JPH0784258B2 - Picking device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention, in a product warehouse or the like, picks up a load loaded in a plurality of rows and a plurality of stages on a pallet one by one and transfers it to another pallet or transfers it to a conveyor. The present invention relates to a technique for increasing the work speed by installing a plurality of picking devices on the left and right.

[0002]

2. Description of the Related Art Conventionally, a technique for unloading a device from a pallet has been known. However, the above-mentioned conventional technique is a technique for unloading and stacking the packages stacked in layers on a pallet one layer at a time, and it is not possible to transfer the packages one by one. is there.

[0003]

DISCLOSURE OF THE INVENTION The present invention is intended to make it possible to deliver a required number of products in a small amount at a required time when delivering a product to a retail store.
For that purpose, it is necessary to be able to transship packages in units of one box, and it is too much to transship several packages stacked in layers, as in the past. . According to the present invention, it is possible to pick up one by one a plurality of packages stacked in layers on a pallet and transfer them. However, when scooping one by one, when it is necessary to scoop a plurality of pieces at the same time in large-scale delivery, the work speed is reduced and the efficiency is deteriorated. In the present invention, a plurality of devices for picking one by one are provided side by side so that they can be selectively operated, so that the efficiency is reduced even when it is necessary to pick a plurality of devices. It was constructed so that it would not come.

[0004]

The problems to be solved by the present invention are as described above. Next, the means for solving the problems will be described. That is, a picking device including a shift preventing member A for pressing one side of the luggage 1 from above and a scooping member B for entering the luggage 1 from the other side of the luggage 1 and scooping the luggage 1 on the support base 24. Multiple units are placed side by side,
The plurality of picking devices can be selectively operated.

[0005]

[Operation] Next, the operation will be described. For one of the uppermost layers in the luggage 1 arranged in layers and in rows,
First, the deviation prevention member A is brought into contact with one surface. Next, on the mounting boundary surface on the other side, the pickup belt 7 and the hoisting belt 6
The scooping member B constituted by 6 enters and the luggage 1 is placed on the scooping member support rod 4. The scooping member support rod 4 and the shift stop support rod 3 are simultaneously moved in a state where the luggage 1 is held by the scooping member support rod 4 and the shift stop body 2 to move from the pallet to another pallet. . When it is necessary to pick a plurality of pieces of luggage from one pallet rather than one by one, a plurality of picking devices provided side by side can be moved simultaneously to enable picking of a plurality of pieces.

[0006]

EXAMPLES Next, examples will be described. The overall structure of the picking device of the present invention will be described with reference to FIGS. 1, 2, and 3. In the picking device of the present invention, a plurality of unit picking mechanisms are arranged side by side on the support base 24. The unit picking mechanism is mainly composed of the deviation preventing member A and the scooping member B. The deviation prevention member A is provided at the tip of the deviation prevention support rod 3. The shift-preventing support rod 3 is provided at the portion of the shift-preventing support mechanism 17 in the sliding support roller 1.
It is supported by 8 and is slidable right and left. The sliding of the displacement prevention support rod 3 to the left and right is moved to an optimum position by a motor, a pneumatic cylinder, or a hydraulic cylinder that constitutes the displacement prevention control mechanism 27.

The shift prevention support mechanism 17 is configured to control the vertical position with respect to the scooping member support mechanism 20.
The vertical mechanism between the scooping member support mechanism 20 and the displacement prevention support mechanism 17 is performed by a motor, a pneumatic cylinder or a hydraulic cylinder. Further, the scooping member B is formed at the tip of the scooping member support rod 4, and the scooping member support rod 4 itself is supported by the scooping member support mechanism 20 by the sliding support roller 19. The scooping member support mechanism 20 is provided with a scooping member control mechanism composed of a motor or the like, and is controlled so as to be inserted into the placement boundary surface between the loads. The scooping member support mechanism 20 itself supporting the scooping member support rod 4 enables vertical position control with respect to the support base 24.

A member support mechanism 2 for scooping the support base 24
The vertical support mechanism 21 that moves up and down by 0 is, in the embodiment,
It is composed of a pantograph. It is controlled by a pneumatic or hydraulic vertically moving cylinder 22. 1 and 2, in the embodiment shown in FIGS. 1 and 2, three unit picking mechanisms are arranged side by side, but the number is not limited, and two or more units may be arranged. Is.

Next, referring to FIG. 4 and FIG.
The configuration of the scooping member B will be described. The scooping member B is shown in FIG.
As shown in FIG. 5, the angle α is attached to the scooping member support rod 4 at the tip portion.
Is provided. That is, the lower surface of the scooping member support rod 4 is horizontal and the upper surface is provided with the angle α. A pickup belt 7 is wound around a pulley shaft 10 and a pulley shaft 11 at the tip of the scooping member support rod 4. Pickup rollers 5, 5 are attached to the pulley shaft 10 at positions outside the front and rear of the pickup belt 7, and rotate in synchronization with the pickup belt 7.

The pulley shaft 10 is supported by a bearing at the end of the scooping member supporting rod 4 branched into a "U" shape, and the pickup belt 7 is supported by being wound inside the "U" shape. Has been done. On the contrary, the pickup rollers 5 and 5 are
The pulley shaft 10 is supported by the protruding portion of the "U" -shaped outer side. Further, a hoisting belt 6.6 is wound around and supported behind the pick-up rollers 5 and 5 in the entering direction. The hoisting belts 6 and 6 are wound around the pulley of the pulley shaft 11 at the leading end in the entering direction, and are wound around the pulley of the pulley shaft 12 at the trailing end in the entering direction.

No belt is disposed behind the pickup belt 7 in the entering direction. The pickup belt 7 is arranged substantially horizontally, and the scooping belts 6 and 6 are wound at an angle α along the angle of the upper surface of the scooping member support rod 4. Further, a support rod is projected from the outside of the hoisting belts 6 and a luggage detector 8 is arranged at the tip. The baggage detector 8 is arranged at a position rearward of the pickup belt 7 and the pickup rollers 5, 5 and detects that the scooping member B approaches the baggage 1.

Next, the shift prevention member A will be described. A displacement prevention member A is attached to the tip of the displacement prevention support rod 3 on the luggage side. That is, the vertical guide shafts 36, 36 are erected in parallel at the left and right positions of the tip of the displacement prevention support rod 3, and the front and rear two vertical guide shafts 36, 36 are
Two loose fitting holes 9a are fitted in the front and rear of the displacement prevention upper and lower bodies 9, and the displacement prevention upper and lower bodies 9 are attached to the upper and lower guide shafts 36 and 3.
It is possible to move up and down along 6. A downward biasing spring 15 is interposed between the loose fit hole 9a of the shift prevention upper and lower body 9 and the spring receiver 3a of the shift prevention support rod 3.
The downward biasing spring 15 assists the action of pushing down the upper portion of the luggage 1.

A pivot shaft 14 is provided at the lower end of the displacement prevention upper and lower bodies 9, and the displacement prevention body 2 is pivotally supported by the pivot shaft 14. The shift stopper 2 has an end portion on the shift stopper support rod 3 side that is bent upward to form a contact state with the upper surface of the luggage 1 in a good condition. A position return spring 37 is provided on the outer periphery of the pivot shaft 14 that pivotally supports the displacement prevention body 2 and the displacement prevention upper and lower bodies 9.
When the shift stopper 2 does not come into contact with the upper surface of the luggage 1, it is urged and supported so as to return to a substantially horizontal state.

Next, the procedure of the entire picking operation of the picking device will be described. Before the transshipment work is started, the determined type of the luggage 1 is input to the control unit that controls the picking device. The size and properties of the luggage are taught to the picking device by inputting the type of the luggage 1, and the shift preventing member A and the scooping member B are moved along with this data, and the transshipment work is performed.

The pallet 16 is carried by a forklift, a carrying conveyor or the like. Then, the picking device of the present invention is arranged at an operable position. The support base 2
The pallet 16 is arranged at a position corresponding to the unit picking mechanism above the pallet 4. The unit picking mechanism on the support base 24 of the present invention can adjust its position to the left and right, and can cope with the difference in width of the luggage 1.
Then, the unit picking mechanism is selectively operated according to the number of picked-up luggage 1 and the position of the luggage 1. Then, the picked goods are placed on the conveyor 13 and are conveyed to the next place by the conveyor 13.

The picking action is such that the scooping member support mechanism 20 moves up and down so that the scooping member support rod 4 stops at a position corresponding to the loading surface between the uppermost stage luggage 1 and the next stage luggage 1. It is moved up and down by 22. And the scooping member B
Extends toward the placement boundary surface. When the baggage detector 8 at the tip of the scooping member B detects that the loading boundary surface of the baggage 1 has been reached, the misalignment support rod 3 is also extended and the baggage 1
The anti-displacement body 2 is extended to a position apart from the upper surface of the. Since the size and the property of the luggage 1 are input first, the vertical and forward / backward positions of the deviation prevention member A are determined according to this information.

Next, the deviation prevention member A is lowered to bring the deviation prevention body 2 into contact with the upper surface of the luggage 1. In this state, the shift stopper 2 is in contact with the upper surface of the luggage 1 while being pressed by the downward biasing spring 15. In this state, the portion of the pickup belt 7 at the tip of the scooping member B has not entered the mounting boundary surface. Next, by pushing the shift-preventing support rod 3 in the left-hand direction, the luggage 1 is tilted by the shift-preventing body 2, and at the same time, the luggage 1 is tilted, and the placing boundary surface tends to open. , The pickup belt 7 rotating clockwise is pushed into this portion. As a result, the loading boundary surface of the baggage 1 is pushed upward, and the pickup belt 7, the pickup roller 5.5, and the hoisting belt 6/6 are sequentially inserted into the lower surface of the baggage 1. . At this time, since the pickup belt 7, the pickup rollers 5, 5, and the scooping belts 6, 6 are rotating clockwise, the scooping member B can easily enter.

Next, the scooping member B is further pushed so that the pickup belt 7 can be inserted up to about two-thirds of the lower surface of the luggage 1 (as long as it exceeds the center of gravity of the luggage 1). Next, the pickup belt 7 is about 3
After the loading of the luggage 1 on the scooping member support rod 4 is completed, the luggage 1 is vertically sandwiched between the scooping member support rod 4 and the misalignment preventing member A at an angle α. , The scooping member support rod 4 and the shift stop support rod 3 simultaneously move to the right to start conveyance.

Then, when the load 1 is moved to the top of the conveyer 13, the shift preventing member A and the scooping member B hold the load 1 and the shift preventing support mechanism 17 and the sliding support roller 1 are held.
9 is lowered at the same time, and the corner portion of the portion where the load 1 tilts and goes down is placed on the pallet 29. As described above, since the pickup belt 7 is inserted only up to about two-thirds of the bottom surface of the luggage 1, one corner of the luggage 1 is exposed, and this portion first reaches the top of the pallet 29. It will be placed. With the lower corner part on the pallet 29, pull out the scooping member B from the lower surface of the luggage 1,
The shift prevention member A is raised. At this time, since the pickup belt 7, the pickup roller 5, 5, and the scooping belt 6, 6 rotate counterclockwise, the scooping member can be pulled out without the luggage 1 moving along with the scooping member B. .

[0020]

Since the present invention is constructed as described above, it has the following effects. That is, first, since the shift preventing member A for pressing one side of the load 1 from above and the scooping member B for entering the load 1 from the other side of the load 1 and scooping the load 1 are provided, a plurality of layers are stacked. -Since it is possible to individually pick up each one of the uppermost layers among the parcels 1 arranged in multiple rows, it is possible to transship the parcels 1 one by one for small-lot delivery. Has become possible.

Secondly, a plurality of unit picking mechanisms composed of the shift preventing member A and the scooping member B are arranged on the support base 24 so that they can be selectively operated. Enables simultaneous operation of the unit picking mechanism that is installed at the same time, and it is possible to transship multiple units at a time, and efficient transshipment is possible for both small-lot delivery and large-lot delivery.

[Brief description of drawings]

FIG. 1 is a perspective view of a configuration in which a plurality of picking devices are arranged side by side on a support base 24.

FIG. 2 is a plan view showing a state in which a plurality of left and right side by side juxtapositions are provided on a support base 24 and one of the picking devices is selectively operated.

FIG. 3 is a front view of the multiple pick-and-place type picking device of the present invention.

FIG. 4 is an enlarged front view of portions of a shift preventing member A and a scooping member B, which are main parts that configure the picking device.

FIG. 5 is an enlarged plan view of portions of a shift preventing member A and a scooping member B, which are main parts constituting the picking device.

[Explanation of symbols]

 A shift preventing member B scooping member 1 luggage 2 shift preventing body 3 shift preventing support rod 4 scooping member supporting rod 5 pickup roller 6 picking belt 7 pickup belt 8 luggage detector

Claims (1)

[Claims] 1. A picking device provided with a shift preventing member for pressing one side of the load from above and a scooping member for picking up the load from the other side of the load, is provided side by side on a support base. A plurality of picking devices are arranged so that the plurality of picking devices can be selectively operated.