JPH01275310A - Picking method - Google Patents

Abstract

PURPOSE:To handle articles in pallet units by transferring articles by a robot, temporarily placing odds at a temporary placing portion, and finally placing same on the uppermost stage of a multi-kind loading pallet in picking articles from single kind loading pallets of plural kinds. CONSTITUTION:Single kind loading pallets PA respectively loaded with articles of every kind are carried in a single kind pallet carry-in position 8a from a storage rack 2 by a stacker crane 4 and arranged in the order of kind by a conveyer 8. The pallets P are sequentially moved to a robot moving position 8b and sequentially transferred onto an empty pallet PB which is on standy at a robot moving position 9b on a picking conveyer 9 on every single kind loading pallet PA. At this time, an odd sum of cases which does not amount to a pallet surface unit are once temporarily placed at a temporarily placing portion 20, and finally transferred onto the uppermost stage of multi-kind loading pallets. By this arrangement, articles can be handled in pallet units.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a picking method, and particularly relates to a picking method, in which a pallet (hereinafter referred to as a single-product loading pallet) loaded with only m cases of a single product is used to pick multiple cases of multiple products. A pallet loaded with multi-product cases is selected by selecting an arbitrary number of cases from these multi-product single-product pallets and transferring them onto an empty pallet.
The present invention relates to a picking method that can be used as a multi-product loading pallet (hereinafter referred to as a multi-product loading pallet).

[Conventional technology]

Conventionally, various methods have been proposed for picking cases of a wide variety of products in small quantities.

Next, we will discuss the most common conventional picking method.
This will be explained with reference to FIG.

After performing so-called depalletizing work (depalletizing) in which single product loading pallets are broken down and sorted into cases in the receiving area 30, the cases 32 are automatically stored in units of cases and by product type when placed on the receiving conveyor 31. shelf 3
3 and stored.

In the picking operation, when the required number of cases are placed on the outgoing conveyor 34 from the storage shelves 33 for each type, they are automatically transported to the outgoing area 35, where they are stacked on pallets (palletizing work). ) is carried out.

[Problem to be solved by the invention]

However, the above-described conventional picking method requires a storage shelf for each case, and the deburring operation and the stowing operation are performed at different locations and at different times.

For this reason, a depalletizer for depalletizing work and a palletizer for stowing work are required, as well as a loading/unloading conveyor for loading and unloading cases from storage shelves, storage shelves for each case, etc., which requires a large installation space and a large amount of work. The problem is that a large amount of equipment cost is required.

In addition, since products are stored in storage shelves by type and picked by each case, there is a problem in that strict and reliable control is required to handle handling and prevent mixing.

The present invention has been devised in view of the above-mentioned circumstances, and its purpose is to select an arbitrary number of cases from a pallet loaded with a wide variety of single products and transfer them onto an empty pallet to collect cases of a wide variety of products. To provide a picking method capable of handling loaded multi-product pallets in units of pallets.

[Means to solve the problem]

In order to achieve the above-mentioned problems, the present invention has the following steps: sequentially transporting pallets loaded with cases of a single type to one operating position of the robot, and transporting empty pallets to the other operating position of the robot. In the step of transporting the cases to the location, the robot takes out a predetermined number of cases of each single product from the single product loading pallet located at one operating position and transfers them in multiple stages onto the empty pallet located at the other operating position. In addition to forming a multi-product loading pallet loaded with cases of various products, when transferring the cases of each single product onto the empty pallet, it is necessary to transfer cases of each single product onto the empty pallet. The steps include temporarily storing fractional cases that cannot be transferred to a case temporary storage area, and transferring the temporarily stored fractional cases to the top tier of a multi-item loading pallet using the robot mentioned above. The method is characterized in that it includes a step of carrying out the completed multi-product loading pallet.

[Effect]

The present invention uses the above-mentioned means to sequentially transport multiple types of single-product loading pallets loaded with only cases of a single type to one operating position of the robot, and to transport empty pallets to the other operating position of the robot, The above robot takes out a predetermined number of cases of each single product from the single product loading pallet at one operating position and transfers them in multiple stages onto the empty pallet located at the other operating position. In addition to forming a product loading pallet, when transferring the cases of each single product onto the empty pallet, the fractional cases that cannot be transferred per surface of the pallet are temporarily stored in a case temporary storage area, and the temporarily stored fractional cases are The robot can transfer the multi-product pallet to the uppermost stage, and carry out the multi-product pallet after the transfer operation has been completed. Therefore, according to the present invention, devaluation work and stowage work can be performed at the same place and during the same time period, and since picking work is performed on a pallet basis, the loading/unloading case conveyor and the case storage shelf are This eliminates case handling troubles associated with loading and unloading cases, and eliminates the need for controls to prevent cases of different types from mixing. Moreover, when loading cases of various types onto an empty pallet, the same type of items can be stacked separately in units of sides and fractions, so the cases on the multi-product loading pallet can be stacked stably, making it difficult for the loads to fall apart. .

Furthermore, it is not necessary to return the pallet loaded with a single product, and the loading time can be shortened.

〔Example〕

Embodiments of the picking method according to the present invention will be described below with reference to FIGS. 1 to 13.

Fig. 1 is a plan view of the automated warehouse 1, and Fig. 2 is an elevational view thereof. 3 shelf width 2a, 3a
The storage rack 2 is a single-product storage rack for storing the waste-product loading pallets PA loaded only with cases 6 of a single product. The storage shelf 3 is a multi-product storage shelf that stores a multi-product pallet Pc loaded with cases 6 of various products.

Further, a picking area 7 is formed between the stacker cranes 4.5, and within this picking area 7, a single-product pallet conveyor 8 for transporting single-product loaded pallets PA, and empty pallets PB and multi-product loaded pallets PC are installed. A picking pallet conveyor 9 for conveyance is installed in parallel, and a transfer robot 10 is installed between both conveyors 8 and 9. A case temporary storage area 20 is installed between both conveyors 8 and 9 and adjacent to the transfer robot 10 for temporarily storing fractional cases that cannot be transferred on a pallet surface basis.

The above single-product pallet conveyor 8 is at the pallet loading position 8a.
Move the single-item loading pallet PA to the robot operating position 8b.
The picking pallet conveyor 9 transports the empty pallet Pa located at the empty pallet loading position 9a to the robot operating position 9b, and the multi-product loading formed at the robot operating position 9b. Pallet PC to pallet payout value 'It9
A transport conveyor is constructed to transport the materials to c.

Next, the stacker crane 4.5 and the transfer robot 10
This will be explained with reference to FIG.

Since the stacker cranes 4 and 5 have the same structure, only the stacker crane 4 is shown in FIG. A fork table 13 with a lifter is provided in the lifting unit 12. The fork table 13 with a lifter is attached to the storage shelf 2 by a sliding fork f that moves forward and backward from the shelf front side to the depth side.
and stacker crane 4 and stacker claim 4
The single-product pallet PA loaded with a large number of cases 6 is transferred between the single-product pallet conveyor 8 and the single-product pallet conveyor 8.

The transfer robot 10 also includes a robot body 14, an arm 15 provided on the robot body 14, and a picking head 16 provided at the tip of the arm 15.
After gripping the cases 6 on A, the arms 15 are swung to sequentially transfer the cases 6 onto an empty pallet P8 to form a multi-product loading pallet PC. The multi-product loading pallet Pc is moved to the storage shelf 3 by the stacker crane 5.
Store it in. In addition, in this specification, empty pallet P
The pallet in the stage of case stacking before forming a multi-product loading pallet P from a is simply referred to as pallet P.

On the other hand, the empty pallet loading position 9a shown in FIG. 1 accommodates a large number of empty pallets Pa, so that the empty pallets Pa can be continuously supplied to the picking pallet conveyor 9. There is.

Further, a receiving conveyor 18 is installed between the single-product pallet conveyor 8 and the picking pallet conveyor 9, and when the cases 6 on the single-product loading pallet PA are exhausted during the picking operation, an empty pallet P8 In this case, the receiving conveyor 18 transfers the empty pallet PB to the single-product pallet conveyor 8. The pallet is then transferred to the picking pallet conveyor 9, and then returned to the empty pallet loading position 9a by the picking pallet conveyor 9, or used as an empty pallet Pa.

Next, the operation of the picking method according to the present invention configured as described above will be explained with reference to FIGS. 4 to 13.

1-1 Preparation process Types A, B, and C stored in storage shelf 2 are each tLMu.
L single product loading pallets P8 are sequentially transported to the pallet loading position 8a by the crane 4, and the single product column pallet conveyor 8 is driven to load the single products in the order of A, B, and C types as shown in Fig. 4. Line up the pillar loading pallets PA. At this time, the single-item column pallet conveyor 8 is driven until the single-item column-loaded pallet PA of type A is located at the robot operating position 8b. Note that the single-item pillar loading pallets P^ of D and H are for the next picking.

On the other hand, on the picking pallet conveyor 9, the empty pallets PB from ■ to ■ located at the empty pallet carry-in position 9a are sequentially conveyed. At this time, the picking pallet conveyor 9 is driven until the empty pallet PB (3) is located at the robot operating position 9b.

Note that the states of the single-product column loading pallet PA loaded with type A at the robot operating position 8b and the empty pallet Pe (■) located at the robot operating position 9b are illustrated in Fig. 5<a) and Fig. 5(b). Ru.

1-(2) Transferring Type A As shown in Fig. 6, when transferring 24 cases of Type A on the single column loading pallet PA of Type A on the single column pallet conveyor 8, first transfer the 20 cases. The pallets are transferred side by side to the empty pallets Pa on the picking pallet conveyor 9. In this case, FIGS. 7(a) to 7(d)
As shown in , the transfer robot 10 is operated to transfer from A1 case to A2o case by surface.
case) is temporarily stored in the case temporary storage area 20.

1-(Transfer of 31B type) As shown in Fig. 8, the single column pallet conveyor 8 is
The robot moves the single pillar loading pallet PA of type B to the robot operating position 8b.

Then, the 8 cases of the single column loaded pallet PA of the B type on the single column pallet conveyor 8 are transferred to the A type 2 at the robot operating position 9b on the picking pallet conveyor 9.
Transfer onto pallet P loaded with 0 cases. In this case, as shown in FIGS. 9(a) to 9(c), the transfer robot 1o is operated to transfer from 81 cases to B8 cases onto case A. All items are transferred in units and no fractional cases occur. In addition, temporary storage site 20
4 cases of type A shown in FIG. 9(d) are temporarily placed.

1-(4) Transferring temporary items As shown in FIG. 10, the transfer of cases in units of areas has been completed, so the fractional cases that are not in units of areas are transferred onto case B. In this case, as shown in FIGS. 11(a) to 11(b), the transfer robot 10 is operated to transfer the fractions A21 cases to A24 cases of A type in the case temporary storage area 2o onto the B case. I will post it.

1-(4) Transfer of C type As shown in FIG. 12, the single-product column pallet conveyor 8 is moved one more pitch to position the single-product loading pallet P of C type at the robot operating position 8b. Then, the three cases on the single column pallet PA of type C on the single column pallet conveyor 8 are transferred onto the pallet P loaded with types A and B on the picking pallet conveyor 9. In this case, as shown in FIGS. 13(a) to 13(c), the transfer robot 10 is operated to transfer cases C1 to C3 onto case B.
An i-mounted pallet PC is formed to complete the picking process. As a result, Case A and Case C are loaded on the top row.

The picking operation is carried out through the above process, and the multi-item loading pallet PC for which picking has been completed is stored in the storage shelf 3 by the stacker crane 5 from the pallet unloading position 9c, and the single item pillar loading pallet PA from which a predetermined number of cases have been picked is stored on the storage shelf 3. is stored on the storage shelf 2 by the stacker crane 4 from the pallet unloading position 28c.

On the other hand, when the single-item loaded pallet P on the single-item pillar pallet conveyor 8 becomes an empty pallet PB due to bizuking, the empty pallet P8 is transferred via the transfer conveyor 18 and the picking pallet conveyor 9 that is conveyed in the opposite direction. The empty pallet is returned to the loading position 9a.

〔Effect of the invention〕

As is clear from the description of the embodiments above, according to the present invention, a multi-product pallet can be formed by transporting an arbitrary number of cases from a single-product pallet of multiple types and transferring them onto an empty pallet. I can do it.

When transferring cases, it is possible to temporarily store fractional cases that cannot be transferred in units of planes on the pallet in a case temporary storage area, and then transfer the fractional cases to the top shelf of multi-level stacks loaded in units of planes. Even if multiple types of cases have different case shapes, they can always be stacked in multiple stages on a per-surface basis, and a large number of cases can be stacked, resulting in efficient stacking.

In addition, if a temporary case storage area is not provided, after stacking each surface in multiple tiers, it is necessary to return the single-item loading pallet to the robot operation position for stacking fractional quantities again, and stack the fractional quantities on the top tier. However, by adopting a method of temporarily storing cases by providing a temporary case storage area, it becomes unnecessary to return the single-item loading pallet, and the loading time can be shortened.

Further, according to the present invention, there is no need for storage shelves for each case, and the deburring work and loading work can be performed at the same place and at the same time, reducing installation space and equipment costs. can be achieved.

Furthermore, according to the present invention, there is no need to store cases by product type on storage shelves, and there is no need to perform picking work for each case, so there is no need for complicated controls to prevent handling or mixing. become.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing an embodiment of the picking method according to the present invention, Fig. 2 is an elevational view thereof, Fig. 3 is a perspective view of the main part of the embodiment, and Figs. 4 to 13 are the same implementation. An example operation explanatory diagram, FIG. 14, is a plan view showing a conventional picking method. 1...Automated warehouse, 2.3...Storage shelf, 4.5...
Stacker crane, 6...Single product case, 7...
Picking area, 8... Single product pallet conveyor,
9... Pallet conveyor for picking, 10... Transfer robot, 11... Main mast, 12... Lifting unit, 13... Fork table with lifter,
14...Robot body, 15...Arm, 16...
・Picking head, 18... Transfer conveyor, 2
0...Case temporary storage area, PA...Single product loading pallet, Pc...Empty pallet, Pc...Multiple product loading pallet, 8a...Pallet loading position, 8b...Robot operating position, 8c ...Pallet unloading position, 9a...Empty pallet loading position, 9b...Robot operation position, 9c
...Pallet unloading position. Applicant Yasushi Ishikawa Figure 2 Figure 4 (a) Figure 5 Figure 8 (a) Figure 9 Figure 10 (b) Figure 11 Figure 12 (a) Figure 13

Claims (1)

[Claims] A stage in which pallets loaded with multiple types of single products loaded with only cases of a single product are sequentially carried into one operating position of the robot, a stage in which empty pallets are carried into the other operating position of the robot, and a stage in which the robot is moved from one to the other by the robot. A predetermined number of single-product cases are taken out from a single-product pallet at one operating position and transferred in multiple stages onto an empty pallet at the other operating position to create a multi-product pallet loaded with cases of multiple products. At the same time, when transferring cases of each single type onto the empty pallet, there is a step of temporarily storing fractional cases that cannot be transferred on a surface-by-plane basis on the pallet in a case temporary storage area, and a step of temporarily storing the fractional cases that cannot be transferred on a case-by-plane basis on the pallet, and transferring the temporarily stored fractional cases to the robot. A picking method comprising the steps of: transferring the multi-product pallet to the top of the multi-product pallet; and unloading the multi-product pallet after the above-mentioned transfer operation has been completed.