22 recognizes the position to pick up the article from the first container C1 and the position to place the article in the second container C2. determine the behavior of

Thereafter, the articles are transferred from the first container C1 on the first connecting conveyor 14 to the second container C2 on the second connecting conveyor 15, and the first container C1 on the third connecting conveyor 16 and the fourth connecting conveyor image of second container C2 on 17 and transfer of articles from first container C1 on third connecting conveyor 16 to second container C2 on fourth connecting conveyor 17; The control unit 30 controls the robot 22, the first camera 23, the second camera 24, the third camera 25 and the second 4 to control the camera 26; When the transfer of the articles from the first container C1 on the first connecting conveyor 14 is completed, the first container C1 is conveyed from the first connecting conveyor 14 to the third transport conveyor 13, whereupon the first connecting conveyor 14 , the next first container C<b>1 is conveyed from the first conveyer 11 . Similarly, when the transfer of the articles from the first container C1 on the third connecting conveyor 16 is completed, the first container C1 is conveyed from the third connecting conveyor 16 to the third transfer conveyor 13, and then transferred to the third connecting conveyor. At 16, the next first container C1 is transported from the first transport conveyor 11. As shown in FIG. Further, when the transfer of the articles to the second container C2 on the second connecting conveyor 15 is completed, the second container C2 is conveyed from the second connecting conveyor 15 to the third transfer conveyor 13, and then transferred to the second connecting conveyor 15. , the next second container C2 is conveyed from the second conveyer 12. As shown in FIG. Similarly, when the transfer of the articles to the second container C2 on the fourth connecting conveyor 17 is completed, the second container C2 is conveyed from the fourth connecting conveyor 17 to the third transfer conveyor 13, and then transferred to the fourth connecting conveyor. 17, the next second container C2 is conveyed from the second conveyer 12;

Regarding the operation of the transfer robot system 10 as described above, when the container scheduled to be stored, which is the first container C1 scheduled to be stored, is stored in each rack 2, the control unit 30 determines that the container scheduled to be stored is stored in the container scheduled to be stored. One shelf 2a is selected from the plurality of shelves 2a of each rack 2 based on the storage status of the first container C1 containing the same type of article (for example, the number of storage, transfer timing, etc.). , the warehousing device 3 is controlled so that the container to be stocked is stocked on the shelf 2a of the first stage. As an example, when a container scheduled to be stored is stored in each rack 2, the control unit 30 stores the same type of item as the product stored in the container scheduled to be stored among the multiple shelves 2a of each rack 2. The warehousing device 3 is controlled so that the container to be stocked is stocked in the shelf 2a having the smallest number of stored first containers C1. The container scheduled to be stored is transported to the shelf 2a by the transport vehicle 5 provided on the shelf 2a that has been stored, and is transported to the transfer robot system 10 as necessary. When the storage number is the smallest among the plurality of shelves 2a, or when the storage number is equal among all the shelves 2a, the control unit 30 determines that the container to be stored is stored in one of the shelves 2a. The storage device 3 is controlled as follows. In addition, the control unit 30 controls the warehousing device 3 so that the first containers C1 containing the same type of articles are stored on some shelves 2a of the plurality of shelves 2a. good too.

In addition, the control unit 30 determines whether the transfer completion container, which is the second container C2 that is in a state in which the transfer robot system 10 can be delivered (that is, a state in which the storage of the predetermined type and quantity of articles has been completed) is performed. When transported to the rack 2, based on the storage status (for example, the number of storage, the timing of delivery, etc.) of the second containers C2 that are ready to be delivered, one shelf from the plurality of shelves 2a of each rack 2 is selected. , and controls the third conveying device 9 so as to convey the transfer-completed container to the first shelf 2a. As an example, when a transfer-completed container is transferred from the transfer robot system 10 to each rack 2, the control unit 30 controls the first shelf 2a of each rack 2 that is in a ready-to-be-taken state. The third conveying device 9 is controlled so that the transferred container is conveyed to the shelf 2a in which the number of stored two containers C2 is the smallest. The transfer-completed container is transported by the transport vehicle 5 provided on the transported shelf 2 a and is delivered by the delivery device 4 . When the storage number is the smallest among the plurality of shelves 2a, or when the storage number is equal among all the shelves 2a, the control unit 30 determines whether the transfer-completion container is transported to one of the shelves 2a. The third conveying device 9 is controlled so that

Further, when the transfer-uncompleted container, which is the second container C2 that has not reached a ready-to-be-shipped state in the transfer robot system 10, is transported to each rack 2, the control unit 30 allows the transfer-uncompleted container to be transported to each rack 2. One shelf 2a is selected from the plurality of shelves 2a of each rack 2 based on the storage status of the first container C1 storing the same type of article as the article to be stored, and the one shelf 2a The third conveying device 9 is controlled so as to convey the untransferred container. As an example, when a transfer-uncompleted container is transferred from the transfer robot system 10 to each rack 2, the control unit 30 stores the container in the transfer-uncompleted container among the plurality of shelves 2a of each rack 2. The third conveying device 9 is controlled so that the untransferred container is conveyed to the shelf 2a having the smallest number of first containers C1 storing articles of the same kind as the articles to be transferred. The untransferred container is transported by the transport vehicle 5 provided on the transported shelf 2 a and transported to another transfer robot system 10 by the second transport device 8 . As described above, even if the second container C2 cannot be delivered in one transfer robot system 10, the second container C2 is transferred to another transfer robot system 10, thereby enabling the automated warehouse. In the system 1, the second container C2 becomes ready for delivery. When the number of stored containers is the smallest among the plurality of shelves 2a, or when the number of tubes is equal among all the shelves 2a, the control unit 30 causes the untransferred container to be transported to one of the shelves 2a. The third transport device 9 is controlled so that

Further, when an empty second container C2 is stored in each rack 2, the control unit 30 selects one shelf from the plurality of shelves 2a of each rack 2 based on the storage status of the empty second container C2. A shelf 2a is selected, and the warehousing device 3 is controlled to store the empty second container C2 in the first shelf 2a. As an example, when empty second containers C2 are stored in each rack 2, the control unit 30 selects the shelf with the smallest number of empty second containers C2 stored among the plurality of shelves 2a of each rack 2. 2a, the storage device 3 is controlled so that the empty second container C2 is stored. The empty second container C2 is transported to the shelf 2a by the transport vehicle 5 provided on the stored shelf 2a, and transported to the transfer robot system 10 as necessary. When the storage number is the smallest among the plurality of shelves 2a, or when the storage number is equal among all the shelves 2a, the control unit 30 determines whether there is an empty second container C2 on any of the shelves 2a. Control the warehousing device 3 so as to be warehousing.

Further, when the empty first container C1 is transferred to each rack 2 in the transfer robot system 10, the control unit 30 controls the number of empty first containers C1 in each rack 2 based on the storage status of the empty first container C1. A first shelf 2a is selected from the first shelf 2a, and the third transport device 9 is controlled to transport the empty first container C1 to the first shelf 2a. As an example, when an empty first container C1 is transported from the transfer robot system 10 to each rack 2, the control unit 30 selects the empty first container among the plurality of shelves 2a of each rack 2. The third conveying device 9 is controlled so that the empty first container C1 is conveyed to the shelf 2a where the number of stored C1 is the smallest. The emptied first container C1 is transported by the transport vehicle 5 provided on the transported shelf 2a and is delivered by the delivery device 4. As shown in FIG. When the storage number is the smallest among the plurality of shelves 2a, or when the storage number is equal among all the shelves 2a, the control unit 30 selects the empty first container on any of the shelves 2a. The third transport device 9 is controlled so that C1 is transported.
[Action and effect]

In the transfer robot system 10, the robot 22 supported above the transfer area R transfers the article from the first container C1 on the first connecting conveyor 14 to the second container C2 on the second connecting conveyor 15. , the articles are transferred from the first container C1 on the third connecting conveyor 16 to the second container C2 on the fourth connecting conveyor 17. As shown in FIG. As a result, the operating distance of the robot 22 is reduced compared to, for example, the case where the robot 22 transfers an article from the first container C1 on the first conveyor 11 to the second container C2 on the second conveyor 12. As a result, the transfer time by the robot 22 is shortened. Further, the first container C1 and the second container C2 transported to the transfer area R by the first transport conveyor 11 and the second transport conveyor 12 are arranged between the first transport conveyor 11 and the second transport conveyor 12. It is transported from the transfer area R by the common third transport conveyor 13 . Therefore, compared to a configuration in which the first container C1 and the second container C2 are conveyed from the transfer area R by two-line conveyors, the system configuration is made more compact. Furthermore, since the robot 22 is supported above the transfer area R, expansion of the installation space by the robot 22 is prevented. Therefore, according to the transfer robot system 10, it is possible to improve the operation rate and reduce the installation space.

In the transfer robot system 10, the robot 22 transfers an article from the first container C1 on the first connecting conveyor 14 to the second container C2 on the second connecting conveyor 15, and transfers the article to the first container C2 on the third connecting conveyor 16. Articles are transferred from the container C1 to the second container C2 on the fourth connecting conveyor 17 . As a result, the operating rate can be further improved.

In the transfer robot system 10, an article is transferred from the first container C1 on the first connecting conveyor 14 to the second container C2 on the second connecting conveyor 15, and the first container C1 on the third connecting conveyor 16 is transferred. and the imaging of the second container C2 on the fourth connecting conveyor 17, the transfer of the article from the first container C1 on the third connecting conveyor 16 to the second container C2 on the fourth connecting conveyor 17, and the first The control unit 30 controls the robot 22, the first camera 23, the second camera 24, the second camera 24, and the first container C1 on the connecting conveyor 14 and the second container C2 on the second connecting conveyor 15 so that the imaging of the first container C1 on the connecting conveyor 14 and the imaging of the second container C2 on the second connecting conveyor 15 are repeated. 3 camera 25 and 4th camera 26 are controlled. As a result, while the articles are being transferred in the first container C1 and the second container C2 on the first connecting conveyor 14 and the second connecting conveyor 15, image processing can proceed for the first container C1 and the second container C2. Similarly, while the articles are being transferred in the first container C1 and the second container C2 on the third connecting conveyor 16 and the fourth connecting conveyor 17, the first connecting conveyor 14 and the second connecting conveyor 15 image processing of the first container C1 and the second container C2 can proceed. Therefore, it is possible to further improve the operating rate.

According to the automated warehouse system 1 including a plurality of transfer robot systems 10, the structure on the rack 2 side of each transfer robot system 10 can function as a buffer and a sorter for the first containers C1. Then, the transfer of the articles to the second container C2 is completed within the system, and the second container C2 that is ready to be removed can be efficiently removed from the system.

In the automated warehouse system 1, when a container scheduled to be stored, which is the first container C1 scheduled to be stored, is stored in each rack 2, the control unit 30 stores the same type of product as that stored in the container scheduled to be stored. One shelf 2a is selected from the plurality of shelves 2a of each rack 2 based on the storage status of the first container C1, and the container to be stored is stored on the first shelf 2a. control the device 3; As a result, it is possible to prevent the first containers C1 storing the same kind of articles from being concentrated on one shelf 2a. Therefore, it is possible to efficiently transport the first containers C<b>1 containing articles of the same type to each transfer robot system 10 .

In the automated warehouse system 1, when the transfer-completed container, which is the second container C2 ready for delivery in the transfer robot system 10, is transported to each rack 2, the control unit 30 determines that it is ready for delivery. One shelf 2a is selected from the plurality of shelves 2a of each rack 2 based on the current storage status of the second containers C2, and the transfer-completed container is transported to the first shelf 2a. It controls the third conveying device 9 . As a result, it is possible to prevent the second containers C2 that are ready to be taken out from being concentrated on one shelf 2a. Therefore, the second container C2, which is ready for delivery, can be efficiently delivered.

In the automated warehouse system 1, when the transfer incomplete container, which is the second container C2 that has not reached a ready-to-be-shipped state in the transfer robot system 10, is transferred to each rack 2, the control unit 30 One shelf 2a is selected from the plurality of shelves 2a of each rack 2 based on the storage status of the first container C1 storing the same type of product as the product to be stored in the incomplete container, and The third conveying device 9 is controlled so as to convey the untransferred container to the shelf 2a. This prevents the incomplete transfer container and the first container C1 containing the same type of goods as the goods to be stored in the incomplete transfer container from being concentrated and stored on the single shelf 2a. can be prevented. Therefore, the transfer-uncompleted container and the first container C<b>1 containing the same type of goods as the goods to be housed in the transfer-uncompleted container can be efficiently transported to the transfer robot system 10 .
[Modification]

The invention is not limited to the above embodiments. For example, in the transfer robot system 10, an article is transferred from the first container C1 on the first connecting conveyor 14 to the second container C2 on the second connecting conveyor 15, and the first container on the third connecting conveyor 16 is transferred. An operation was carried out in which the articles were transferred from C1 to the second container C2 on the fourth connecting conveyor 17. Alternatively, the articles are selectively transferred to the second container C2 on the fourth connecting conveyor 17 and transferred from the first container C1 on the third connecting conveyor 16 to the second container C2 on the second connecting conveyor 15 or the fourth connecting conveyor. An operation of selectively transferring articles to the second container C2 on 17 may be implemented.

In that case, the controller 30 controls the robot 22 to move at least one of the first container C1 on the first connecting conveyor 14 to the second container C2 on the second connecting conveyor 15 and the second container C2 on the fourth connecting conveyor 17. , the second camera 24 is controlled to image the first container C1 on the third connecting conveyor 16, and the robot 22 moves from the first container C1 on the third connecting conveyor 16 to While the articles are being transferred to at least one of the second container C2 on the second connecting conveyor 15 and the second container C2 on the fourth connecting conveyor 17, the first container C1 on the first connecting conveyor 14 is You may control the 1st camera 23 so that it may image. As a result, while the articles are being transferred from one of the first container C1 on the first connection conveyor 14 and the first container C1 on the third connection conveyor 16, the second container C1 on the first connection conveyor 14 is transferred. Since it is possible to advance the recognition of the position to pick up the articles in the first container C1 and the other of the first container C1 on the third connecting conveyor 16, it is possible to further improve the operation rate.

In the above embodiment, two pairs of connecting conveyors were provided, such as the pair of the first connecting conveyor 14 and the second connecting conveyor 15, and the pair of the third connecting conveyor 16 and the fourth connecting conveyor 17. Only one pair of connecting conveyors may be provided, or three or more pairs of connecting conveyors may be provided.

Each length of the second connection conveyor 15 and the fourth connection conveyor 17 may be shorter or longer than each length of the first connection conveyor 14 and the third connection conveyor 16 . That is, the distance between the second conveyor 12 and the third conveyor 13 may be shorter or longer than the distance between the first conveyor 11 and the third conveyor 13. .

The robot 22 may have a horizontal movement mechanism. The robot 22 may be horizontally movably supported by the support member 21 . The robot 22 may be suspended from the ceiling above the transfer area R. A plurality of robots 22 may be provided in one transfer robot system 10 .

The control unit 30 may be composed of a plurality of physically separated controllers. For example, the control unit 30 may be composed of a local controller that controls each part of the automated warehouse system 1 and a host controller that controls the entire automated warehouse system 1 .

In the automated warehouse system 1, at least one transport vehicle 5 may be provided for, for example, three shelves 2a among the multiple shelves 2a. In that case, the transport vehicle 5 is configured to be able to transfer the container to each of the three shelves 2a, for example, by having a lifter or the like. Thus, in the automated warehouse system 1, at least one transport vehicle 5 may be provided for each shelf 2a of the plurality of shelves 2a or for each of the plurality of shelves 2a.

In the automated warehouse system 1, the warehousing device 3 functions as a device dedicated to warehousing, and the warehousing device 4 functions as a device dedicated to warehousing. In addition, it may be configured as a loading/unloading device for loading/unloading containers from the shelves 2a in a plurality of stages.

The transfer robot system 10 may be applied to an automated warehouse system or the like that includes racks and stacker cranes.

DESCRIPTION OF SYMBOLS 1... Automated warehouse system, 2... Rack, 2a... Shelf, 3... Warehousing device (warehousing/dispatching device), 4... Warehousing device (warehousing/dispatching device), 5... Carrier, 7... First carrier device, 8... Second Conveying device 9 Third conveying device 10 Transfer robot system 11 First conveying conveyor 12 Second conveying conveyor 13 Third conveying conveyor 14 First connection conveyor 15 Second connection Conveyor 16 Third connection conveyor 17 Fourth connection conveyor 21 Support member 22 Robot 23 First camera 24 Second camera 30 Control unit C1 First container C2 Second container, R... Transfer area.

Claims (6)

a first conveyor that conveys the first container to the transfer area;
a second conveyer that conveys the second container to the transfer area;
a third conveyer disposed between the first conveyer and the second conveyer for conveying the first container and the second container from the transfer area;
a first connection conveyor that transports the first container from the first transport conveyor to the third transport conveyor in the transfer area;
a second connection conveyor that transports the second container from the second transport conveyor to the third transport conveyor in the transfer area;
a support member disposed above the transfer area;
a robot that is supported by the support member and transfers an article from the first container on the first connecting conveyor to the second container on the second connecting conveyor;
a control unit that controls the robot ;
a third connecting conveyor arranged in parallel with the first connecting conveyor for conveying the first container from the first conveying conveyor to the third conveying conveyor in the transfer area;
a fourth connection conveyor that is arranged in parallel with the second connection conveyor and conveys the second container from the second conveyor to the third conveyor in the transfer area ;
the robot transfers articles from the first container on the first connecting conveyor to at least one of the second container on the second connecting conveyor and the second container on the fourth connecting conveyor; A transfer robot system that transfers an article from the first container on the third connecting conveyor to at least one of the second container on the second connecting conveyor and the second container on the fourth connecting conveyor. . a first camera that images the first container on the first connecting conveyor;
a second camera that images the first container on the third connecting conveyor;
The control unit
recognizing a position to pick up the article from within the first container on the first connecting conveyor based on the image of the first container by the first camera;
recognizing a position to pick up the article from the first container on the third connecting conveyor based on the image of the first container by the second camera;
The control unit
said robot transferring said article from said first container on said first connecting conveyor to at least one of said second container on said second connecting conveyor and said second container on said fourth connecting conveyor; controlling the second camera to image the first container on the third connecting conveyor while
said robot transferring said article from said first container on said third connecting conveyor to at least one of said second container on said second connecting conveyor and said second container on said fourth connecting conveyor; 2. The transfer robot system of claim 1, wherein the first camera is controlled to image the first container on the first connecting conveyor while the robot is moving. A first conveyor that conveys the first container to the transfer area, a second conveyor that conveys the second container to the transfer area, and a conveyor disposed between the first conveyor and the second conveyor. a third conveyor for conveying the first container and the second container from the transfer area; and a first conveyor for conveying the first container from the first conveyor to the third conveyor in the transfer area. a connecting conveyor, a second connecting conveyor that conveys the second container from the second conveying conveyor to the third conveying conveyor in the transfer area, a support member disposed above the transfer area, and the support each comprising a robot supported by a member and transferring an article from the first container on the first connecting conveyor to the second container on the second connecting conveyor; and a control unit for controlling the robot. a plurality of transfer robot systems that
a rack having multiple shelves;
a loading/unloading device that stores the first container and the second container in the multiple shelves and retrieves the first containers and the second containers from the multiple shelves;
At least one unit is provided for each shelf of the plurality of shelves or for each of the plurality of shelves, and the first container and the second container are transferred and conveyed to each of the plurality of shelves. a plurality of vehicles for performing
a first transport device provided in each of the plurality of transfer robot systems for transporting the first container from the plurality of shelves to the first transport conveyor;
a second transport device provided in each of the plurality of transfer robot systems for transporting the second container from the plurality of shelves to the second transport conveyor;
an automated warehouse system, comprising: a third transport device provided in each of the plurality of transfer robot systems, the third transport device transporting the first container and the second container from the third transport conveyor to the plurality of shelves. When the warehousing-scheduled container, which is the warehousing-scheduled first container, is stored in the rack, the control unit controls the warehousing-scheduled container to be stored in the rack. Select one shelf from the plurality of shelves based on the storage status of
4. The automated warehouse system according to claim 3 , wherein said control unit controls said warehousing/dispatching device so that said warehousing-scheduled container is put into said one selected shelf. The control unit controls the second container ready for delivery when the transfer completed container, which is the second container ready for delivery in the transfer robot system, is transported to the rack. Select one shelf from the plurality of shelves based on the storage status of
5. The automated warehouse system according to claim 3 , wherein said control unit controls said third conveying device to convey said transfer-completed container to said one selected shelf. When the transfer-uncompleted container, which is the second container that has not reached a ready-to-be-shipped state in the transfer robot system, is transported to the rack, the control unit should store it in the transfer-uncompleted container. Selecting one shelf from the plurality of shelves based on the storage status of the first container containing the same type of article as the article,
6. The automated warehouse system according to any one of claims 3 to 5 , wherein said control unit controls said third conveying device to convey said untransferred container to said one selected shelf.

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