JPH1053334A - Picking system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To independently conduct pressing of the top surface of a load picked up with a scooping member by holding members of the scooping system and the top surface of a load positioned in the back side of a load scooped with a scooping member by a slip-preventing member. SOLUTION: At an end of an upper arm 1, a slip-preventing member 5 which is provided. The member 5 ascends or descends to approach or separate with respect to the upper arm 1. At the upper arm 1, a slidable guide 7 is provided in direction of longitude, and the slidable guide 7 is attached with a slidable unit 8 slidably. At the slidable unit 8, the holding members and a slantingly movable arm 10 are attached, and these holding members and a slantingly movable arm are ascended or descended to approach or separate with respect to the upper arm 1, and further the slantingly movable arm 10 is advanced or retracted along the upper arm 1. At the end of the lower arm 2, a scooping member 12 which picks up load one by one among the pile of loads piled in multi trains and steps in alignment is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a picking device for picking up packages stacked in a plurality of rows and a plurality of stages on a pallet one by one and transferring them to a conveyor or the like.

[0002]

2. Description of the Related Art A scooping member which enters a lower surface of a luggage to scoop up luggage and removes luggage which is scooped by the scooping member to remove luggage stacked in a plurality of rows and a plurality of stages one by one. There has been proposed a picking device including a displacement preventing member that presses the upper surface of the load located behind the load from above, and a tilt arm that presses the upper side of the load on the scooping member side and tilts the load scooped by the scooping member. ing. In addition, the picking device is connected to a transport conveyor that receives the load scooped by the scooping member and transports the load to a predetermined position.The transport conveyor transports the received load to a predetermined position, and transfers the load at the predetermined position. It is designed to be released.

[0003]

However, when the picked-up device as described above moves the picked-up luggage to the conveyor side by the scooping member, even if the luggage has a width larger than the width of the scooping member, In order to prevent the load from dropping off the scooping member, the slip stopper is moved to the side of the load scooped by the scooping member, and the slip stopper presses the upper surface of the load on the scooping member. Therefore, there is a problem that operation control of the picking device becomes complicated.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the invention according to claim 1 is a picking device for picking up one by one a plurality of packages stacked in a plurality of rows and a plurality of stages. A scooping member for entering and scooping an article, a shift preventing member for pressing an upper surface of the load located behind the load to be scooped by the scooping member, and a holding member for pressing and holding the upper surface of the load scooped by the scooping member are provided. The displacement preventing member and the holding member move independently along the direction in which the scooping member advances and retreats. According to the first aspect of the present invention, in the direction along the direction in which the scooping member advances and retreats, the shift preventing member and the holding member can be moved separately, so that the shift preventing member presses the upper surface of the luggage scooped by the scooping member. The pressing of the upper surface of the load located behind the load scooped by the scooping member by the holding member can be performed separately. For this reason, it is possible to reduce the time required for taking out the load as compared with a case where the pressing of the upper surface of the load on the scooping member and the pressing of the upper surface of the load located behind the load are performed by the shift preventing member. .

[0005] Further, according to the invention of claim 2, the displacement preventing member comprises:
It is attached to an upper arm that is movable in a direction along the direction of movement of the scooping member, and the holding member is provided on a sliding unit that is slidably attached to the upper arm along the longitudinal direction of the upper arm. I have. According to the invention of claim 2, the upper arm to which the displacement preventing member is attached has
By attaching the sliding unit provided with the holding member slidably, the displacement preventing member and the holding member can be supported by the common upper arm member. This simplifies the structure of the device for separately moving the displacement preventing member and the holding member in the direction along the direction of movement of the scooping member.

According to a third aspect of the present invention, the sliding unit advances to the side of the luggage stacked in a plurality of rows and a plurality of stages, and presses the upper side of the side of the scooping member side of the luggage to be scooped by the scooping member. A tilt arm for tilting the load is attached. According to the invention of claim 3, when the luggage is scooped by the scooping member, the sliding unit is slid to the luggage side along the upper arm and then the upper side of the luggage scooped by the scooping member is pressed by the tilting arm. Therefore, the advance stroke of the tilting arm can be shortened, and the tilting arm can reliably press the upper portion of the side surface of the load on the side of the scooping member.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 1 is a perspective view illustrating a configuration of a picking device according to an embodiment of the present invention. The picking device P includes an upper arm 1 and a lower arm 2. The upper arm 1 and the lower arm 2 are provided with guide portions 3a and 3b, respectively, and the guide portions 3a and 3b are engaged with guide rails 4a and 4b attached to columns (not shown). Then, the upper arm 1 and the lower arm 2 individually slide in the horizontal direction along the guide rails 4a and 4b. In addition, the upper arm 1 and the lower arm 2 can be freely moved up and down separately along columns (not shown).

At the end of the upper arm 1, a shift preventing member 5 and a stopper member 6, which will be described later, are provided.
The displacement preventing member 5 is swingably attached to the rod end of the first cylinder C1.
Is attached to the tip of the upper arm 1. As a result, the displacement preventing member 5 moves up and down in a direction approaching and separating from the upper arm 1. On the other hand, the stopper member 6 is attached to be able to move up and down along the elevating guide 6a.

The upper arm 1 is provided with a slide guide 7 along the longitudinal direction, and a slide unit 8 is attached to the slide guide 7. The sliding unit 8 freely slides on the sliding guide 7 upon receiving a drive from a drive source (not shown). A holding member 9 and a tilt arm 10 described later are attached to the sliding unit 8.

The holding member 9 is swingably attached to the rod end of the second cylinder C2, and the second cylinder C2 is directly attached to the sliding unit 8. On the other hand, one end of the tilting arm 10 has the support bracket 1.
A grip 10a is provided at the other end of the third cylinder C3 provided on the front end of the rod and presses the luggage at the other end. The third cylinder C3 is attached to the support bracket 11 so that the axial direction of the third cylinder C3 is along the installation direction of the upper arm 1, and the support bracket 11 itself is attached to the rod tip of the fourth cylinder C4. . Then, the fourth cylinder C4 is directly attached to the sliding unit 8 with the fourth cylinder C4.

As described above, the holding member 9 and the tilt arm 10
Is provided on the sliding unit 8, the holding member 9 moves up and down in the direction approaching and separating from the upper arm 1 by the operation of the second cylinder C2, and the tilting arm 10
The cylinder moves up and down in a direction approaching and separating from the upper arm 1 by the operation of the cylinder C3, and advances and retreats in a direction along the upper arm 1 by the operation of the fourth cylinder. still,
The sliding unit 8 is provided with a guide portion 8a along the direction in which the tilt arm 10 moves up and down. In the guide part 8a,
The engaging portion 11a of the support bracket 11 is engaged, and the support bracket 11 moves up and down while being guided by the guide portion 8a. Thus, the tilt arm 10 can be moved up and down without swinging.

At the distal end of the lower arm 2, a scooping member 12 for scooping the luggage piled up in a plurality of rows and a plurality of stages one by one, and a luggage member 12 for transporting the luggage scooped by the scooping member 12 to a transportation line 15 described later One conveyor 13 is provided. or,
The scooping member 12 itself is also provided with a second conveyor 14, and the luggage picked up by the scooping member 12 is transported by the second conveyor 14 to the first conveyor 13 side.

At the rear end of the first conveyor 13, there is provided a transport line 15 for receiving the packages transported by the first conveyor 13 and discharging the packages from the picking device P,
A pusher 16 is provided for pushing out the load conveyed to the rear end of the conveyor 13 toward the transfer line 15.
The pusher 16 is attached to the rod end of the fifth cylinder C5.

Next, the procedure of scooping up the luggage in the picking device P of the present embodiment will be described with reference to FIGS. First, the picking device P (see FIG. 2A) which stands by at the stand-by position causes the luggage W1 of the luggage W1, W2 placed on the luggage placing portion 17 such as a pallet to be loaded.
(Hereinafter, of the luggage W1 and W2 placed on the luggage placement unit 17, the luggage W1 located on the picking device P side is simply referred to as “front baggage W1”, and the luggage is viewed from the picking device P side. The luggage located behind W1 is simply referred to as "back luggage W
2) will be described.

First, based on data (hereinafter simply referred to as “package data”) such as the size and number of packages, which are input in advance to an operation control unit (not shown) of the picking device P,
The upper arm 1 is raised to a predetermined position. Then, based on the luggage data, the upper arm 1 advances to a position where the slip-preventing member 5 faces the front luggage W1 on the upper surface of the back luggage W2 (see FIG. 2B).

Next, the first cylinder C1 is operated,
The deviation preventing member 5 is lowered until the bottom surface of the deviation preventing member 5 comes into contact with the upper surface of the back side luggage W2. The actual height of the baggage is obtained from the amount of lowering of the deviation preventing member 5 and the baggage data, and the position of the grip portion 10a of the tilting arm 10 attached to the upper arm 1 via the sliding unit 8 is determined as the front baggage. The upper arm is moved up and down to a position facing the upper side of W1.

When the operation of the displacement preventing member 5 is completed, the grip portion 10a of the tilt arm 10 is
Until it reaches the position facing the upper front side of the load W1
The fourth cylinder C4 moves up and down. Then, tilting arm 1
The sliding unit 8 slides toward the luggage placing portion 17 to a position where 0 and the front side surface of the front luggage W1 are close to each other. After the sliding of the sliding unit 8 is stopped, the third cylinder C3 is operated to advance the tilting arm 10 toward the front load W1 (see FIG. 2C). The tilting arm 10 is provided with a sensor (not shown) for detecting the contact pressure between the grip portion 10a and the front side load W1.

When the contact pressure between the grip portion 10a and the front side surface of the front baggage W1 is detected during a period from the start of the operation of the third cylinder C3 to the elapse of a predetermined time, the operation of the third cylinder C3 is stopped. At this time, the pressing force on the front side surface of the front luggage W1 by the grip portion 10a is also:
The data is input to the operation control unit as luggage data. After the third cylinder C3 stops, the actual position of the front side of the front side load W1 is measured from the movement amount of the tilt arm 10 and the load data.

If contact between the grip portion 10a and the front side surface of the front side load W1 is not detected until a predetermined time elapses from the start of the operation of the third cylinder C3, the tilt arm 10 is temporarily moved back to the original position. After retreating to the position, the sliding unit 8 is further moved by a predetermined amount, and
To the front luggage W1. Hereinafter, the same operation is repeated several times until the sensor detects the contact pressure between the grip portion 10a and the front side surface of the front side luggage W1.

When a sensor (not shown) of the tilt arm 10 detects a contact pressure between the grip portion 10a and the front side surface of the front luggage W1, the tilt arm 10 rises in a direction approaching the upper arm 1, and the front luggage W1 is moved. It is tilted (see FIG. 3A), and the lower surface of the front side package W1 and the package placing section 1
7, a gap is generated. In the state where the tilt arm 10 is raised, a sensor (not shown) of the tilt arm 10
When the contact pressure between the grip portion 10a and the front side surface of the front luggage W1 is no longer detected, the operation control device determines that the front luggage W1 has dropped from the grip portion 10a, and temporarily suspends various operations of the picking device P. I do.

In a state where the front luggage W1 is tilted, the tip of the scooping member 12 attached to the front end of the lower arm 2 is set on the basis of the measured data of the position of the front side of the actual front luggage W1. It is pushed under the front-side luggage W1 (see FIG. 3B). When the scooping member 12 is pushed in, the tilting arm 10 retreats, and the contact pressure between the grip portion 10a and the front side surface of the front side load W1 is released.

A sensor (not shown) for detecting the presence or absence of a load on the scooping member 12 is provided on the upper surface of the tip of the scooping member 12. When the sensor detects that there is no luggage in the state where the tilting arm 10 is retracted as described above, the operation control device determines that the front luggage W1 has not been scooped by the scooping member 12, and the picking device P Pauses various operations of.

With the tip of the scooping member 12 pushed under the luggage W1 as described above, the tilt arm 1
When 0 is retracted, the fourth cylinder C4 operates until the holding member 9 comes into contact with the upper surface of the front side load W1 (FIG. 3).
(C)). Then, the lower arm 2 advances toward the near-side luggage W1 until the entire scooping member 12 is completely pushed under the near-side luggage W1 (see FIG. 4A).

When the upper surface of the front luggage W1 is pressed by the holding member 9 in a state where the front luggage W1 is completely scooped by the scooping member 2, the sliding unit 8 retreats and the scooping member 12 retreats. Are performed simultaneously. At this time, the scooping member 1
The second conveyor 14 is driven, and the front-side luggage W1 on the scooping member 12 is transported to the first conveyor 13 (see FIG. 4B). Retreating and scooping member 1 of sliding unit 8
2 is completed, and the conveyance of the front-side luggage W1 to the first conveyor 13 side by the second conveyor 14 is completed, the shift preventing member 5 and the holding member 9 are raised to the original positions (FIG. 4).
(C)).

Thereafter, the upper arm 1 advances by a predetermined amount in order to scoop the rear baggage W2 as described later, and the front baggage W1 transferred from the scooping member 12 to the first conveyor 13 is It is transported to the junction of one conveyor 13 and transport line 15. Then, at the merging section, the material is discharged from the first conveyor 13 to the transport line 15 by the pusher 16.

Next, the operation of the picking device P when scooping the back luggage W2 will be described. When scooping the back side luggage W2, a stopper member 6 is used instead of the deviation preventing member 5. First, the upper arm 1 is raised to a predetermined position based on luggage data previously input to an operation control unit (not shown) of the picking device P. And
Based on the luggage data, the upper arm 1 advances to a position where the deviation preventing surface 6a of the stopper member 6 exceeds the rear side surface of the back luggage W2 (see FIG. 5A).

Next, by driving a drive source (not shown),
The stopper member 6 is moved to a position where the deviation preventing surface 6a of the stopper member 6 and the rear side surface of the back side luggage W2 overlap.
Is lowered. The operation procedure after the lowering of the stopper member 6 is the same procedure as in the case of the above-mentioned front side luggage W1.

FIG. 6 is a perspective view showing the structure of a picking device according to a second embodiment of the present invention. The picking device P2 shown in FIG. 6 includes a plurality of the picking devices P of FIG. 1 arranged side by side, and the configuration of each unit is the same as that of the picking device P of FIG. Also, each picking device Pa ~ Pc
Can operate independently of each other. By arranging a plurality of picking devices Pa to Pc side by side as in the present embodiment, a plurality of packages W stacked in a plurality of rows and a plurality of stages on the package placing portion 17 can be collectively scooped out. Furthermore, even when the width of the luggage W placed on the luggage placing portion 17 is larger than the width of the scooping member 12, one of the picking devices Pa to Pc is selectively operated to scoop the luggage W. By taking out, the load W is prevented from dropping from the picking device P2.

[0029]

As described above, according to the present invention, a plurality of rows
When scooping the luggage stacked in multiple stages one by one with the scooping member, a shift stopper that presses the upper surface of the luggage that is located behind the luggage that is scooped by the scooping member, and presses the upper surface of the luggage that is scooped by the scooping member Since the holding member to be held is provided in the picking device so as to be able to move separately along the moving direction of the scooping member, the holding member presses the upper surface of the luggage scooped by the scooping member, and the shift preventing member And the pressing of the upper surface of the load located behind the load scooped by the scooping member can be performed independently of each other. Therefore, the operation of pressing the upper surface of the luggage on the scooping member to scoop the luggage, and moving the slip stopper to the next pressing position to scoop the luggage located behind the luggage scooped by the scooping member The operation can be performed simultaneously, the procedure of the operation of the picking device itself is simplified, and the time required to scoop the load with the scooping member is reduced.

Further, a sliding unit provided with a holding member is provided on the upper arm to which the displacement preventing member is attached, and the sliding unit is slidable along the longitudinal direction of the upper arm, thereby providing a displacement. The stop member and the holding member can be movably supported by the common upper arm member in the direction in which the scooping member advances and retreats. Therefore, the structure of the device for separately moving the displacement preventing member and the holding member in the direction along the advancing and retreating direction of the scooping member is simplified.

Further, the sliding unit is provided with a tilting arm which advances to the side of the luggage stacked in a plurality of rows and a plurality of stages and inclines the luggage by pressing the upper side of the side of the scooping member side of the luggage to be scooped by the scooping member. By doing so, when scooping the luggage with the scooping member, the sliding unit can be slid to the luggage side along the upper arm and then the upper side of the luggage scooped by the scooping member with the tilting arm can be pressed. The advance stroke of the tilting arm is shortened, and the upper part of the side surface of the baggage member side of the load can be reliably pressed by the tilting arm.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a configuration of a picking device according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing a procedure in which a tilting arm comes into contact with a front side surface of a near-side luggage when scooping up a near-side luggage.

FIG. 3 is a schematic diagram showing a procedure for pressing and holding the upper surface of the front luggage scooped by the scooping member with a holding member when the front luggage is scooped.

FIG. 4 is a schematic diagram showing a procedure for scooping a near-side luggage by a scooping member when scooping a near-side luggage.

FIG. 5 is a schematic view showing the operation of an upper arm and a stopper member when scooping back-side luggage.

FIG. 6 is a perspective view illustrating a configuration of a picking device according to a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Upper arm 5 Misalignment member 8 Sliding unit 9 Holding member 10 Tilt arm 12 Scooping member P Picking device W1, W2 Luggage

Claims (3)

[Claims] 1. A picking device for picking up one by one a plurality of packages stacked in a plurality of rows and a plurality of stages, a scooping member which enters under the baggage and scoops up an article, and is located behind the baggage to be scooped by the scooping member. A shift preventing member that presses the upper surface of the load to be performed, and a holding member that presses and holds the upper surface of the load scooped by the scooping member are provided, and the shift preventing member and the holding member are arranged along the moving direction of the scooping member. Picking devices characterized in that they move individually. And a holding member attached to the upper arm so as to be slidable along a longitudinal direction of the upper arm. The picking device according to claim 1, wherein the picking device is provided on a sliding unit. 3. The sliding unit includes a tilting arm which advances toward the luggage side stacked in a plurality of rows and a plurality of stages, and presses the upper side of the side of the scooping member side of the luggage to be scooped by the scooping member to tilt the luggage. 3. The picking device according to claim 2, wherein the picking device is attached.