JPH0356304A - Takeoff method of article - Google Patents

Abstract

PURPOSE:To make it possible to automatically take off articles from a container by including the container, taking the articles first with those articles stored on the upper side in the container leaving those on the lower side. CONSTITUTION:A travel body 1 and an elevator 5 move to the storing frontage of a storage facility 30 where an articl 33b to pick up is stored. The article 33b to pick up is stored in a container 33a and moved to the storing frontage by an inclined conveyor 30b. Then, a gripping device 6 drives its gripping head corresponding to the article 33b to pick up and picks up articles in sequence from the one on the upper side (the article on the deep side), leaving the articles on the lower side. By this constitution, it is possible to prevent the disorder of the articles, attempt the prevention of overturning and automatically take off the articles.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention is a method for efficiently storing and quickly taking out a part of an article stored in a container such as a plastic box/tener or a corrugated pole box. This invention relates to a method for taking out articles that does not cause items remaining in the container that have not been taken out to be disarranged or fall over.

(Prior Art) As a conventional technique for taking out articles, the technique described in Japanese Utility Model Publication No. 57-21842 is known.

To explain the conventional technology described in the above-mentioned publication, Japanese Utility Model Publication No. 57-21842 discloses a multi-row method for taking out articles stored in multiple rows in a horizontally placed transport box (container) one by one. A single-row feed anchor for contained articles is described.

(Problem to be solved by the invention) However, the above conventional technology has two problems as follows. It had some problems.

That is, Jikko Sho 5 7-2 1. 8 4 The A/Case described in Publication No. 2 is designed to take out items from a horizontally placed container, so it is possible to prevent items that are not taken out and remain in the container from being disarranged or falling over. No consideration has been given to protection, and if the container is placed at an angle, the items left in the container may be disarranged due to the removal of the items. It is convenient to automatically take out items remaining in the container when the container falls over.

Therefore, an object of the present invention is to control which articles in the L capacity should be taken out by preventing the articles remaining in the container without being taken out from being disarranged, overturned, etc.
To provide a method for automatically taking out articles remaining in a storage container.

(Means for Solving the Problems) The present invention provides an article in which some of the plurality of articles stored in a container are left in the container and other articles are taken out from the container. In the retrieval method, after tilting the above container, take out the items stored in the upper part of the container, and also remove the items stored in the lower part of the container. When taking out the remaining items listed in L, the column ν is used to take out the items stored in the number 12 items remaining in the container -1:= +lll1. Fi. By adding +7, the purpose of Book L was achieved.

Preferably, it is determined which article to take out from the 2g of 12 contents based on the inventory (; f. 5 data) of the articles remaining in the container.

(Function) The article retrieval force method of the present invention specifies which articles are to be taken out of the seven items, and is distributed to the items that were not taken out and remained in the container. By not causing damage, etc., the above-mentioned product can be manufactured efficiently <1.
Take out 16 quickly.

(Example) Hereinafter, first, an example of an article handling bag storage using the article retrieval method of the present invention will be described.

Fig. 1 is a front view showing "visogging" A W tt using an embodiment of the article handling device, Fig. 2 is a side view thereof, Fig. 3 is an explanatory view showing the wire tensioned state, and Fig. 4 Figure 5 is a perspective view showing the gripping device, and Figure 6 is a longitudinal section of the gripping hand using the annular tip. Figure 7 shows the lowering gear of the H platform {Ii, Figure 8 is a perspective view showing an example of its application, and Figure 1O shows its thrusting tool and swing lever. In these drawings, (1) is the running body of the Pisoki/Gug system, and the mass l-
(2) is driven by a traveling drive drum (4) installed on the ground-L via a traveling wire (3), along the storage facility (3I, 5 storage space o (30'a) (5) is a y7 platform that goes up and down by +9 in square l- (2), and the platform {5} is equipped with a container holder (5a) and has a 51 platform. Other wires (20)
It is driven by the Kaijin driving drum (21), and the storage unit (3)
a).

In addition, (3G) is a slope (μ
A storage facility consisting of a conveyor (30b)
llll), (6) is a gripping hemed (9) that grips the article (3311) stored in the container (33a) and being handled.
) , (9) , (+■, fl[), +I1)
It is a gripping device that is equipped with a movable stand (7) (to be described later), and is attached to the platform {5). By opening and closing the article (33b)'
(I (1 is a suction pad (1) sucks air from t't
r. (11) inserts the upper part of the article (33b) into the center of the annular tube (IO) and injects air into the annular tube (IO). It is a gripping head that grips the inserted article (33b) by expanding and deforming the annular tube toward the center.
7) is a moving device that moves the gripping device (6) in the flow direction of the inclined conveyor (30b), and is driven by a cylinder, and (8) is a cylinder pd of the moving device (7). Moreover, (91) is a pulse motor (91) according to the storage pitch of the articles (33b) stored in the container (33a).
The gripping head (9) on the a) side is moved along the linear guide (91c) by a ball screw (9.lb) driven by the Hals motor (91a), and the gripping head (9), (
This is a pitch changing device that changes the pitch of the container (91), and each gripper head (91, (9)) is configured to grip one article (33b) stored in a container (33a). , (101) is linearly moved by the gripping head (11) on the pulse motor (101a) side according to the storage pitch of the articles (33b) stored in the container (33a) by the pole screw (10lb) driven by the pulse motor (101a). It is a pitch changing device that moves along a guide (101c) and changes the pitch of the gripping heads (1@, +1CI), and each of the gripping heads (1■, (1■) is housed in a container (33a). Ifii the article (33b)
It is designed so that it can be grasped in increments of t. In addition, (gradient is the terminal fixed point of the lifting wire (20), (23 is the running wire (20)
3) Square l・Fixing point at the top of (2), (2=1)
is the pulley of the running wire (3), (25) is the pulley of the lifting wire (0), f21 is the running wheel of the running body (1), (2
The force is the guide pull of the traveling body (1) ((2) is the lifting platform (
5) is the lifting roller, (31) is the running rail of the traveling body (1), (31) is the article conveyor, (3'4 is the storage box conveyor, (3 is the storage box, (3 is the collection) 7 u 1-
(37) is the 1st point at the bottom of the running body (1) of the running wire (3), (f31 is the gripping device)
6) to rotate the gripping head (9), (lo),
Q+) rotary air motor with optional intoxication, (aO)
is a push-up tool provided at the downstream end of the inclined conveyor (30b). The wheel provided at the tip of the push-up tool pushes up the container (33a) placed on the inclined conveyor (30b) and lifts it onto the lifting platform (5). Container holder provided (5
It is designed to be taken out in a). In addition, (Jl) is a swinging lever for raising and lowering the push-up tool (10), which is disposed at a position that does not obstruct the discharge of the container (33a) placed on the inclined conveyor (30b), and the gripping device (6). It is designed to oscillate by being pulled by the force-61 provided at the tip of the holder.
It is set to be 5%. (50 is a pusher that discharges the article (33b) to 3!i).

Therefore, in the above-mentioned pinking device, when the traveling drive drum (4) is rotated in the direction of the arrow in FIG.
Then, pull the attachment point (37) at the bottom of the traveling body (1) to the left to make the traveling body (1) travel to the left, and reverse the traveling drive drum (4) to move the traveling body (1). Drive to the right.

In addition, when the lifting drive drum (21) is rotated in the direction of the arrow, the lifting wire (20) is fed out below the mast (2), and is wound up from two sides of the mast (2), allowing the lifting platform (
5) Rise. In addition, if the lifting drive drum (2l) is reversed, the lifting drive drum (20) moves in the opposite direction to lower the y1 platform (5).And if the lifting drive drum (21) is stopped, the traveling body (Even if +1 runs along the storage opening (30a), the lifting wire (20 is the lifting drive drum (30a)
Since it does not move at the position 21), the R platform (5) can maintain a constant height regardless of the movement of the traveling body (1). In this way, the traveling of the traveling body (1) and the raising and lowering of the lifting platform (5) are performed independently of each other by the traveling drive drum (4) fixedly installed on the ground.
) and a lifting drive drum (2l).

Moreover, the above-mentioned pinking device also includes an inclined conveyor (30b
) is equipped with a control combination unit (not shown) in order to regulate which article (33b) stored in the container 6 (33a) placed on the container 6 (33a) is taken out. In the evening, a product-specific take-out order table (Tl), a product-specific pinking address table (T2), etc. are provided, and these tables (T1), (T1),
2) The article (33b) stored in the upper side of the container (33a) can be taken out based on the data registered in advance. In addition, the age table for taking out by type (
As shown in FIG. 14, T1) is an order data table in which the order in which the articles (33b) stored in the container (33a) are taken out is registered by type.
By marking the articles (33b) taken out in response to the removal of items (33b) in the order of taking out, the items (33b) remaining in the container (33a) (not marked in the order of taking out) are marked. ) is also a stock position data table that stores the stock position of the stock. In addition, the item type picking address table (T2) is a list of all the items (33b) stored in the container (33a>) with the origin as a reference.
This is a storage position data table in which the storage positions of ) are registered.

Next, one embodiment of the article retrieval method of the present invention using the above-mentioned picking device will be described.

Each storage space o (30a) of the storage facility (3d) has 1
A plurality of containers (33a) containing different types of articles (33b) are stored. By opening the upper surface of the container C (33a) in advance, the article (33b) can be opened from its two sides.
) are stored on the inclined conveyor (30b) in a state where they can be taken out. That is, if the article (33b) is stored in a plastic container or the like with the top surface open, it is sufficient to feed it as is to the inclined conveyor (30b), but if the article is stored in a cardboard box or the like. In such cases, it is preferable to cut the upper surface of the material in advance and then supply it to the inclined conveyor (30b).

Articles (33b) stored in each storage opening (30a.)
) is binned by customer, etc., the specified goods (33
b) is bitked.

First, for each type of article (33b) to be binoked, it is determined from which position of the container 5 (33a) placed at the most downstream of the storage space F'1 (30a). decide. In other words, the retrieval order table by type (
The order in which T1) is taken out is from the upper side (vii ν) in the container (33a).
Items stored in the back side when viewed from the key/gu side (33b)
) to the articles (33b) stored on the lower side (the front side as seen from the picking side), and in the order corresponding to the articles (33b) that have already been taken out, for example, in FIG. In fi A, marks (marks minus 12 to the right of the number indicating the order) are attached to order 1 and order 2, so the item (33b) corresponding to the smallest order among the orders without a mark is placed next. take it out (binokinogu)
It is determined that the article (33b) stored at the bottom of the container (33a) is left behind.When the remaining article (33b) is taken out, similarly, Articles remaining in the container (33a) (
The item (33b) stored in the back of the container (33b) is picked, and when all the items (33b) stored in the container (33a) are pinked, the corresponding item is taken out. Marks attached to all orders in the order table (T1) are cleared.

When it is determined in which order the article (33b) should be taken out, the picking position of the determined article (33b) and the true J2 coordinate value (X , Y, Z) is determined to bit the item (33b) of order 3 (product number A-3) of type A based on the type-specific biting address table (T2), the biting position is set as the biting position. Coordinate values (4.
00, 500, 400) are given.

When the article (33b) is placed in the binokinog 1, the traveling body fl) and the lifting platform (5) have the purpose 1 of traveling (X)-
14. A movement command is given that includes addresses in the direction and the lowering (Y) direction, for example, the coordinate values (400, 500) of article number A-3 (33b), movement speed, movement acceleration, type of acceleration curve, etc. Based on the movement command, first the traveling object (1
) and the lifting platform (5) lifts and lowers the gripping device (6).
) is opposite the article to be picked (33b) [d
Move to.

When the gripping device (6) moves to the position facing the article (33b) to be picked (L Iu), the gripping device (9), (9), (
A selection command of IcI, (II (11)) is issued, and based on the selection command, one of the gripping heads (9), (9), fll,
(In. (II) is selected. Furthermore, the gripping head T
9), (9), (I1, (l), (+1) may be selected while the traveling body (1) and the lifting platform (5) are moving.

Gripping head (9), (9). (IG, (1
0), fi+1 is selected, the moving device (7) is given the address in the depth (Z) direction of the destination, for example, product number A-3.
A movement command including the coordinate value (4.00), movement linkage, movement acceleration, type of acceleration curve, etc. is received for the article (33b), and the movement device (7) is actuated based on the movement command to move the object (33b). 8) is moved onto the article (33b) to be bitched. Also, at the same time, pitch changing device 1] (91)
, (101.), a movement command including the destination address is received, and based on the movement command, the pulse motor (9]a
), (].Ola), the grasping hesode (9), +9), (10), +II'), f
l1) moves onto the article (33b) to be bitched.

When the gripping device R (6) is positioned on the biting article (33b), the elevating table (5) contains the address of the destination in the elevating (Y) direction, the moving speed, the moving acceleration, and the calculation of the type of acceleration curve. A transfer command is given, and based on the movement command, the lifting platform (5) is lowered to a predetermined gripping point (9), (
9), (I1. (+1. (I1+ moves to the object gripping position.

Predetermined gripping heads (9), (9), (+o). O
When LH moves to the article gripping position, the gripping head (91
, (9). (I@, (1(I1, (II)
A gripping command is given to the gripping command, and based on the gripping command, the gripping command is given to y (9) f9) (+wei (1119 (II1
grips a desired quantity of articles (33b).

Gripping head (9). f9), (1(}, (I1,
(When 111 grasps the desired quantity of articles (33b), the address of the destination in the vertical (Y) direction is displayed on the vertical platform (5).
A movement command including movement speed, movement acceleration, type of acceleration curve, etc. is given, and based on the nuclear movement command, the lifting platform (5) is moved to a position where the bottom of the article (33b) is slightly -L from the top of the container (33a). Rise.

The bottom of the product (33b) is the container (33a) on the lifting platform (5).
When the robot moves up to a position slightly above the second surface of the robot, a movement command including the address in the depth (Z) direction of the destination, movement speed, movement acceleration, type of acceleration curve, etc. is given to the movement device (7). , based on the movement command, the moving device R (7) is activated and the gripping device (6) attached to the tip end of the cylinder rod (8) moves outward of the storage opening (30a) by -1.
7 Move.

When the gripping device (6) moves toward the outside of the storage opening (30a), a movement command is sent to the lifting platform (5) including the address of the destination in the vertical (Y) direction, movement speed, movement acceleration, type of acceleration curve, etc. is given, and based on the movement command, the lifting platform (5
) is lowered, the gripping device (6) grips the article (
33b) onto the article conveyor (31).

When the article (33b) held by the gripping device (6) is moved to the second part of the article conveyor (31), the gripper (9), (9), (+groan, (1l), H) A release command is issued, and based on the release command, the gripped hesode (9)
, (9), (l[), (11m), (II) releases the article (33b) held by the article (33b), and the article (33b) is placed on the article conveyor (31).

The article transport co/veyer (31) on which the released articles (33b) are placed is operated continuously until one storage box (34 minutes of binogging is completed, and is picked up one after another by the gripping device (6)). The various articles (33l8b) are conveyed to the downstream end of the article conveyor (31), and are conveyed and waiting by the storage box conveyor conveyor {3'4} below the downstream end of the article conveyor (31). The items are placed in the storage box (3.0). When all the items (33b) to be placed in the storage box (34) are completed,
The storage box O is started, and the next three storage boxes (three boxes) are placed on standby below the downstream end of the article conveyor (3l).

In addition, the container placed at the extreme end of the inclined conveyor (30b)! All items stored in (33a) (33b)
) is taken out and the container (33a) becomes empty as shown in FIG. 1 conveyor (30b) to a position opposite to the swinging lever (4I), and the container holder (5a) moves to the position opposite to the swinging lever (4I) of the conveyor 1 (30b).
), the gripping device (6) is moved in the direction of the flow Jj of the inclined conveyor (30b) by the operation of the moving device (7), and the gripping device (6) is moved to the position opposite to the tip of the gripping device (6). After pulling the swinging lever (41) with the swing lever (61) that is in place, that is, moving the swing lever (61) to the 12th position of the swinging lever (41), the swinging lever (41) is lowered by 1ζ. )), by moving the funo car (51) to the 1st position (5), the thrust -11 1-
1's. ILl) pushes up the container (33a). The pushed-up container (33a) is pushed up so that the container (33a) placed on the second-stream side is taken out onto a container holder (5a) as shown in FIG. 13. Container tray (5a.)
33a) is moved to a predetermined value (eL [) by the movement of the traveling body (1), H, and platform (5) and is discharged.

FIG. 9 is a perspective view of an application example different from that shown in FIG. 8, and the embodiment shown in FIG.
They are substantially the same except that they include a plurality of stops (not shown) for stopping the IMI and do not include the article conveyor (31).

That is, in the Pino King family arrangement of the embodiment shown in FIG. A stonopa is used to sequentially stop and wait on the f side of The box (匈) starts, is conveyed to the lower part of the storage opening (30a) where the next item to be stored (33b) is stored, and is stopped again by a stosobar to wait. 34) All the articles (33b) to be input are sequentially inputted.+1.

Although one embodiment of the article retrieval method of the present invention has been described above, the present invention is not limited thereto. For example, the position of the article (33b) remaining in the container (33a) is detected by a sensor, and it is determined which article (33b) to take out from the container (33a). Good too.

21 (Effects of the Invention) As described above, the method for taking out articles of the present invention, after tilting the container, takes out the articles stored on the side of the The items stored on the lower side of the container are left behind, and when the remaining items are taken out, the items stored on the back side of the items remaining in the container are removed. Since it is designed to be taken out, items can be taken out from anyone efficiently and quickly, and items that are not taken out and remain in the container will not be disarranged or fall over. .

Then, based on the position data of the items remaining in the container, it is determined which item to take out from inside the container, so the sensor detects the position of the item. You can decide which items to take out without having to worry about it.

[Brief explanation of drawings]

Fig. 1 is a front view showing the 22 picking device using the method for taking out articles of the present invention, Fig. 2 is a side view thereof, Fig. 3 is an explanatory view showing the tensioned state of the wire, and Fig. 4 is the An explanatory diagram showing the upper part of the mast and the lifting platform of the traveling body, Fig. 5 is a perspective view showing the gripping device, Fig. 6 is a vertical cross-sectional view of the gripping hardware using the annular tube, and Fig. 7 is the lifting and lowering. 8 is a perspective view showing an example of its application; FIG. 9 is a perspective view showing an example of application different from that shown in FIG. 8;
Figures 0 to 13 are side views showing the push-up tool and the swing lever, and are explanatory diagrams for explaining how to take out an empty container. It is an explanatory diagram of a king address table. Note that in FIGS. 1, 2, 8, and 9, the push-up tool, swing lever, etc. are omitted. Further, in FIGS. 2 and 5, the funnel car is omitted. Further, in FIGS. 8 to 13, the gripping head is partially omitted. (6): Gripping device (7): Moving device (9), (field, (Ill): Grasping head (30b) Inclined conveyor (33a): Container (33b) Product patent applicant Shojiro Tojima, agent of Shibe Denki Co., Ltd. Ajiriku JP-A-3 56304 (14) JP-A-3-56304 (15) Variety A No. 14 Pattern Type E

Claims (1)

[Scope of Claims] 1) An article retrieval method in which some of the plurality of articles stored in a container are left in the container and other articles are taken out from the container. After tilting, the items stored on the upper side of the container are taken out, and the items stored on the lower side of the container are left behind, and when the remaining items are taken out, the items that remain in the container are removed. A method for taking out an article, the method comprising: taking out an article stored on the upper side of the articles stored above. 2) determining which item to take out from the container based on the location data of the items remaining in the container;
A method for taking out an article according to claim 1.