JPH08231009A - Automatic picking shipment device - Google Patents

Abstract

PURPOSE: To efficiently and automatically pick, for instance, books at a publisher and ship them out therefrom by picking out required articles, as sorting them, from storage shelves where a very wide variety and a large quantity of articles are stored, storing them directly in sorted boxes and automatically picking and shipping different articles to each customer within a very short time. CONSTITUTION: A plurality of storage shelves 3, which are for storing magazines 4 for storing articles such as books in a mulitistoried manner, are arranged, while respective storage shelves 3 are provided with a pick up device 5 and a pick up conveyor 6 to pick up required articles in required numbers and store them directly in a sorted box 8. Conveyors 69 and the like are laid in front of the storage shelves 3 in a passible manner and the sorted box 8, on which a bar cord assigned to each orderer is printed, is conveyed only to the storage shelf 3 stored with an article to be picked up and the article is automatically pick up by simultaneously controlling a plurality of sorted boxes 8 in accordance with the bar cords.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic picking and shipping apparatus, and in particular, a large number of magazines for storing articles classified according to types are three-dimensionally stored in a storage rack and are conveyed under the control of a control device. By picking up the required amount of the articles required for each sorting box from the magazine by the pick-up device and transporting them while storing them in a plurality of sorting boxes, it is possible to pick various kinds of articles that are different for each customer in an extremely short time. Taking out the required number of necessary items from the storage device in which the items are stored and sorting them.) While storing them in a sorting box, they are shipped.
For example, the present invention relates to an automatic picking and shipping apparatus suitable for picking and shipping books.

[0002]

2. Description of the Related Art The book dispatch business carried out at a publishing agency stores an extremely large number of books with an order of 100,000 or more and an inventory of over 2 million. They are stored on shelves, sorted by bookstore according to orders from bookstores, packed and shipped.

[0003] The management of books and the sorting work according to the order are conventionally performed manually. First, the order quantity from a large number of bookstores is summed up to obtain a necessary quantity for each same book, and the book is booked. Performs primary sorting by collectively taking out the stored storage shelves and transporting them to the sorting work place.

Books that have been collected together by type as described above have been shipped after they have been subjected to secondary sorting in which a required number of books have been further sorted for each bookstore at a sorting workshop.

[0005] Such sorting work often depends on the memory and experience of employees such as the storage place of necessary books, and it takes time to find a desired book when a new book is issued or the worker changes. It takes a lot of time, and it takes a lot of man-hours for sorting. Not only does it take a long time before shipping, but also about 1% of sorting errors occur due to manual work. However, there is a drawback in that it is not possible to respond promptly to customer requests.

In order to solve the above-mentioned drawbacks, an apparatus in which a multi-joint robot is arranged on a storage rack in which various kinds of books are stored, books are selected by the multi-joint robot, and primary sorting is performed, There has been proposed a sorting machine or the like that uses a sorter for secondary sorting in a sorting work shop to read a strip with a barcode attached to a book by a barcode reader and automatically sorts and sorts each bookstore.

Although the above-mentioned robot and sorter greatly contribute to speeding up of sorting work and reduction of sorting mistakes as compared with the conventional manual work, it is difficult to finely handle various sizes of books. However, the sorting work of the primary and secondary operations still occurs, and each work place is required separately. Furthermore, the sorting efficiency is high in order to sort a large variety of books in a short time. There was also room for improvement in the conversion.

[0008]

SUMMARY OF THE INVENTION The present invention has been made in order to eliminate the above-mentioned drawbacks of the prior art. The purpose of the present invention is to read books of the same type (meaning that the same type in one magazine). However, if the magazines are different, different types of books may be used. The same applies hereinafter.) Prepare a magazine that stores a large number of magazines, store a plurality of the magazines in a three-dimensional storage rack, and move the pickup device to move the magazines. This is to take out the required number of books and store them directly in the sorting box prepared for each bookstore so that the books can be sorted at the same time as the primary sorting and the secondary sorting. It is to improve work efficiency significantly, and it is about half as narrow as the conventional one as the same work place without separately preparing a storage place and a sorting work place. The space efficiency of the work place and to be able to perform the sorting of a large amount of books in the business office is to increase up to about 2 times.

Another object is to automatically take out a required book from a magazine by a pickup device and directly store it in a sorting box prepared for each bookstore, thereby reducing the frequency of handling the book and preventing the book from being damaged. It is possible to reduce the number of workers by eliminating the manual sorting work.

Still another object is to arrange a plurality of storage shelves for storing magazines three-dimensionally as a storage device, and to pass a sorting box transport device for transporting sorting boxes prepared for each bookstore in front of the plurality of storage shelves. It is possible to complete the sorting work of books by simultaneously transporting multiple units while controlling the transport order and transport route of sorting boxes by the control device and taking out the required number of required books from the magazine and storing them directly in the sorting box. To be able to operate for 24 hours, and to significantly improve the efficiency of sorting work.

Another object is to arrange a plurality of storage shelves for storing magazines three-dimensionally as a storage device, and to arrange a pickup device and a pick-up carrier device for each storage rack to obtain the required books from the magazine. A plurality of sorting boxes are printed at the same time so that a plurality of sorting boxes can be directly stored in the sorting boxes and a conveyor is laid so that they can pass in front of the plurality of storage shelves and a bar code determined for each bookstore is printed. According to the code, it is possible to add the picking device in units of storage shelves by controlling so that the books to be taken out by the conveyor are conveyed only to the storage shelves, and this limits the structure of the building. You can freely arrange storage shelves without having to, for example, automatic picking shipment across several floors or another building It is to allow arranged location.

Still another object of the present invention is to make it possible to operate the rest of the picking devices by stopping only the defective picking device even if some of the picking devices should fail due to the above-mentioned configuration. Is to be able to minimize the impact on

Another object is to store a large number of books of the same type in a magazine in which a separating mechanism is independently arranged.
By composing the storage device by arranging a plurality of the magazines and storing them in a storage shelf three-dimensionally, the storage device can be manufactured inexpensively using a commercially available shelf, and even if the size of the book is changed, It is possible to flexibly deal with books of various sizes simply by preparing a magazine according to the size.

Still another object is to provide a detection device for detecting the stock quantity of books in a magazine so that the actual stock quantity can be grasped at all times, and by this, the stock management can be carried out completely. , To prevent inventory shortages and to respond quickly to customer requests.

Another object is to store books of the same type in a magazine, and to store the magazines three-dimensionally in a storage rack, so that the book in short quantity can be easily replenished simply by exchanging the whole magazine. Is to

Still another object is to convey a sorting box having a bar code label attached thereto according to a bar code by a conveyor laid so that it can pass in front of a plurality of storage shelves arranged according to the bar code, and a required number of required books from a magazine. By taking out and storing the books, and by transporting the sorting box in which the required books have been stored to the shipping department that sends the books to the customer, it is possible to completely sort the books from shipping to shipping. In addition, this makes it possible to sort and ship a great variety of books in large quantities in a short time without sorting errors.

[0017]

SUMMARY OF THE INVENTION In summary, the present invention (Claim 1) is directed to a storage rack for arranging a plurality of magazines containing a large number of articles of the same type and storing them three-dimensionally, and facing the storage rack. A pickup device arranged between the magazine in which the articles to be taken out are stored and a sorting box for sorting and storing the taken out articles, the pickup device being arranged to take out a required number of the articles from the required magazine. And a pickup transport device for reciprocating.

According to the present invention (claim 2), a plurality of magazines accommodating a large number of articles of the same type are aligned and a plurality of storage shelves for three-dimensionally storing are arranged, and a storage device. A sorting box transport device configured to be able to pass in front of the storage shelf and sorting the articles taken out from the magazine and storing a plurality of sorting boxes for carrying out the sorting boxes to the storage shelves storing the articles. A pickup device that is arranged opposite to the storage shelves and takes out the required number of the articles from the required magazine, and reciprocating conveyance between the magazine that stores the articles that should be taken out from the pickup device and the sorting box. And a sorting box for transporting the sorting box to a required storage rack, which includes control of a transportation order and a transportation path of at least a plurality of the sorting boxes. And a control device for instructing the pick-up device and the pick-up conveying device to pick up the articles to be taken out, and taking out the necessary number of the necessary articles from the magazine and storing them in the sorting box. It is what

According to the present invention (claim 3), a storage device constituted by arranging a plurality of storage shelves for arranging a plurality of magazines storing a large number of articles of the same type and storing them three-dimensionally, and a customer. A plurality of sorting boxes for sorting and storing the articles taken out from the magazine, which are attached with barcode labels printed with barcodes determined for each, and the articles from which the sorting boxes are to be taken out according to the barcode are A sorting box transporting device that transports by a conveyor laid so that it can pass through the front of the plurality of storage shelves only in the stored storage shelves, and the articles from the required magazines that are arranged to face the storage shelves. A pick-up device for picking up a required number of pick-up devices, and a pick-up device for reciprocating the pick-up device between the magazine storing the articles and the sorting boxes. An up-conveying device, and a sorting-box conveying control for conveying at least a plurality of the sorting boxes and a conveying path for controlling the sorting boxes to the storage rack, and the pickup device and the pickup conveying device to be taken out. And a control device that controls the taking out of the magazine by issuing a required number of the required articles from the magazine and storing them in the sorting box.

According to the present invention (claim 4), a plurality of magazines each accommodating a plurality of articles of the same type and each of which is provided with a separating mechanism for separating the articles into a pickup device while separating the articles one by one, A storage device configured by arranging a plurality of storage shelves for arranging the magazines in a three-dimensional manner, and sorting the articles taken out from the magazine configured to be able to pass in front of the plurality of storage shelves. Sorting box transport device for transporting the plurality of sorting boxes to be stored to the storage rack in which the articles to be taken out and a required number of the articles are taken out from the required magazine arranged facing the storage rack. A pickup device, and a pickup carrier device that reciprocates between the magazine in which the articles to be taken out of the pick-up device are stored and the sorting box. And a sorting box transport control for transporting the sorting boxes to the required storage shelves, including control of the transport order and transport path of the plurality of sorting boxes, and commanding the pickup device and the article to be taken out to the pickup transport device. The present invention is characterized by further comprising: a control device for performing a take-out control for taking out a required number of the required articles from the magazine and storing them in the sorting box.

According to the present invention (claim 5), a plurality of magazines each accommodating a plurality of articles of the same type and each of which is provided with a separating mechanism for separating the articles into a pickup device while separating the articles one by one, and a plurality of magazines are provided. A storage device configured by arranging a plurality of storage shelves for arranging the magazines and storing them three-dimensionally, and a bar code label printed with a bar code determined for each customer is attached and taken out from the magazine. A plurality of sorting boxes for sorting and storing the articles, and a storage box in which the articles from which the sorting boxes should be taken out according to the barcode are stored are laid so as to be able to pass in front of the plurality of storage shelves. A sorting box transport device for transporting the sorting box which has been transported by a conveyor and has stored the required amount of the articles to a shipping section for shipping to the customer, and the sorting box transport device. A pickup device arranged facing each other to take out a required number of the articles from the required magazine, and a pickup conveying device for reciprocating between the magazine containing the articles to be taken out from the pickup device and the sorting box. And a sorting box transport control for transporting the sorting box to a required storage shelf, including at least a plurality of sorting boxes and a transport path control, and commanding the pickup device and the article to be taken out to the pickup transport device. A control device for controlling the taking out of the required number of the articles from the magazine and storing them in the sorting box is provided.

[Action]

According to the order from the bookstore, the ordered book name and the required number of books are input to the control device, and the barcode label printed with the barcode different for each bookstore is attached to the sorting box to sort the automatic picking and shipping device. Supply to the box carrier.

According to a command from the control device, the sorting box transport device automatically transports the sorting box to the front of the storage rack in which the books to be taken out are stored from a number of storage racks of the storage device by a conveyor. Stop at the position.

The pickup conveying device is arranged in the magazine by moving the pickup device to the front of the magazine in which a predetermined book is stored from a large number of magazines three-dimensionally stored in the storage rack. After the required number of books have been taken out from the magazine in cooperation with the separation mechanism, the pickup transport device is operated again to transport the pickup device to the sorting box, and the books in the pickup device are delivered to the sorting box.

Then, the sorting box is conveyed to a storage rack in which books to be taken out next are stored according to a command from the control device, and a predetermined number of predetermined books are taken out from the magazine and received in the sorting box in the same manner as described above. The passing operation is repeated one after another, and when all the ordered books and the number of books from the bookstore are taken out, the sorting box is transported to the shipping section by the sorting box transporting device.

Books ordered from a bookstore and a sorting box in which the number of books are stored are packed and shipped in a shipping section. The above-described series of sorting operations for books are all controlled by a control device, and a large number of sorting boxes are provided. Since the boxes are operating at the same time, they can be sorted in a short time without error from a storage device that stores a great variety of books and a large amount, and can be quickly shipped to a bookstore.

[0027]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the embodiments shown in the drawings. 1 to 3, an automatic picking and shipping device 1 according to the present invention includes a storage device 2, a storage shelf 3, a magazine 4, a pickup device 5, a pickup transfer device 6, a sorting box 8, and a sorting box. The transport device 9 and the control device 10 are provided.

The storage device 2 is for storing a book 11 which is an example of an extremely large number of articles, and is composed of a storage shelf 3 and a magazine 4. In the embodiment shown in FIG. The storage shelves 3 are composed of four blocks, that is, a first block 2A, a second block 2B, a third block 2C, and a fourth block 2D, which are arranged to face each other.

The number of blocks is determined by the number of books 11 to be stored and can be composed of any number of blocks.

The number of storage shelves 3 arranged in each block is
It does not have to be fixed, it can be freely set according to the structure, size, etc. of the building, and its layout can also be freely set, and it can be laid out across multiple buildings or multiple floors, pillars and doors. The storage shelves 3 can be arranged according to the positions such as.

The storage shelf 3 is for storing the magazine 4 in three dimensions in FIG.
This is a general shelf having a height of 0 mm, a height of 2100 mm, and a depth of 600 mm. In the illustrated embodiment, seven shelves are provided in the vertical direction, and each shelf is divided into eight shelves for a total of 56 shelves.
It is subdivided into compartments, and 56 magazines 4 can be stored in each compartment.

The reason why one magazine 4 is housed in one section is that the books 11 can be easily exchanged or replenished together with the magazine 4.

The magazine 4 is for accommodating the books 11 and its size can be freely set. For example, the width is 150 mm to 190 mm and the height is 105 m.
The length is from m to 130 mm and the depth is 600 mm, and it is appropriately selected according to the size of the books 11 to be stored, and a plurality of books 11 of the same type are stored in one magazine 4 and three-dimensionally stored in the storage shelf 3. Therefore, about 1,500 books 11 can be stored in one storage shelf 3.

Therefore, in the embodiment shown in FIG. 12, the storage device 2 is composed of 32 storage shelves 3.
A total of 48,000 books 11 of 792 kinds can be stored.

When the storage capacity is insufficient, the number of storage shelves 3 in each block is increased, the number of blocks is increased, or the storage device 2 shown in FIG. The number of books 11 to be stored can be arbitrarily determined.

2 and 3, the magazine 4 has
A separation mechanism 12 and a book transfer mechanism 13 are provided respectively, and in order to prevent the book 11 from collapsing, the left and right sides are partitioned by partition walls 14.

The separating mechanism 12 is for separating the books 11 stored in the magazine 4 into individual books, and a swing plate 16 is rotatably arranged on a shaft 15 provided in the magazine 4. The rocker plate 16 is provided with a presser 19 at the tip thereof via a spring 18.

Plungers 22 of electromagnets 21 are connected to both ends of an actuating shaft 20 rotatably arranged in the middle of the oscillating plate 16, and oscillate when the electromagnets 21 are operated. When the plate 16 is swung in the direction of arrow A and the presser foot 19 is pressed against the second book 11 from the beginning by the force of the spring 18 to separate and take out the first book 11, the second and subsequent books 11 are taken out. It is designed to prevent the fall of the.

The first book 1 of the books 11 loaded
A separation shaft 25 that is connected to the plunger 24 of the electromagnet 23 is rotatably provided above the position 1.
The shutter 26 is fixed so as to contact the leading book 11 and prevent the book from falling forward.

A spring 28 is attached to the separating shaft 25 by a shutter 26.
When the separation shaft 25 is rotated by operating the electromagnet 23 in the direction of arrow B, the shutter 26
Rotates in the direction of arrow C and moves from the position shown by the solid line to the position shown by the broken line in FIG. 3 to allow the forward movement of the book 11, and at the same time, the spring 28 is placed above the leading book 11. Rotate clockwise while making contact with the first book 1
It is configured to separate one book.

The book transfer mechanism 13 is for loading the books 11 and, when the leading book 11 is taken out by the pickup device 5, carrying one book ahead in preparation for the next taking out. An endless belt 29 is wound around a pair of pulleys 30, and a gear 32 is attached to a shaft to which one pulley 30 is fixed, via a one-way clutch 31.

A pinion 36, which is connected to a piston rod 34 of an air cylinder 33 and meshes with a reciprocating rack 35, meshes with the gear 32.
Is operated to move the rack 35 in the direction of arrow D to rotate the pinion 36 in the direction of arrow E, and the pulley 30 is moved in the direction of arrow F via the gear 32 meshing with the pinion 36 and the one-way clutch 31. Rotate the endless belt 2
9 is run in the direction of arrow G, and the loaded books 11 are moved forward (in the direction of arrow G).

A sensor 38 is provided in front of and behind the air cylinder 33.
39 is attached, and when the air cylinder 33 is operated, it is detected that the piston rod 34 is surely operated, and the detection signal is transmitted to the control device 10.

A micro switch 40 is provided below the front end of the endless belt 29, and the endless belt 29 is
The book 11 at the top of the micro switch 40
When the position is reached, the micro switch 40 is pressed to send a signal to the control device 10 to stop the operation of the air cylinder 33, so that the leading book 11 always stops at a predetermined position. It is controlled.

A female connector 41 is fixed on the front surface of the magazine 4, and a male connector 44 is arranged on a piston rod 43 of an air cylinder 42 which is fixed to the pickup device 5 so as to face the female connector 41. The male cylinder 44 is connected to the female connector 41 of the predetermined magazine 4 by operating the air cylinder 42, and electricity and compressed air as a power source of the magazine 4 are supplied to the magazine 4. .

This does not always supply electricity and compressed air to a large number of all magazines 4, but supplies electricity and compressed air to the magazine 4 which is required only when operating, thereby eliminating redundant equipment. This is to reduce the facility cost and eliminate waste of electricity and compressed air.

Sensors 45 are provided in front of and behind the air cylinder 42.
46 is mounted, and when the air cylinder 42 is operated, it is detected that the piston rod 43 is reliably operated, and the detection signal is transmitted to the control device 10 to transmit the female connector 4
1 and the male connector 44 are configured to be confirmed and controlled to be surely connected.

The pick-up device 5 is for picking up the books 11 one by one from the magazine 4, is mounted on the pick-up conveying device 6, and picks up the pick-up device 5 in the arrow H or I direction and the arrow J or K direction. It is configured to be transported to and stopped at the front position of the magazine 4 in which the books 11 to be transported and taken out are stored.

A take-out arm 50 is fixed to a rotary shaft 49 of a book separation motor 48 arranged in the pickup device 5, and the magazine 4 is attached to the tip of the take-out arm 50.
A suction cup 52 is attached via a spring 51 so as to face the first book 11 stored in the book, and after the book 11 to be taken out is adsorbed by the suction cup 52, the book separation motor 48 is rotated in the arrow L direction. The take-out arm 50 is rotated in the direction of the arrow M to separate the leading book 11 and load it on an endless belt 58 described later.

On both the left and right sides of the take-out arm 50, a pair of endless belts are provided between a pair of pulleys 55 fixed to the rotary shaft 54 of the feed motor 53 and a pair of pulleys 56 arranged so as to face the pulleys 55. The belt 58 is wound around, and by rotating the feed motor 53 and rotating the pulley 56 in the arrow L direction, the endless belt 58 is caused to run in the arrow N direction to convey the loaded books 11. There is.

A pair of photosensors 59, 60 for receiving the light sent from the sensor 59 by the sensor 60 are mounted near the sending side pulley 55, and the endless belt 5
The book 11 conveyed by 8 blocks the light from the sensor 59 to detect that the book 11 has been conveyed, and transmits the detection signal to the control device 10.

In front of the endless belt 58, there is arranged a book receiving box 61 for storing the book 11 conveyed by the endless belt 58 by dropping it in the direction of arrow O.

The bottom of the book receiving box 61 has an opening / closing motor 62.
A pair of bottom plates 64 fixed to a rotating shaft 63 of the book are provided so as to be openable and closable. By rotating the opening / closing motor 62, the pair of bottom plates 64 are rotated to open the bottom of the book receiving box 61 to open the book. 11 is dropped in the direction of arrow P and stored in the sorting box 8.

A pair of photosensors 65 and 66 are provided above the book receiving box 61 to detect that the book 11 is loaded from the endless belt 58 by cutting off the light from the photosensor 65. Further, a reflection type photo sensor 68 is arranged about 8 cm above the bottom of the book receiving box 61, and this is detected when the height of the books 11 stored in the book receiving box 61 is 8 cm or more. A detection signal is transmitted to the control device 10 so that the book 11 is loaded into the sorting box 8.

The pick-up transfer device 6 is for moving the pick-up device 5 back and forth to a predetermined position of the magazine 4 or to the position of the sorting box 8 from the magazine 4 in FIG. Each of the storage shelves 3 is provided with one unit, and is driven by a servomotor (not shown) or the like to move in the vertical and horizontal directions of the storage rack 3 and can be stopped at any position of the storage rack 3. Was done, so-called 2
It is an axial robot.

Then, in accordance with a command from the control device 10, the servo motor is rotated to move the pickup device 5 to a position facing the magazine 4 accommodating the book 11 to be taken out, and stopped at that position. .

The sorting box 8 is a book 11 which is different for each bookstore.
Is a box for sorting and storing the sorting boxes, and a sorting box conveying device 9 with a barcode label printed with a barcode corresponding to each bookstore is attached to the outside and the upper side is opened.
Is carried to a predetermined storage rack 3.

The sorting box transport device 9 includes a plurality of sorting boxes 8
For transporting the sorting box 8 to the shipping section 78 after transporting all the necessary books 11 in front of the storage shelf 3 in which the books 11 to be stored in the sorting box 8 are stored. 1 and 12, the conveyors 69, 7 laid so as to be able to pass in front of the storage shelves 3 in FIG.
0, and in the embodiment shown in FIG. 12, the first block 2A, the second block 2B, the third block 2C and the fourth block 2A.
A conveyor 69 is laid so as to pass between a plurality of storage shelves 3 arranged to face each other in the block 2D, and the conveyor 69 is connected to a conveyor 70 arranged so as to surround the storage device 2. The sorting box 8 can be transported in front of the storage shelf 3 in which books 11 to be taken out are stored by following an arbitrary path.

Further, a conveyance check sensor 71 and an end check sensor 72 are provided at the junction of the conveyor 70 and the conveyor 69, respectively, and a sorting box check sensor 73 is provided at the downstream end of the conveyor 70. Sorting box 8 conveyed by conveyor 70
Whether the books 11 to be stored in the sorting box 8 are in the storage shelves 3 of the first block 2A, the second block 2B, the third block 2C or the fourth block 2D. Is configured to.

The end check sensor 72 checks whether or not the predetermined book 11 has been normally taken out in the first block 2A, the second block 2B, the third block 2C or the fourth block 2D, and the sorting box check sensor 73.
In (1), it is checked whether or not the sorting box 8 has normally passed all the predetermined routes and whether or not it should be conveyed to the next storage device 2 similarly configured.

Further, a supply / conveyance path 80 for books 11 is provided so as to pass behind the plurality of arranged storage shelves 3, and when the number of books 11 stored in the storage shelves 3 becomes insufficient, The magazine 4 accommodating the book 11 can be supplied to the storage shelf 3, or the book 11 can be supplied to the magazine 4 in which the book 11 is to be accommodated.

The control device 10 is a so-called computer device composed of a host computer (not shown) and a terminal computer 77, and the host computer is an input device for inputting a book name, quantity, etc. ordered from a bookstore. (Not shown), is electrically connected to the transport check sensor 71, the end check sensor 72, the sort box check sensor 73, etc. of the sorting box transport device 9, and sorts to the storage shelf 3 in which the books 11 to be taken out are stored. In order to efficiently transport the boxes 8, comprehensive control such as control of the transport order and transport route of the sorting boxes 8, inventory management of the books 11, slip management, etc. is performed.

The terminal computer 77 is provided in each of the storage shelves 3, and is connected to the pickup carrier device 6, the pickup device 5, and various sensors and output devices of the magazine 4 of the storage shelves 3, and the pickups. By controlling the carrier device 6, the pickup device 5 and the magazine 4, the required number of books 11 to be taken out are taken out from the magazine 4 and stored in the sorting box 8.

The present invention is configured as described above,
The operation will be described below. In FIG. 14, when the order slip for the book 11 is sent from the bookstore 74 to the publishing agency, the publishing agency stores the ordered bookstore name, the book 11 name,
The number of books and the like are input to the order receiving system 75.

When the input information is transmitted to the automatic picking and shipping apparatus 1, in the supply section 76 in FIGS. 12 to 14, the sorting box 8 is fed to the sorting box transporting apparatus 9 in step S ₁ , and then the step is carried out. bar code determined for each bookstore 74 S ₂ was printed a bar code label (not shown) as well as attached to the sorting box 8, the conveyance path of the sorting box 8 is instructed in step S _3.

The sorting box 8 is transported in accordance with the transport path instructed by the conveyor 70 and the conveyor 69 in step S ₄ , but a plurality of sorting boxes 8 can be simultaneously supplied to control the transportation.

For example, 100 sorting boxes 8 are simultaneously supplied to the automatic picking and shipping apparatus 1. For efficient transportation, for example, books 11 to be taken out are stored in the storage rack 3 on the downstream side of the sorting box transportation apparatus 9. Sorting box 8
Is controlled so as to be preferentially supplied, and in step S ₅ , the sorting box 8 arrives at the designated storage rack 3 in which the books 11 to be taken out are stored.

The transport control of the sorting box 8 will be described in detail with reference to FIG. 12. The sorting boxes 8 supplied to the conveyor 70 in the ascending order of transport are transported by the conveyor 70 in the direction of arrow a and taken out to the first block 2A. As a general rule, the sorting box 8 in which the book 11 to be stored is not stored in the arrow b in order to skip the first block 2A and convey it to the next block.
When the number of sorting boxes 8 transported in the direction of arrow b is large, some of the sorting boxes 8 are transported in the direction of arrow c in order to avoid congestion and efficiently transport them. Controlled by 10.

On the other hand, the sorting box 8 in which the books 11 to be taken out are stored in the first block 2A is conveyed in the direction of arrow c, and is conveyed to the sorting box 8 by the conveyance check sensor 71 provided at the branch point with the conveyor 69. Books to store 1
1 is in the storage shelf 3 of the first block 2A,
When the sorting box 8 is transferred to the conveyor 69 and conveyed in the direction of arrow d, and it is determined that there is no predetermined book 11 in the storage shelf 3 of the first block 2A, the conveyor 70 moves the next second in the direction of arrow e. It is transported to block 2B.

The sorting box 8 conveyed to the first block 2A by the conveyor 69 is controlled by the controller 10 based on the read bar code, and the book 1 to be taken out.
It stops at a predetermined position in front of the storage shelf 3 in which 1 is stored.

Then, in step S ₆ , the specified number of books 11 are taken out from the magazine 4 and stored in the sorting box 8. The taking out will be described in detail with reference to FIGS. 1, 3 and 4 to 11. Then, when the sorting box 8 is stopped at a predetermined position of the designated storage rack 3, the pickup transport device 6 starts to operate and moves the pickup device 5 in the directions of arrows H and J to store the book 11 to be taken out. The magazine 4 is stopped at a position facing the magazine 4 (FIG. 4).

Then, in FIG. 5, the air cylinder 42
Is operated to project the piston rod 43 in the direction of arrow Q, connect the male connector 44 to the female connector 41 to supply electricity and compressed air to the magazine 4, and the micro switch 40 is pressed by the book 11 It is detected that the book 11 is in a normal predetermined position.

Further, the pickup device 5 rotates the book separating motor 48 to rotate the take-out arm 50 in the direction of the arrow R to face the book 11 and prepare for taking out the book 11.

In FIGS. 3 and 6, the electromagnet 21 is operated to swing the swing plate 16 in the direction of arrow A, and the second book 11 from the beginning is pressed by the presser 19 to prevent the book from falling.

Then, the electromagnet 23 is energized and the shutter 26
Is rotated in the direction of arrow C to allow the book 11 to move forward, and at the same time, the spring 28 is rotated while abutting on the top of the leading book 11 to tilt the leading book 11 forward and the suction cup 52. The first book 11 is separated by suction.

In FIG. 7, the energization of the electromagnet 23 is stopped, the shutter 26 is rotated in the direction of arrow S to return to the original position, and the book separation motor 48 is rotated in the opposite direction to take out. The book 11 adsorbed by rotating the arm 50 in the direction of arrow M is loaded on the endless belt 58.

In FIG. 8, the books 11 loaded by running the endless belt 58 by rotating the feed motor 53.
Is conveyed in the direction of the arrow N, the energization of the electromagnet 21 is stopped, and the presser foot 19 is raised in the direction of the arrow T to move the book 11.
Release the pressure of.

Next, referring to FIG. 9, the air cylinder 33
Of the piston rod 34 is projected in the direction of arrow D to rotate the pinion 36 meshing with the rack 35 in the direction of arrow E,
Gear 32 meshing with pinion 36, one-way clutch 3
1, the pulley 30 is rotated in the direction of arrow F to run the endless belt 29 in the direction of arrow G, and is moved in the direction of arrow G until the loaded leading book 11 presses the micro switch 40, and then air The piston rod 34 of the cylinder 33 is pulled in the direction of arrow U.

At this time, the pinion 36 and the gear 32 are
Although rotating in the opposite direction to the above, the pulley 30 does not rotate by the action of the one-way clutch 31, and therefore, when the air cylinder 33 operates in the direction of arrow U, the endless belt 29 does not move.

The same book 11 is taken out from the magazine 4 by performing the above-described operation a necessary number of times. When the specified book 11 is taken out by the specified number, the air cylinder 42 is moved in the arrow V direction. It is operated to disconnect the male connector 44 and the female connector 41 to stop the supply of electricity and compressed air to the magazine 4.

When a plurality of types of books 11 designated are stored in the same storage rack 3, the pickup carrier device 6 is operated to move the pickup device 5 to the arrow H or I.
Book 1 required by moving it in the direction and arrow J or K direction to a position facing the next magazine 4 in which the book 11 to be taken out is stored, and operating in the same manner as described above.
Take out the required number of 1.

In FIG. 10, the pickup device 5 accommodating the books 11 taken out from the storage rack 3 is moved in the directions I and K by the pickup conveying device 6 and conveyed to the sorting box 8, and the opening / closing motor 62 in FIG. To rotate the pair of bottom plates 64 to rotate the book receiving box 61.
The bottom of the book is opened, and the book 11 is dropped in the direction of arrow P to be stored in the sorting box 8.

In FIG. 12 and FIG. 14, when the taking out of the designated book 11 from one of the storage shelves 3 is completed, the conveyor 69 transfers to the storage shelf 3 in which the book 11 to be taken out next is stored in step S ₇ . The sorting box 8 is conveyed, and the above-mentioned take-out work is repeated.

When the take-out work in the first block 2A is completed, the sorting box 8 is moved to the conveyor 70 of the first block 2A.
The end check sensor 72 provided at the confluence point with
It is checked whether or not the take-out in the block 2A is normally completed, and the conveyor 70 indicates to the next storage shelf 3 by the arrow b.
In the same direction, and then the second block 2
B, storage shelves 3 of the third block 2C and the fourth block 2D
The designated number of the designated books 11 are taken out from the designated number.

In step S ₈ , when the sorting box check sensor 73 checks that the sorting box 8 has passed through the designated route and all the books 11 have been taken out, the sorting box 8 is sent to the shipping section 78. After being transported, the sorting slip is issued in step S ₉ , is packed in step S ₁₀ , and is shipped to the bookstore 74 in step S ₁₁ .

12 and 13, when the books 11 stored in the storage rack 3 are insufficient, the magazine 4 storing the supplementary books 11 is transported to the predetermined storage rack 3 by the supply transport path 80. Then, the magazine 4 is replaced, or the book 11 is supplied to the magazine 4 from the rear of the storage shelf 3 to be replenished.

In the above embodiment, the article is described as the book 11, but the article is not limited to the book 11, and any article having substantially the same shape may be used. For example, an article based on a rectangular parallelepiped may be any article such as medicine, food, cosmetics, CD (compact disc), video tape and the like.

[0088]

As described above, according to the present invention, a magazine containing a large number of books of the same type as described above is prepared, a plurality of the magazines are three-dimensionally stored in a storage rack, and a pickup device is moved so that the magazine is required. Since the required number of books are taken out and stored directly in the sorting box prepared for each bookstore for sorting, there is an effect that the primary sorting and secondary sorting of books can be performed at the same time, and as a result, sorting work efficiency is improved. The number of books can be sorted in a work place that is half the size of the conventional work place without separately preparing a storage place and a sorting work place. There is an effect that the space efficiency can be improved to about twice.

Further, since the necessary books are automatically taken out from the magazine by the pickup device and directly stored in the sorting box prepared for each bookstore, the frequency of handling the books can be reduced and the books can be prevented from being damaged. There is an effect that the number of workers can be significantly reduced by eliminating manual sorting work.

Further, a plurality of storage shelves for storing magazines three-dimensionally are arranged as a storage device, and a sorting box transporting device for transporting sorting boxes prepared for each bookstore is configured to be able to pass in front of the plurality of storage shelves. Then, while controlling the transport order and transport route of the sorting boxes at the same time, a plurality of books are transported at the same time and the required number of books are taken out from the magazine and stored directly in the sorting box. There is an effect that it can be automated and run for 24 hours,
Further, as a result, there is an effect that the efficiency of the sorting work can be significantly improved.

Further, a plurality of storage shelves for three-dimensionally storing magazines are arranged as a storage device, and a pickup device and a pickup transport device are provided for each storage rack to take out a required number of books from the magazine and sort them directly. A conveyor is laid so that it can be stored in a box and can pass in front of the plurality of storage shelves, and a plurality of sorting boxes printed with a bar code determined for each bookstore are simultaneously taken out by the conveyor according to the bar code. Since it controls to transfer only the books that should be stored to the storage shelves, there is an effect that the picking device can be added in units of storage shelves, and as a result, the storage shelves can be freely set without being restricted by the structure of the building. It is possible to arrange, for example, an epoch-making effect that the automatic picking and shipping device can be arranged over several floors or over another building. It is.

Furthermore, even if some of the picking devices have a failure due to the above-mentioned configuration, the rest of the picking devices can be operated by stopping only the failed picking device. The effect is that it can be minimized.

Further, since a large number of books of the same type are stored in magazines each independently provided with a separating mechanism and a plurality of such magazines are aligned and three-dimensionally stored in a storage shelf to form a storage device, it is commercially available. The storage device can be manufactured at low cost using the shelves, and even if the size of the book is changed, it is possible to flexibly deal with books of various sizes simply by preparing a magazine according to the size. is there.

Further, since the magazine is provided with the detecting device for detecting the stock quantity of the books, there is an effect that the actual stock quantity can be grasped at all times, and as a result, the stock management can be completely carried out to prevent the stock shortage. Then, there is an effect that the customer's request can be promptly responded to.

Also, books of the same type are stored in a magazine,
Since the magazines are three-dimensionally stored in the storage shelves, it is possible to easily replenish the books that are insufficient in number simply by exchanging the magazines together.

Further, a sorting box having a bar code label attached thereto is conveyed in accordance with the bar code by a conveyor laid so as to be able to pass in front of a plurality of storage shelves arranged.
We took out the required number of books from the magazine, stored them, and transported the sorting box where the required books were stored to the shipping department that sends them to the customer, so the sorting of the books to the shipping is completely automatic. It is possible to carry out the above-mentioned processing, and as a result, it is possible to sort and ship an extremely large number and a large number of books in a short time without sorting errors.

[Brief description of drawings]

FIG. 1 is a perspective view of an essential part of an automatic picking and shipping apparatus.

FIG. 2 is a perspective view showing a mechanism of a magazine and a pickup device.

FIG. 3 is a schematic mechanism diagram showing a mechanism of a magazine and a pickup device.

4 to 11 are related to the operation description of the automatic picking and shipping apparatus, and FIG. 4 is a schematic diagram showing a state in which the pickup apparatus is moved to a position facing a predetermined magazine.

FIG. 5 is a schematic view of a mechanism showing a state in which a connector of a pickup device is connected to a magazine to prepare for taking out.

FIG. 6 is a schematic view of a mechanism showing a state where a book is separated from a magazine.

FIG. 7 is a schematic mechanism view showing a state where a book is taken out by a suction cup of a takeout arm.

FIG. 8 is a mechanism schematic diagram showing a state in which a picked-up device conveys a taken-out book.

FIG. 9 is a mechanism schematic diagram showing a state in which one book stored in a magazine is moved by the book transfer mechanism.

FIG. 10 is a schematic diagram showing a state in which a taken-out book is conveyed from a magazine position to a sorting box.

FIG. 11 is a schematic view showing a state in which a book is delivered from a pickup device to a sorting box.

FIG. 12 is a plan view showing the overall configuration of an automatic picking and shipping apparatus.

FIG. 13 is a view showing the operation of the automatic picking and shipping device.
It is a top view similar to.

FIG. 14 is a flowchart showing a routine of the automatic picking and shipping apparatus.

[Explanation of symbols]

 1 Automatic Picking and Shipping Device 2 Storage Device 3 Storage Shelf 4 Magazine 5 Pickup Device 6 Pickup Transport Device 8 Sorting Box 9 Sorting Box Transport Device 10 Control Device 11 Book as an Example of Item 12 Separation Mechanism 69 Conveyor 70 Conveyor 78 Shipping Section

Claims (5)

[Claims] 1. A storage shelf for arranging a plurality of magazines, each of which stores a large number of articles of the same type, in a three-dimensional manner, and a required number of the articles from the required magazine, which is arranged so as to face the storage shelf. A pick-up device for taking out the pick-up device; and a pick-up carrying device for carrying the pick-up device back and forth between the magazine in which the articles to be taken out are stored and a sorting box for sorting and storing the picked-up articles. And automatic picking and shipping device. 2. A storage device configured by arranging a plurality of storage shelves for arranging a plurality of magazines accommodating a large number of articles of the same type and storing them three-dimensionally, and a storage device capable of passing in front of the plurality of storage shelves And a sorting box transporting device that sorts and stores the articles taken out from the magazine and transports the sorting boxes to the storage shelf that stores the articles to be taken out, and a sorting box transporting device that faces the storage shelf. At least a plurality of pick-up devices that are provided and take out the required number of the articles from the magazine, and a pick-up conveyance device that reciprocates between the magazine in which the articles to be taken out of the pick-up device are stored and the sorting box. And a sorting box transport control for transporting the sorting box to the required storage rack, including control of the transport order and transport route of the sorting box. And a control device for instructing the pick-up and conveying device to take out the articles to be taken out and taking out the required number of the required articles from the magazine and storing them in the sorting box. Picking and shipping device. 3. A storage device configured by arranging a plurality of storage shelves for arranging a plurality of magazines storing a large number of articles of the same type and storing them three-dimensionally, and a bar code decided for each customer. Only a plurality of sorting boxes for sorting and storing the articles taken out from the magazine to which the printed barcode label is attached, and the storage shelves storing the articles from which the sorting boxes are to be taken out according to the barcode A sorting box transporting device that is transported by a conveyor laid so as to be able to pass in front of the plurality of storage shelves, and a pickup device that is arranged to face the storage shelves and that takes out the required number of the articles from the required magazine, A pickup carrier device for reciprocating between the magazine in which the articles to be taken out of the pick-up device are stored and the sorting box; And a sorting box transport control for transporting the sorting boxes to the required storage shelves, including control of the transport order and transport path of the plurality of sorting boxes, and commanding the pickup device and the article to be taken out to the pickup transport device. An automatic picking and shipping apparatus, comprising: a control device that controls the taking out of a required number of the required articles from a magazine and stores them in the sorting box. 4. A three-dimensional magazine in which a plurality of articles of the same type are housed and each of which is provided with a separating mechanism for separating the articles into a pickup device while separating the articles one by one and a plurality of the magazines are aligned. A storage device configured by arranging a plurality of storage shelves to be stored in, and a plurality of sorting boxes configured to pass the front of the plurality of storage shelves and sort and store the articles taken out from the magazine. A sorting box transporting device that transports the articles to be taken out to the storage shelf, a pickup device that faces the storage shelf and takes out the required number of the articles from the required magazine, and the pickup device. Of the at least a plurality of the sorting boxes, and a pick-up transporting device for reciprocating between the magazine in which the articles to be taken out are stored and the sorting box. A sorting box transport control for transporting the sorting box to a required storage shelf, including control of a transport order and a transport route, and commanding the pick-up device and the article to be taken out to the pick-up transport device, and the necessary article from the magazine. An automatic picking and shipping apparatus, comprising: a control device for controlling the taking-out control of taking out a required number of pieces and storing them in the sorting box. 5. A three-dimensional magazine in which a plurality of articles of the same type are housed and each of which is provided with a separation mechanism for separating the articles into a pickup device while separating the articles one by one and a plurality of the magazines are aligned. A storage device configured by arranging a plurality of storage shelves to be stored in and a bar code label printed with a bar code determined for each customer is attached and the articles taken out from the magazine are sorted and stored. A plurality of sorting boxes to be carried, and a necessary amount of the sorting boxes are conveyed by a conveyor laid so as to be able to pass in front of the plurality of storing shelves only in the storing shelves in which the articles to be taken out of the sorting boxes are stored. A sorting box transporting device that transports the sorting box in which the articles have been stored to a shipping unit that sends the sorting box to the customer; A pickup device for picking up a required number of the articles from the magazine, and a pickup transport device for reciprocating between the magazine storing the articles from which the pickup device is to be stored and the sorting box,
A sorting box transport control for transporting at least a plurality of the sorting boxes and a transport route control for transporting the sorting boxes to the required storage shelves, and commanding the pickup device and the article to be taken out to the pickup transport device, An automatic picking and shipping apparatus, comprising: a control device that controls the taking out of a required number of the required articles from a magazine and stores them in the sorting box.