JPS58167308A - Picking device - Google Patents

Abstract

PURPOSE:To achieve a picking operation without deterioration in quality, by a method wherein a device is adapted to be capable of performing a picking in a condition to prevent an object to be picked from being damaged. CONSTITUTION:A tilting apparatus 53 for a tray 9 is constituted such that a lower end of a lever 47, whereto a roller 48 is attached, is undulantly and rotatably coupled to a bracket 49c, secured to an elevating body 27, through the medium of a rotary shaft 50, and a screw rod 49a, engaging a gear fastened to the rotary shaft 50, is pivotally attached on a bracket 49b on the elevating body 27, the screw rod 49a being connected to a rotary drive shaft of a motor 49 mounted to the elevating body 27. Additionally, a frame 41 for supporting a belt conveyor 67 is securely located on the elevating body 27.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for picking loads stored in trays.

Conventionally, automatic picking devices for small items that have been realized are so-called Daruto-drop method or cut-out method picking devices, and the posture of the object to be picked at the end of the picking operation is not constant, and the object to be picked is a book. The picking method and device have disadvantages that cannot be used in cases where heat must be maintained during picking without degrading quality. Furthermore, in the case of books, the picking quantity for each order is a high variety and small quantity, and the thickness to be picked varies from a few millimeters to more than 10 centimeters, which has the disadvantage that the picking mechanism and equipment become complicated or expensive. .

An object of the present invention is to pick an object to be picked without deteriorating its quality.

The gist of the present invention is that, as a basic configuration, there is a support frame that is supported vertically and movably; The picking device includes a cargo receiving material having a shape such that the cargo receiving material can pass through, a cargo storage tray having an opening through which the cargo receiving material can pass, and a tilting drive device for the storage tray. Apply one side of the receiving material to the bottom of the load in the tray, move the load to the receiving material by raising the support frame, return the slope of the storage tray at the same time, and then rotate the receiving material and move the load to the storage tray side. When the front of the load that was initially standing becomes horizontal due to the rotation of the load, the front of the load that has become horizontal is supported by the other side of the load receiving material and placed in the storage tray. The point is to pick the load from inside and take it out smoothly without damaging the load.

Embodiments of the present invention will be described below with reference to FIGS. 1 to 15.

FIG. 1 shows the layout of a book distribution center employing an embodiment of the present invention.

As shown in FIG. 1, the book distribution center is roughly divided into an automated warehouse 4, a picking warehouse 11, and each of these warehouses 4.
It consists of twin conveyors that go in and out of 11.

The book pallet 1 sent from the bookbinding factory by the conveyor in the direction of the arrow is inspected at the branch to the receiving conveyor 2. When +113 is detected, the pallet 1 of the automated warehouse 4 is guided in the direction of the arrow B by the article pusher H6 in order to be stocked in each column S, and the pallet 1 is moved to the receiving conveyor 2 heading toward the column S side. After dividing the flow and loading the pallet 1 onto the stacker crane 7, the pallet 1 is stored in the shelf s by the stacker crane 7. Book pallet 1 is a load, and books are the objects to be picked! 6 with a plurality of storage trays 9 containing II8. In addition, from the book pallet (1) in the automatic warehouse 4,
After one storage tray 9 is taken out of the warehouse via the crane 7 and loaded onto the mixed-loading conveyor W, the storage tray 9 is sent to the picking warehouse n side as indicated by arrow C, and the articles placed at the branching part of the mixed-loading conveyor W are transported. Recognition detector (2) 12 in tray 9
When the item is detected, the article is guided in the direction of arrow D by the article carrying device +2113, sent to the storage tray storage conveyor 14, the stocker in the picking warehouse 11 is operated, and the storage tray 9 is stored on the picking shelf 16. The books @S in the storage tray 9 stored in the picking column 16 are picked by the picker, which travels up and down within a certain range on the picking tray 317, for the number of operations instructed, and are placed for each order. Shoes and thorns were loaded on the order conveyor ill, and the order conveyor 19@)
1 and picking buffer 1 are sent to area I and shipped.

On the other hand, from the shelf S in the automated warehouse, III! The book pallet 1 containing a large amount of books may be sent to the picking buffer 1 area m via the warehouse goods compare 4 and shipped on a conveyor 4 for each store.

FIG. 2 shows the overall configuration of a picker equipped with a picking shelf 16 and a picking device. The shelf 16 serves as a stocker for stocking or replenishing the storage tray 9.
It is located between an inner furnace If or a picker W for picking a plurality of books 8, and has shelves arranged three-dimensionally. The picking shelf 16 has a shelf board J on which a tray 9 can be placed for each shelf section, and the storage tray 9 is located on the shelf 1 opposite to the picker river.
It is stored horizontally from the 6Ii side in a stocker box having the structure of a general stacker crane.

As shown in FIG.
It is possible to move along the route. Picker 18 G1, v
-Lou T is on JR, Mo 1-24a (DNjl
A traveling device M24 that travels by power, a post made directly to the traveling device, an elevating body γ that is movable up and down to the post, and an elevating body n via the upper part made of a post. An elevating device (equipment) that drives the elevating body γ up and down by stacking and letting out a suspended rope, and a guide device that is imprinted on the side of the traveling device and guides the book 111g onto the order conveyor. W125, the elevator equipment attached to the elevator body 1, the picking devices scattered on the elevator body 4, the telescopic 7t-picking device attached to the elevator body γ, and the respective drive parts of the picker. It has a control device that gives commands.

As shown in Fig. 3, the storage tray 9 is used to store books aS in an upright manner, and the front and bottom surfaces of one end of the storage tray 9 are partially opened for each - as shown in Fig. 114. The front end plate is sized to allow the rotary plate to rotate and pass through, and the portion other than that size exists as a bottom plate that supports the front end plate and the middle book aS to prevent the book aS from falling. In addition, the JlE drawing board of the storage tray is slightly protruded from the center in the width direction, and the protruding portion is folded into a convex shape in the center and is used as the inside of a tilting low-two.

The picking device is installed as a single unit on the elevating body γ, and is made up of two plates 38 m long, which are assembled at right angles as cargo receiving materials. A rotary plate consisting of a jab, an axle load to which this rotary plate is fixedly attached, a support 7 frame 5 to which a rondo is rotatably attached, and a rotating drive shaft installed on a support frame group and connected to the axis. The motor r, the screw rod shell which combines the female thread machined into a support frame screw and the male thread part, the support frame with both ends of the screw rod shell rotatably attached and fixed to the elevating body mushroom, and the screw rod winnow are rotatably driven. It is provided with a motor shaft connected to the shaft and fixed to the elevating body γ, and a guide rod 57 passed through the support frame 5 and fixed at both ends to the support frame. The screw rod shell and the guide rod 57 are arranged diagonally as shown in FIG. There are limit switches on both ends of the guide rod nail! i
9. Attach the 60, and attach the strikers 89m and 60m to the support frame 5 facing each limit switch and the switch 60 (-).
As shown in Figure i6, the disc U is fixed. In this disk U!
As shown in Fig. J7, a hole 1 is drilled at a position where an angle θ1 and a positional shift toward the center of the disk are given, which is 90 degrees shifted from the large earthquake 76 and the hole audience. Photoelectric inspection aI with the arrangement that can detect this rotating hole 5! Even if the photoelectric detection mallet is arranged as shown in FIG. 6 and fixed to the support frame in such a way that it can detect the rotating hole.

Each photoelectric detector a, a has 7. - Risou w1291! , 45
As shown in the figure, a binion a rotatably provided on the elevating body I,
It consists of a motor that transmits rotational force to the binion via an endless chain, and a rack holder that meshes with the binion υ. This rack base is horizontally supported via an elevating body gamma roller or the like, and a stopper 42m protrudes diagonally upward to the left from the left end in FIG.

What is shown in brocade in Figure IJ5 is a tilting device for the tray 9. This tilting device No. 53, can it be freely rotated at the upper end? The lower end of the Leno (-47) to which the -41 is attached is connected to the placket 49C fixed to the elevating body 4 via the rotary shaft iris so as to be rotatable up and down, and the screw rod am is engaged with the gear fixed to this rotary shaft So. The screw rod 49j1 is freely rotatably attached to a bracket ab installed on the elevating body I, and the screw rod 49m is connected to the rotational drive shaft of a motor installed on the elevating body n. Bracket) 49b! In the state shown in figure J5, when Helena <-47 stands up, the switch lever is at lever 474.
The limit switch 51 is attached so that it hits the
(With the -47 tilted to the right, press the switch lever to
The Limit Switch Group is attached to keep -47 intact.

A frame 41 that supports belt conveyor nails is fixed to the elevating body γ. Belt conveyor nails! It is placed horizontally as shown in the 1NS diagram, and has a total of two conveyor belts, 87m long and 117b long. As shown in FIG. 8, these conveyor belts 67a, 67b are arranged at intervals such that the rotary plate j can rotate up and down and pass through.
As shown in FIG. 8, the belt drive pulleys 67c and 67d of b are connected to a motor B attached to the frame 41 via a rotating shaft portion or a chain sprocket type rotational force transmission means n.

The elevator device 13I has an elevating body 4 as shown in the diagram.
A guide tube shaft with a 9-shaped shape fixed to the guide tube U, a screw rod n attached to the guide tube U in a freely rotatable straight position, a nut 74 combined with the threaded part of the screw rod n, and a guide tube fixed to the nut 74 and guided. Elevator placed inside tube U
It has a plate (to), a rotary drive shaft of a motor n attached to the guide cylinder shaft, and gears na and nb attached to the upper end of the screw rod n and meshed with each other. A long slit is formed in the guide tube U so that the portion of the elevator plate extending outside the guide tube 6 can move up and down. Further, the right side surface of the guide tube U in FIG. 5 has an opening into which the object to be picked can enter.

There are two charging detectors 70m and 70b on both sides of this opening.
is fixed and provided on the guide cylinder side. This photoelectric detector 70m
, 70b is provided with an opening in the shaft of the guide tube so that the light beam can pass through the guide tube.

Between the guide cylinder shaft and the conveyor pel 67m and 67b,
As shown in Figure 8, a rotating shaft is arranged to fill the gap between them, one end of which is rotatably supported by the guide cylinder shaft, and the other end of which is the rotary drive shaft of the motor 4 supported from the guide cylinder shaft. are connected by a coupling π.

Inside the control unit W33 of the Picker River, there is a microcomputer that is set with a program to control the operation of the Picker Song.
A control device mainly consisting of

For this reason, each operating section can operate in response to commands from the microcomputer.

The functional block configuration of the control device including the microcomputer is as shown in FIG. The objects to be controlled are the motor 24a and brakes of the traveling equipment @24.

Lifting drive device 1f30. Fork mounting W29. Each motor.

58, 65. Picking related equipment including n 1534m
It is. In addition, the input information for control includes traveling operation information from a detector that detects the traveling direction and traveling position of the traveling device, and detection that detects the extension and contraction position of the 7 oak device 4 among the lifting and lowering positions of the elevating body n. Information on the lifting and lowering of the forks, each limit switch 51, 52e-, 60, and each photoelectric detector 62, 63. Picking operation information including a detection signal from To. All known means can be used to check the traveling motion information, the elevating body, and the fork motion information. The four microphone combinations and the tar comb are operated by a CPU, which is the central processing unit that performs program control and arithmetic and judgment, and a RAM that stores variable data that represents the operating status.
91 and a BP-ROM in which the operating program is stored.
92, an operating system (not shown) for performing auxiliary operations of the operating program, and an M-ROMll in which data tables and the like are stored. The optical transmission communication device 96a transmits the setting signal of the setting terminal axis of the machine through the host computer.

ACIA97, which is the serial power L8I, is the interface of the optical transmission communication device.
, a magnetic paplume cage that stores the aforementioned setting signals as a file and records them as inventory information, a DMA099 that is an interface between the magnetic bubble memory, and each device,
(Capital), relay output circuit edition with PIA 100m, which is a parallel input/output unit that outputs to 29.34m,
Each sweet switch 51.52.59. .

P, which is the second parallel input/output section, receives input from each photoelectric detector, a, 70m, and 70b.
It consists of IAloob. These control configurations are provided for each picker magazine. The optical transmission communication device 96b, the convenience controller, and the setting terminal are arranged at a different position from the picker. An optical transmission and communication device 96m is attached to each picker, and the optical transmission overtransmission device 196 receives signals from the combination controller and transmits the operating status of the picker to the computer.

In particular, when the actual input/output control section of the picking-related section 34 is enlarged and shown in detail, it is as shown in Fig. IJ10.

Each motor a, 58. As shown in FIG. 1O, n has a forward rotation and braking circuit 108 m + 1091 +
110 m is connected, as well as reversing and braking circuit 1
08b, 109b, and 110b are connected. Also, as shown in Figure 10,! Microcomputer (to) and each circuit 108 m, 108 b are forward/reverse switching circuit 1
Similarly, a forward/reverse switching circuit 114.
116 for each motor 511.71. A microcomputer (
(to) are connected. Each motor field,
66, ? 9 and the microcomputer-comb are connected through normal rotation and braking circuits 111 and 112.

Each electrician, toswitch 51.52. The output signal transmission paths of s, 6o and photoelectric detectors a2, 63, 70m, and 70b are connected to the computer (to).

The operation of this embodiment will be explained below.

First, the setting terminal 94tP of the worker who operates the book delivery center sequentially inputs command signals for the type and quantity of books to be ordered into the combination, and then the combination and the inside of the machine. Check the inventory amount of each bookshelf address by order picking, compare the inventory amount with the order amount, and transmit the automatic picking work command to the picker theory's iikrofunviewer commander via optical transmission @Hma, mb. . Based on the BP-ROM in which the operating program is stored, the microcombination controller sets the initial conditions for each circuit installed inside the computer.
Wait for the operation signal from them. When the micro combinator receives the operation signal, it determines the contents of the operation of the picker tin based on the signal, and uses the traveling device and the lifting drive device (the lifting drive device) of the picker tin to move it to the bookshelf address where the order is to be picked. ) to the target shelf address. When the travel and lift detectors receive a travel and lift operation completion signal, the travel device and lift drive unit 930 are stopped, and the lift body γ of the picker is positioned in front of the target shelf number.

After the execution of the positioning operation program for the target shelf is completed, the operation program 2 for taking out the tray 9 from the target shelf is executed.

That is, when the motor U is rotationally driven, the pinion C is rotated, and the rack that engages with the pinion C protrudes into the shelf from the elevating body n side, thereby removing the tray 9 stored in the shelf.
located below. Then, using the lifting drive unit R30, the lifting body is raised until it can scoop up the tray 9 above the rack. Next, the motor 8 is driven in the reverse direction to pull the rack value back toward the elevating body n side, and the tray 9 on the rack lower part is completely pulled out from the shelf.

After that, the tray 9 tilting operation program is executed by two people C1l. In other words, when the forward rotation command switching signal from the microcomputer enters the switching signal input section 116, the switching circuit 113 switches to normal rotation, and the forward rotation command signal from the i-iku p computer enters the forward rotation and braking range. Enter Road 108m.

For this purpose, the motor rotates in the forward direction to rotate the screw rod and rotate the lever 4 upwardly around the axis. In this way, as shown in FIG. 11 (a), the low two mallet will hit the guide of the tray 9, and when the lever 47 rotates upwards, the roller anchor part that is easy to guide will push it up. , the tray is tilted up by two values, as shown in Figure IJ11 (b). Simultaneously with this tilting of the tray 9, the motor 1 is rotated to align the tilting point of the rotary plate with the tilting of the tray 9. In this case, as the motor r rotates, the disc - also rotates, so when the light from the photoelectric detection 1163 passes through the hole π and the charging detection swing receives the OFF signal to the microcomputer, the motor r is stopped and the motor r is stopped. The state shown in figure (b) is established.

When the lever 47 rotates at a position at which the tray 9 is tilted to the set inclination, the lever C hits the switch lever of the limit switch 51, and the limit switch 51 operates to issue an ON signal. The ON signal from the limit switch 51 is input to the microcomputer, and the microcomputer determines that the tray 9 is held at the set tilt angle, and the forward rotation and braking circuit 101 is activated. A control command signal is issued from the microcombi and motor, and the motor is stopped and braked. Furthermore, since there is a stopper 42m at the left end of the rack, the inclined tray 9 is prevented from sliding down the rack 42tP.

Once the tilting motion of the tray 9 has been completed by braking the motor 6, the picking motion 7' o is completed;
Move to F. That is, my 10: yimpi.

- The normal rotation switching command signal from the rotation to the switching signal input section 117
When outputted to , the switching circuit 114 switches to normal rotation, and a normal rotation command signal from the microcomputer-bell is sent to the normal rotation and brake enclosure 109 m. For this,
The motor is driven forward and the screw rod is rotated. Therefore, the support frame is sent upward and the first
As shown in Figure 1 (c), scoop up a block of 10 books with a rotary winnower.

The second scooping height is carried out until the support 7 frame 8 rises and the striker 2 scooper falls on the switch lever of the limit switch. When the striker 59m hits the limit switch switch lever, the limit switch bell operates and outputs an ON signal to the microcombi switch. When the microcomputer receives the ON signal from the beam t and tosit, it determines that the support 7 frame 5 has reached its upper limit position, and outputs a control signal to the normal rotation and braking circuit 109m. Because of this, the motor group is stopped and braked. This scooping action is carried out at the same time as the action of returning the tray 9 to the horizontal state.The horizontal return of the tray 9 is executed in the tilt return action log 2m, and a switching signal is input from the microcomputer to the switching circuit 113. This is done by outputting a reverse rotation command signal to the reverse rotation switching circuit 116 and switching the switching circuit 113 to the reverse rotation side.In this way, the reverse rotation command signal is output from the microcomputer bell to the reverse rotation and brake circuit 108b. , the motor reverses.For this purpose, the lever 47 rotates clockwise around the shaft, and the roller descends.

Therefore, the tray 9 supported by the p-two mallet returns to the horizontal position, and the bottom surface of the tray 9 lands on the hook ridge.

If you do this, the lever 47 will turn off the switch 52.
When the limit switch 52 hits the switch lever of
Outputs N signal. This ON signal is input to the microcomputer, and the microcomputer that receives this ON signal determines that the tray 9 has returned to the horizontal position and sends a braking command signal to the reverse rotation and braking circuit 108b. output.For this purpose, the motor pick-up is stopped and braked.The picking operation program is executed following the scooping action, and the limit switch (to) is turned ON.
When the microcomputer receives the signal, the forward rotation and braking circuit 111 starts from the microcomputer.
A forward rotation command signal is output to the motor 1, and the motor 1 rotates in the forward direction. For this purpose, the rotary plate stamen rotates due to the motor shearing, and the plate 36
m is vertical and the plate 31Ib is horizontal. At the time of 2, the disk U also rotates, so when it rotates until the plate 31Ib is vertical and the plate 31Ib is horizontal, the large disk that has rolled -? I11
The light from the photoelectric detector passes through and reaches the receiver side of the photoelectric detector. For this reason, charge detection @Sa operates and turns OFF.
Outputs the signal to 1 Iku p combination, -tar sir. When the microcomputer receives the OFF signal from the photoelectric detector I1, ! A braking command signal is sent from the computer bell to the normal rotation and braking circuit 111, stopping the motor rotation and allowing the motor to play. At the same time, when the photoelectric detector receives an ON signal, the microcomputer
(to) outputs a reverse rotation switching command signal to the switching signal input section of the switching circuit 14, and switches the switching circuit 114 to the reverse rotation side.

Then, a reverse rotation command signal is outputted from the microcomputer to the reverse rotation and braking circuit 109b. For this reason, as shown in Figure 1811 (E), the rotation of the rotating plate temperature is
b is horizontal and the plate 36m is stopped in a straight state, and the support frame group is further lowered by reversing the screw rod trowel.

Now you can completely remove the write 118 from inside tray 9.
1O amount - Finish picking the block.

As the support 7 wires continue to descend, the striker 60m finally hits the switch lever of the limit switch lead, and the limit switch lead outputs an ON signal to the microcomputer. Upon receiving this 0N (lit) signal, the microcomputer outputs a forward rotation command signal to the forward rotation and braking circuit 112, and a brake command signal to the reverse rotation and braking circuit 109b.For this reason, the motor stops. The conveyor belts 67m and 67b of the belt conveyor nails and the rotary wheel axle are marked @S, and the motor number ?9 starts to rotate forward.
It is driven to the left in the figure. Before the striker 60m hits the switch lever of the limit switch (to), the book 8 transfers from the plate Nb to the conveyor belt t1m, 67b while the support frame is lowering.
As shown in Figure 11 (f), it is sent to the left and away from the rotating plate stamen. The V microcomputer bell receiving the ON signal of the limit switch lead further outputs a forward rotation command signal to the forward rotation and braking circuit 111 again. For the second reason, the motor q rotates forward and the rotary plate temperature rotates to the left, causing the rotary plate temperature to rotate at its original position, the reference position groove. When it rotates to the reference position, the hole π in the disk that is rotating at the same time also rotates, and the light from the photoelectric detector passes through the grand prize and reaches the photoreceptor on the photoelectric detector. outputs an OFF signal. This OFF signal is from the microcomputer to
The microcombi and tar comb output a braking command signal to the forward rotation and braking circuit 111, which causes the motor 1 to stop and brake, and the rotary plate 1 returns to the position where it can perform the next kinging operation. .

The picked book @S is supported on both ends by belt conveyor nails 67m and 87b and sent to the left side of the guide tube. Then, when the book 8 passes between the left end side of the belt conveyor nail and the guide 111@4, the book 8
It is accelerated by the rotational force of , and is smoothly transferred onto the elevator plate ω in the guide tube u without stopping. When the book aS transfers to the elevator board, it is photoelectrically detected! I?
Since the light of Ob is cut off by the book 6g, this photoelectric detector 70btJs.

Output the N signal to the microcomputer.

Microcomputer bell turns on photoelectric detector 7ob
When the signal is received, the switching circuit 115 issues a switching command.

A forward rotation switching signal is output to the signal input section 11g, and the switching circuit 11
Switch 5 to normal fall. The forward rotation command signal output from the i microcomputer (to) is input to the forward rotation and braking circuit 1101, and the motor n rotates in the forward direction. Therefore, the screw rod n is rotationally driven by the motor n, and the elevator plate is lowered. elevator
As the rice cake descends, book 8 also descends, so finally,
The light from the photoelectric detector 70b reaches the receiver side of the photoelectric detector 70b without being blocked by the book 8, and the charging detector 7
An ON signal is output from ob to the microcomputer.

Therefore, the microcomputer rotates in the normal direction and a braking command signal is output to the braking circuit 110m, and the motor n is stopped and braked. Therefore, the top surface of the book 8 on the elevator board e is lower than the top surface of the rotating wheel shaft or the belt conveyor nail, and the next picked book 8 is placed on top of the book 8 that was placed on the elevator board ω first. Make it ready for boarding. Now 111 minutes (1011)
When the removal of the pile is completed, it is compared with the necessary number of pittings inputted from the setting terminal %, and if it is insufficient, the operations from the tilting operation of the tray 9 to the subsequent operations are repeated for the number of pittings that are insufficient. If the tray 9 is tilted again, the books in the tray 9 will be lowered to the stopper plate 34@ and will be in a position where they can be picked. When the required number of pitting operations have been completed, the book 8 is pushed out from the top of the elevator board (top) to the guide device 5 by known means, and the book 8 is pushed to the guide 1111 for 2 seconds.
, and transfer to the order conveyor W. The book 8 is transported by the order conveyor, and the book 8 is delivered to the piping puff 1.
Shipped from the Canadian side. Thereafter, the microcomputer (to) outputs a reversal switching command signal to the switching command signal input section 11g, switches the switching rotation jl Its to the reverse side, and at the same time outputs a reversal command signal to the reversing and braking circuit 110b. Therefore, the motor n rotates in the reverse direction, and the elevator -2 rises. When the elevator board rises and blocks the light from the photoelectric detector 70m, an ON signal is output from the charge detector π1 furnace to the microcomputer. Therefore, the microcombinator (to) determines that the height has become such that the newly picked book @S can be loaded onto the elevator platform, and outputs a braking command signal to the reverse rotation and braking circuit 110b. For this reason, motor n is stopped and braked. When all the picking is completed, the tray 9 is scooped down into the original shelf by pushing out two picks toward the shelf side and lowering the elevating body γ, and then the rack can be pulled into the elevating body side.

In the first embodiment described above, one set of rotating plates consisting of the plates Wsa and 3Sbtp was used, but as shown in FIG.
If you shift the set of rotary plates by 90 degrees and fix them on the shaft,
10 amounts for every 90 degree rotation of the rotating plate.
The blocks of books 8 tied together in sets can be picked from the tray 9, moved down the rotary plate, and transferred to the belt conveyor nails, which is efficient. In this second embodiment as well, the rotary plate is moved upward in the inclined tray 9 from the position ■ to the position ■.
Move it to the position and scoop up the books 8 in the tray 9, and at the same time as scooping up the tray 9, return it to the horizontal position as indicated by the arrow ■.
Next, rotate the rotary plate at the position at ■, and then turn the rotary plate at [
F] and transfer the book 8 from the rotary board to the belt conveyor peg. At this point, the next set of rotary plates shifted by 90 degrees is already located below the tray 9, so immediately tilt the tray 9 and pack the books 8 in the tray 9 toward the side of the rotary plate. , the next picking is performed by matching the inclination of the rotary plate to the inclination of the tray 9. In this way, picking is performed every 90 degree rotation, which is efficient.

In order to control the rotational positions of the four sets of rotary plates, the disks fixed to the shafts shown in FIG. 13 are provided with detection holes 120 for charge detectors 63, as shown in FIG. 121 is one set, and there are four sets shifted by 90f.

In the third embodiment, as shown in FIG. Four sets of rotary plates are fixed to the shaft field in the embodiment of $1, shifted by 90 degrees, and plate 1 of each set of rotary plates is protruded from plate 3IIb.
Board length 124 m, 12 for each group
4 b, 124 c, and 124 d. If you do this, if you use the slope 124 Hatake, you will be able to pick 8 books each, and if you use the board 124 b, you will be able to pick 3 books at a time, or you will be able to pick 3 books at a time, or you can thick books 8 can be picked in 1f increments, and if plate 124c is used,
More books Ia 8 Rui or thicker books 1
If you can pick by t and use board 124d, 10
Books 8 in l blocks each having f bound together are counted by picking. Therefore, it is possible to pick books 8 having different thicknesses by −1 or even by “ill”. Also,
Gold plates 124a, 124b, 124c, 124
By using d properly, you can pick even large quantities. Therefore, efficient picking can be performed.

Further, in each of the embodiments, each part of the picker theory and the sequence of each operation are automatically executed by an operation program set in the microcomputer, but each motor may be operated manually.

In either case, the tray 9 is tilted so that the books 8 in the tray 9 are tilted to the rotary plate 311@, and the books 8 in the tray 9 are surely tilted to the rotary plate 311@.
The book 8 can be placed on the tray 6@, and the book 8 can be picked up in any case, and the rotation of the rotary plate allows the book 8 to be picked out of the tray smoothly without any large scratches. Since the books 8 are picked in an orderly manner without being scattered, high-quality TT picking can be achieved without damaging the books 8. Further, since the tray 9 is returned to the horizontal position at the same time when the book 8 is scooped up by the rotary plate iris, the book 8 in the tray 9 moves away from the book 8 being scooped up, and no frictional force is generated between the two books 8 during scooping up. Therefore, the book 8 is further prevented from being damaged. Further, since the tray 9 is tilted after being taken out from the shelf, the space required for tilting the tray 9 on the shelf is not required, and the storage rate of the tray 9 on the shelf is improved accordingly.

As described above, according to the present invention, it is possible to pick the items to be picked without damaging them, so it is possible to achieve the effect that the picking work can be completed without deterioration of quality.

[Brief explanation of the drawing]

Fig. 1 is a plan layout diagram of a book distribution center according to an embodiment of the present invention, Fig. 2 is an enlarged perspective view of a part of the picker shown in Fig. 1, and Fig. 3 is an enlarged view of the tray shown in Fig. 2. FIG. 4 is a perspective view showing the arrangement of the tray shown in FIG. 2 and the rotary plate of the picking device during picking;
Fig. 5 is an enlarged view of the lifting body of the picker shown in Fig. 2 during picking operation, Fig. 6 is a top plan view showing the driving part of the rotary plate shown in Fig. 5, and Fig. 7 is a Elevation view showing the hole device in the disk shown in Figure 6, l! Fig. 8 is a top view of the belt conveyor shown in Fig. 5 when books are being transferred, Fig. 9 is a control block diagram of the picker control device shown in Fig. 2, and Fig. 1O shows the main points of Fig. 9. The control block diagram is an enlarged view of the parts shown in Fig. 11, and the diagrams up to (a) and (f) in Fig. 11 are schematic elevational views showing the working conditions of each device shown in Fig. Wi5. Fig. 12 13 is a sectional view of the rotary plate according to the second embodiment of the present invention, FIG. 13 is a perspective view of the vicinity of the picking device according to the second embodiment of the present invention, and FIG. 14 is a cross-sectional view of the rotary plate shown in FIG. 13. Hole layout diagram! Figure J15' is a sectional view of a rotating plate according to a third embodiment of the present invention. S...Book, 9...Tray, Easy...
...Rotating plate, r. 5B...Motor, Minoru...Telescopic drive rack for the telescopic fork device, Hammer...Pinion, 47...Lever, 5... ...Support frame, screw rod, nail...
...Belt conveyor O 6t21 Off 8th eye 8th eye 10Δ fILm(4) j8 4γ 11th figure niノ'I'/31B oh/4fJ oh 15r! 1 Procedural amendment (1 reference = l +, 157. + 12u17u Indication of the case of the Commissioner of the Japan Patent Office, Showa, 7th year Patent Application No. 47゜oo Name of the invention Picking device supplement Applicant (・・Ii 5-1 Marunouchi-chome, Chiyoda-ku, Tokyo 100, et al. +7 '5101 Stock Exchange 1)
[] Standing factory 1 (Table 6 3 lJ+
Masaru Katsu Shigeyo Person 1,...' Location: 5-1 Marunouchi-chome, Chiyoda-ku, Tokyo 100, Japan Nichi Seisakusho Co., Ltd. Telephone Riku 435
-42211, the statement in the claims column of the specification is amended as follows. 2. A picking device characterized by a knocking device configured in the shape of the claims. 3. The receiving device is an arrangement device that is lowered toward the receiving material. ``The present invention is to take out...'' written in the third line of the third page from the third line to ``The present invention is to take out the cargo stored in the container.'' Related to a device. Conventionally, a device that swings and rotates a conveyor up and down to pass through a container at the tip of the conveyor from below to above, scoops up the load in the container onto the conveyor, and then sends the load in the receiving direction by the conveyor. According to this device, the tip of the conveyor is rounded with a large radius, so if the load is thin, it will be difficult for the load to get on the tip of the conveyor, and when you try to scoop it up, the tip of the conveyor will touch the load. It is easy to damage the load by scratching it or dropping it while scooping it up.Furthermore, even if the load is scooped up, thin loads may easily fall over and get damaged while being sent on the conveyor. After scooping and taking in the contents, it is time-consuming to return the conveyor to the bottom of the container and start the next scoop, making it impossible to take out the contents quickly and continuously.The purpose of the present invention is to damage the contents of the container as much as possible. The object of the present invention is to achieve efficient and reliable removal of cargo without any problems.The present invention provides a device for taking out a load stored in a container supported by a device, in which the device is attached to the support device so as to be rotatable northward. and the cargo feeding device arranged to sandwich a rotation space for the cargo receiving material, and the container and the cargo receiving material are provided with an opening large enough to prevent the cargo from falling out when the cargo is removed. A picking device characterized by having a shape having an opening large enough for the load to be pulled out at the upper part, the picking device rotates a load receiving material, passes it into a container, scoops up the load in the container, and transfers the load to the conveyor. The load is sent to the side, transferred to the conveyor, and the conveyor sends the load in the desired direction.There is no need to scoop the load at the tip of the conveyor, so even thin loads can be reliably removed (e.g. scooping up a large load). There will be no damage to the cargo due to this.
Correct to. 3. As stated in the 4th line of the 3rd page of the specification [the number written across the 1st line is ``As above......
is obtained. "The fourth embodiment is shown in FIG. 16, in which a board 126 is fixed to the picking shelf 16 at an angle, and the storage tray 9 is mounted on the board 126 for storage. The tray 9 is supported diagonally with the front end plate facing down.The load 125 in the storage tray 9 supported in this way is taken into the conveyor 67 side by the rotary plate 36a that rotates around the shaft, and is being taken in. It is supported by the plate 36b to prevent it from rolling, slipping, or collapsing, and is finally transferred to the conveyor 67.By driving this conveyor 67 with the motor 6, it is sent away from the rotary plate side and transferred to the conveyor. Interference between the load on 67 and the rotary plate is avoided.In this example,
Since the storage tray 9 is set diagonally in advance, it is easy to take in the load on the rotary plate and it is not difficult to do so, so damage during taking in is less likely to occur.・Also, the fifth part shown in Figure 17
The embodiment is a modification of the fourth embodiment,
The rotating plate 128 that rotates around the sleeve is the rotating plate Akara plate 3.
6b is removed, and a short sliding plate 129 is further provided between the tray 9 and the conveyor 67. The rest is the same as in the fourth embodiment, and the same parts are given the same reference numerals as in the previous embodiment. In this embodiment, when the rotating plate 128 is rotated to send the load 125 in the tray 9 to the sliding plate 129, the load 125 is sent to the sliding plate 129.
25 climbs over the front end plate iris of the tray 9 and slides onto the sliding plate 129
It moves to the top, moves to the conveyor 67, and is sent out by the conveyor 67 in the destination direction. In this way, the configuration of the rotary plate 128 is simple, and the plate 328 can be easily rotated even at a slow rotation.
Loads can be taken out one after another using the four rotary plates 128 without getting in the way. As described above, according to the present invention, since there is no need to rely on a conveyor when scooping up a load in a container, even a thin load can be taken out reliably and without damage due to scooping, etc., and the receiving material can be rotated. Just by doing this, you can take out one after another and have the effect of being efficient. ” is corrected. 5. Change "This is a cross-sectional view" written in the 20th line of page 29 of the specification to [Cross-sectional view, and FIG. 16 is a schematic elevational view of the main parts of the device according to the fourth embodiment of the present invention. , FIG. 17 is a schematic elevational view of the main parts of an apparatus according to a fifth embodiment of the present invention. ” is corrected. 6. Add attached figures 16 and 17 to the drawings.

Claims (1)

[Claims] 1. a support frame supported so as to be movable up and down, and a load receiving member attached to the support frame so as to be rotatable up and down and facing one side of the load and the other side of the load having an angle with the - side; A pico king device comprising a cargo storage tray having an opening through which the cargo receiving material can pass, and a tilting drive device for the storage tray.