JPS58188205A - Picking device - Google Patents

Abstract

PURPOSE:To prevent deterioration in quality of an object to be picked, by conveying the object to be picked from a tray to a picker without shock and smoothly by means of a conveyor. CONSTITUTION:Before a belt conveyor 23 swings and approaches a tray 1 side, a conveyor belt 18 is driven in an endless manner to move a detecting segment 67, and when the moved detecting segment 67 is detected by a detector 68, the conveyor belt 18 is brought to a stop. This causes a claw 69 to be positioned at the lower part of the belt conveyor 23 for a stop. In the case of a book having a thickness which is enough to allow hooking of it by means of the claw 69, the belt conveyor 23 is swung and moved in close to the tray 1 side. Thereafter, with the belt conveyor 18 driven, the book 7, positioned nearmost to the lower end of the tray 1, is pulled above the tray 1 with the aid of the claw 69 for picking.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for picking individual objects such as books or sheets, and relates to a picking device suitable for picking objects such as books for snacks, where the posture of the object is a problem. It is something.

Conventionally realized automatic picking devices for small items
, °−.

is a picking device that uses the so-called Daruma Otoshi method or cut-out method, and the object is not in the same position at the end of picking, but in a position that is less likely to cause damage, like a book, and is taken out from the shelf where it is stored. This method has a drawback that it cannot be used as a picking method and device when quality must be maintained without deterioration.

In addition, in the case of books, the picking quantity for each order is a wide variety of small numbers, and the picking/picking thickness varies from a few millimeters to several centimeters, so the picking mechanism and the entire packaging become complicated or expensive. There were drawbacks.

Furthermore, according to Japanese Patent Publication No. 54-1995,
It has a tray which is diagonally #4 arranged in three dimensions and has a shape in which the end face on the lower end side of the inclination, a part of the lower face, and the entire upper face are open, and the articles stored in the tray are opened. Picking is carried out using the first belt conveyor installed in a movable body that can freely move up and down and horizontally, so that it can swing up and down.
Installations are known in which the material is transferred to a horizontal second conveyor belt on a moving body. The picking action of such a device is the first
When the first belt conveyor is pushed out downward from the tray, and then the first belt conveyor is moved upward, the first belt conveyor will extend the opening between the end face and the bottom of the tray upward, and the inside of the tray will be moved upward. Scoop up the item and scoop it up onto the tray. Thereafter, the first belt conveyor is driven to send the articles to the second belt conveyor and stored on the moving body. According to this method, the tip of the first belt conveyor is rounded, so even if large items are scooped up, items with a thickness of several millimeters to several centimeters, such as books, cannot be scooped out, and the pinking process is performed. There was a drawback that it could not be done. In addition, when picking one piece at a time, it is necessary to repeatedly swing the first belt conveyor up and down, pull it in, and push the tray downward, which requires a significant change in the position of the belt conveyor, which is inefficient. There were also drawbacks.

An object of the present invention is to provide a method for reliably and efficiently picking even thin articles without degrading the quality of the picked articles.

The cost point of the present invention is that, as a basic configuration, an apparatus for taking articles into a picker side from a tray which is arranged in an inclined state and has a shape in which each of the end face and the lower face on the lower end side of the inclination and the upper face are open. The picker is provided with a conveyor provided with an endless belt so as to be swingable, the belt is provided with claws protruding from the AiJ distribution belt, and the picker is provided with a conveyance iai+ close to the center of swing of the conveyor. It has a characteristic picking system, in which the conveyor is swung toward the edge of the tray, the oscillation of the conveyor is stopped diagonally at a position where the claws can pass through the openings on the bottom of the tray, and then the conveyor is The belt is driven to move the claws, and as the moving claws pass through the opening of the tray from bottom to top, they catch the items near the lower end of the tray slope and take them out of the tray upwards, and then remove them from the conveyor. The point is to send the article to the conveyance device.

Each embodiment of the present invention will be described below based on FIGS. 1 to 13.

A lay run of a book distribution center in which each embodiment of the present invention is adopted is as shown in FIG.

That is, the tray 1 containing the books is transferred to the belt conveyor 2.
When the tray 1 is detected by the article recognition detector 3, the extrusion device 5 is driven to send the tray 1 to the belt conveyor 2a. This tray 1 is stored into the three-dimensional shelf 4 from the belt conveyor 2a by a stacker crane 6 running on a rail 8a parallel to the shelf 4. On the opposite side of the shelf 4 from the stacker crane 6,
A picker 9 is movable along the shelf 4 on a rail 8 along the shelf 4. Between the pickers 9, there is a collection shelf having several stages of collection conveyors 11 consisting of belt conveyors parallel to the shelves 4, and the books 7 picked from the shelves 4 by the picker 9.
is conveyed to the delivery belt conveyor 12. The delivery belt conveyor 12 transports the plaster baskets 7 to the destination point. The belt conveyor 14 is a transport device for returning the empty trays 13 that have been picked and become empty.The empty tray opening is taken out from the shelf 4 by the stacker crane 6 and transferred to the belt conveyor 14. The vehicle is transported back to its destination.

As shown in Figure 2, the shelves 4 are arranged at different levels with tray holders 4a14.
The tray 1 scooped down from the stacker crane 6 is stopped by the tray receivers 4a+4b, and stored on the shelf 4 in an inclined state toward the picker 8 side.

The picker 9 is installed on a rail 8 so as to be freely movable on wheels 16, and has a boss (9a) whose upper end is guided straight to a guide (15) on the ceiling so as not to fall over, and an elevating body (19) which is attached to the boss (9a) so as to be able to move up and down. has. The wheels 16 are driven by a motor 17 to move the picker 8 horizontally. Further, the elevating body 19 is partially tied to a rose joint provided along the post 9a, and by operating this C+-gating force with a winch 21, the elevating body 19 can be raised and lowered. n is a control device for the picker 9.

Tray 1 is! As shown in Figure J3, it has a basic shape in which the upper surface is completely open, one end side has an open end surface shape leaving the stopper plate 4 on the end surface, and the lower surface of one end side has both ends of the books 7 in the tray l. The receiver has a shape that has a row of openings except for the retaining portion. The depth and width of the opening on the lower surface of the tray, as well as the distance between each stopper plate n, are set to be large enough to allow the passage of a later-described overlay. As shown in FIG. 3, detection holes 29a and 29b are opened in the upper portions of both side plates la and lb of the tray l near the stopper plate n so as to be located at a higher position than the books 7. A dummy object 6 is stored in the last part of the books 7 in the tray 1. The height of this dummy object 5 is set within the tray 1 so that it is at the same height as the upper ends of both side plates 1a and lb of the tray l. A large number of books 7 are stored vertically in the tray 1.

Specifically, as shown in FIG.
The roller 49 attached to the boss 9a can be moved up and down while being pushed back to the boss 9a by a spring.゛The rope support is still fixed with a rope clip to the lifting body 19, and this rope support supports the lifting body 19.

As shown in FIG. 5, the elevating body 19 has an elevating position detector, so that the elevating position of the elevating body 19 can be detected. As a detection method using an elevation position detector, any known elevation position detection method such as an absolute position detection method or a relative position detection method is sufficient.

Further, as shown in Figure WJ5, a belt conveyor is installed horizontally on the elevating body 19 as a conveying device. This bell conveyor has two rotating shafts 44a.

An endless drive belt 6 is provided, in which a conveyor belt 53 (conveyor belt) 44b is hung in an endless manner, and an endless drive belt 6 is hung between one rotating shaft of the motor 42 fixed to the elevating body 19 and one rotating shaft 44a. Equipped with. One end of this belt conveyor is located near the collection conveyor 11,
The other end is placed near the upper end of the belt conveyor.

As shown in FIGS. 5 and 6, in the gap between the collection conveyor 11 and another belt conveyor, a rotating shaft for feeding is arranged, which is rotatably supported from the conveyor frame 24a of the belt conveyor. The height of this rotation axis diagram is determined so that the top surface is located at the same level or slightly higher than the top surface of the conveyor belt of the belt conveyor category. As shown in FIG. 6, this rotating shaft 8 is connected to the rotating shaft of a motor group attached to brackets attached to the conveyor frame 24a through gears 55a and 57.56.

Belt conveyor illusion C, conveyor frame 23a (0 has rotary shafts A, 37 at both ends for free rotation, both rotary shafts 3fi,
An endless conveyor belt U is passed between 37 and
The rotating shaft of the motor blade fixed to the elevating body 19 is connected to one rotating shaft by an endless drive belt.

One end of this rotating shaft is attached to the elevating body 19 by a bearing, and the other end is rotatably inserted into the placket 36a, as shown in FIG.

The arm 36b, which has one end fixed to the bracket 36a, is fixed to the conveyor frame 23a. This bracket)
36a is rotatably supported by a bearing 36c on the elevating body 19. A gear blade is fixed to this bracket (36a), and a worm gear is engaged with this gear blade.

This worm gear island is fixed to the rotating shaft 1 of the motor mallet, and this motor chrysanthemum is fixedly installed to the elevating body 19.

As shown in FIG. 5, the elevating body 19 includes an Mfl+ detector 52a which uses a limit switch to detect the swinging position of the belt conveyor prisoner and is arranged to sandwich the belt conveyor n.
52b is fixed. Furthermore, belt conveyor Z
As shown in FIGS. 4 and 5, each arm is fixed to the conveyor frame 23a, with a light emitting device 45a at the tip of one arm and a light receiver 45b at the tip of the other arm. The charging detector is fixed.

As shown in Fig. 5, the elevating body 1 near the upper end of the belt conveyor
A diagonal guide plate zab is identified at a portion 9 so that the book 7 can be guided so as to fall in a different direction on the belt conveyor.

Further, in the gap between the right end of the belt conveyor Z and the upper end of the belt conveyor Z in FIG. It is connected to the rotating shaft 44a of the belt conveyor by an endless drive belt 41a.

A plurality of weights are fixed to the outer surface of the conveyor belt 18 of the belt conveyor 23 at equal intervals, and the conveyor belt 18
protrudes perpendicularly outward from the surface of the

As shown in FIG. 7, the control system [22] of the binker 9 includes an elevation position detector, a photoelectric detector, and tilt detectors 52a and 52b.
The signal from is being input. Control device for picker 9
! 22 includes a relay input circuit section, a micromanipulator (0) including a communication circuit 6, and a relay output circuit (I). This control device 22 receives the above-mentioned signals as input, and outputs operating signals to each motor 17, 33, 40, 42° 5 and winch 21.

Microcomputer-ω is a relay person output for each circuit,
59 input/output interfaces 64a and 64b, a CPU 61 that is a central processing unit that performs program control, calculations, and judgments, a RAM Ω that is a memory that stores variable data representing the operating state, and an operating program. It consists of an EP-ROM 63 which is a memory and a communication circuit group.

The communication circuit ω is provided so that the control calculation M & group installed on the ground side and the microcomputer ω communicate with each other. The control computer 6 processes information for the operator based on the customer's order quantity, and for example, picks l.
Information such as how many books and what type of books there are, or information such as which address and section of shelf 4 such books are stored in is created, and the results are stored in the microcomputer-θ. Communicate inward.

Such a microcomputer -〇c stores the communication contents from the control computer section in the RAM 62, and furthermore
The PU 61 takes in the operation program from the EP-ROM 63, and outputs signals to each motor and winch according to the seventh program based on input signal information from the outside. Each person's Cairo number is input from the relay input circuit section to the input interface circuit 64a so as to match the signal to the microcomputer ω, and is taken into the microcomputer ω. Further, the output is transmitted to each motor and winch through the output relay circuit 9 via the output interface 7 eighth circuit 64b so as to perform matching from the microcomputer 0 to external equipment.

The operating programs shown in FIGS. 8 and 9 are employed, but the program contents may be changed as necessary.

The operation of the above embodiment will be explained below while explaining the operation programs of FIGS. 8 and 9.

As shown in FIGS. 8 and 9, the operating program consists of many steps such as judgment steps and execution steps. 4. First, in step a, the control device! At the same time as setting the initial conditions of 1t22, a self-diagnosis of each circuit is performed to confirm that it is functioning normally, and the process moves to the next step b.

In step b, the control device n determines whether or not it has received the information required for picking from the control computer section, and exits from the loop of step b until the information is received. If it is received, the process moves to the next step C.

In step C, the received information is stored in a data table in the RAM 62. The information includes the running address, elevating address, and the number of books to be picked, 17 yen+, of the storage section of the shelf 4 where the target type of book is present. The movement pattern required for movement to each of these addresses is selected in step C.

Next, in step d'''c, the motor 1 is rotated in the operating pattern selected in step C (generally the traveling speed pattern).
7 is driven, the picker 9 moves on the running rail 8 with the wheels 16, and it is determined in step e that the picker 9 has reached the running address of the target storage compartment, and the motor 17 is stopped and the brakes are applied. After that, the process proceeds to step f, and the winch is driven according to the operation pattern selected in step C to move the elevating body 19 up and down. This vertical movement is achieved by operating the rope force with the winch 21, so that the lifting body 19 can be moved while being supported by the rope force.
Move up or down along boss) 9a with -.

It is determined in step g that the elevating body 19 has arrived at the desired elevating address, and the winch B is stopped and braked.

The information for determining that the elevating body 19 has arrived at the elevating address specified by the received information is based on the output signal of the elevating position detector. This output signal is a signal corresponding to the amount of elevation of the elevating body 19, and is manually input to the microcomputer -ω side. Then, the setting signal value CPU corresponding to the designated up/down address based on the received information stored in the ROM 62
61 is read out, and it is determined whether the set signal value matches the No. 16 value inputted from the lifting position detector hammer, and when they match, it is determined that the lifting body 19 has arrived at the specified address.

In this way, the elevating body 19 is moved horizontally and vertically and stopped at a position corresponding to the desired storage section of the desired shelf 4, and the process proceeds to step h. In step h, in step C, the ROM62
The picking number jt stored in NP and RO in advance
The CPU 61 reads the number M of 7 books stored in tray 1 in the target storage compartment stored in M 62, and the number 1N of books that the CPU 61 wants to pick is stored in that tray 1. If N, ≦M, then picking of the target number 1 will be achieved by picking the target storage compartment in which the tray l is stored, so the automatic processing will be performed immediately. Move to the picking float. If not, move the elevating body to the elevating address corresponding to the next storage compartment, perform automatic picking flows m and q over 2 circles, and pick the books 7 with only the specified number of picking numbers N into 2 compartments. Pick from the tray in the storage compartment. This step is performed by steps 1 to q. That is, in step l, the number of irises A that are insufficient for the Qin register lid stored in tray l in the first storage compartment is calculated, and the automatic binking tool m is calculated.
Pick all 11187 in tray 1 in the first storage compartment, then move the elevating body 19 up and down in step n to another storage compartment where four types of books 7 are stored, and pick the corresponding address of that compartment. In step 0, it is determined that the elevating body 19 has stopped, and the elevating body 19 is stopped, and then in step p, N is changed to A.
- This setting is reset, the book 7 with only the insufficient electric AP is picked from the tray l in the other storage compartment in step q, and the next reception information is waited for from the control computer 6, and the next picking operation is started.

Steps l and p of the automatic picking flow are basically almost the same as the steps of the automatic picking flow.

Step k will be representatively explained to show the picking operation.

The steps include each step a to to, and each step r.
Programmed by U from

First, in step (7), when No. 16, which drives the motor chrysanthemum in the normal rotation, is output from the microcomputer-ω, the motor cutter rotates and the worm gear 3 rotates in the normal direction, so the gear that meshes with this worm tooth ratio rotates. Then, the bracket 36a integrated with the gear rear rotates in the forward direction. For this,
The arm 36b integrated with the plug y) 36a rotates to rotate the phantom conveyor frame 23a of the belt conveyor toward the tray 1@ around the axis of rotation. When the belt conveyor n continues to rotate and swing around the rotation axis % as shown in Figure 2, the inclination is detected when the conveyor belt (18) becomes parallel to the inclined lower end surface of the tray 1 as shown in the WJS diagram. The switch lever of the sensor 52a presses against the width end side of the surface of the conveyor belt 18, causing the inclination detector 52a to switch and input a detection output signal to the braking device W122.

Next, in step (a), the detection output No. 471 determines whether the tilt detector 52a has issued a detection output signal or not.
A microcomputer was brought to the 122 side by hand.
Judging by the lead CPU 61, the motor 4 is activated in steps (two).
Stop 0 and brake. In the second state, the hole 29a,
At 29b, a light emitter 45a and a light receiver 45b of a photoelectric detector face each other as shown in FIGS. 4 and 5.

Next, in step ), the light emitted from the light emitter 45a is transmitted to the hole 2.
It is determined whether or not the light has passed through 9a and 29b and been received by the light receiver 45b. If there is no book 7 in the tray L, the dummy 1@25 slides down the sloped lower end of the tray L and falls into the rice holes 29a and 29b, so that the light from the emitter 45a is directed to the receiver 45b. The Kyuden detector art detects it without going to the dummy object δ (outputs No. 71 to the control*lI22 side. If the book 7 is stored in the tray 1, 1!, the crow of the book 7 is larger than the dummy object δ. Since the light is low, the light from the light emitter 45a is transmitted through the holes 29a and 2.
Since the light is received by the photodetector 45b through the photodetector 9b, there is nothing to be detected by the photoelectric detector 45b, so no detection signal is output to the control device ρ.

In step ), the C and P U 61 determines whether there is a detection signal from the photoelectric detector 6, and if there is no detection signal,
This means that book 7 is present in tray l. After step 7, in step (3), the timer of the microcomputer ω is used to allow 05 seconds to elapse, and in step (2)), the presence or absence of a detection signal from the photoelectric detector ω is checked and determined again. If the result of the judgment in step (b) is that there is no detection signal, in step (a) the microcomputer outputs a signal to drive the motor to drive the motor in the forward direction.

If you do it as shown in 2, the normal rotation force of the motor will be the driving bell) 3
Rotate the rotating shaft % normally through 4. Therefore, the conveyor belt 18 is driven endlessly, and the claws 31 move in an endless trajectory. During this movement, the claws 311, t pass through openings formed in the bottom and end surfaces of the tray l from bottom to top. For this reason, the books 7 on the slanted side of tray I are
It is scooped up and exits diagonally upward from inside the tray. The removed book 7 falls onto the conveyor belt 18 side, because the book 7 is in an oblique position in the tray l and the belt conveyor n itself is in an oblique position orthogonal to the tray 1. ) Book 7 will not fall out.

In this way, the books 7 that are about to fall onto the conveyor belt 18 and are scooped up in a stable state in a heavy enclosure are fed obliquely upward by the endless driving action of the conveyor belt 1B. On the way, the book 7 that is rising diagonally interrupts the light from the photoelectric detector, so a detection signal from the Kyuden detector is input to the control 4kM22@, and the C
The P U 61 determines that the detection signal is present in step (to), and then waits for 0.5 seconds in step (2) using the timer of the microcomputer. During this time,
The book 7 moved upward by the claw 31 is detected by the photoelectric detector 6
The book 7 in the tray 1 slides toward the lower end of the M oblique side of the tray 1 and is brought together. Therefore, in step Naka), control the detection signal again to check the presence or absence of the detection signal of the charging detector! CP based on the input to the 122 side
Let U61 decide. As a result of the determination, if there is no detection signal, it can be seen that the book 7 still exists in the tray l and the picking operation can be carried out at that address.

After that, in step (company), from the specified number of picking N, the number of picking 1 is calculated as book subdivision into CP.
U 61 subtracts N, to N, -1 RA
The setting is changed to M62, and a signal for driving the motor C in Stellar Play is output from the microcomputer-ω. In this way, the rotational force of the motor 42 is transmitted to the rotating shaft 44a via the drive bell) 43,
&l is driven endlessly, and then in step ), a signal for driving the motor shell is output from the microcomputer 〇, the motor S is rotated, and the feeding rotary shaft is rotationally driven.

Furthermore, the number of pickings N specified in step (e)
, the setting change value in the ROM 62 is read into the CPU 61 and compared, and N.

= 0 or not. The judgment result is still NP=0
If not, return to step ρ), continue driving the motor according to the judgment at step (to), and move the next pawl 3.
1, the book 7 is pulled out from the tray 1 and picked, and steps (up to +4) are repeated until N,=0.

When N,=O, the specified number of picking N.

Since the book 7 corresponding to the number of books 7 has been taken out, the microcomputer ω outputs a signal to reverse the motor φ at step (/l, and the motor φ is reversed, so that the claw 31 is inside the tray 1. The belt conveyor phantom is oscillatedly moved toward the elevating body side until it does not get caught on the book 7. This oscillating movement is continued in step (B) for 03 seconds, and after 03 seconds, the claw 31 is no longer caught on the book 7. At the next step, the microcomputer 0 outputs a stop signal to stop the Peltco/pair phantom from swinging.Next, at the next step, the microcomputer
Use the ω timer and wait for 05 seconds. During this time, the books 7 taken out from the tray 1 are transferred to the belt conveyor 4 side by the feeding action of the feeding rotary shaft and the belt conveyor 4 without remaining on the belt conveyor n. When transferring, the books 7 are guided by the guide plate 23b so that they reliably fall onto the belt conveyor 4 side. Then, the book 7 is sent to the bottom side of the belt conveyor by the rotational force of the rotating shaft 41.

Next, in step (force), the microcomputer ω outputs a signal to flatten the motor blades, and the motor blades are flattened.After that, in step (g), the microcomputer's timer waits for 2.0 seconds.During this time, the belt conveyor The book 7 listed on is sent to the collection conveyor 11 side on the conveyor pel)&l.

The collection conveyor reliably receives the rotational force of the rotating shaft.
transferred to the top. After 20 seconds have passed, all the books 7 on the belt conveyor Sae have been sent to the collection conveyor 11, so a step force is used to output a signal to stop the motor from the microcomputer 〇, stop the motor C, and continue. Then, in step ), the microcomputer ω outputs a signal to stop the motor 5, and the motor 5 is stopped.

After that, in step (N), the microcomputer
A signal for reversing the motor tochi is output from 〇, the motor ψ is reversed, and the tilt detector 52 is output in step (g).
The microcomputer ω determines whether the detection signal from b is input to the control device side.

As the motor chrysanthemum reversal time progresses, the belt conveyor n
begins to rotate around the axis A in the vertical direction, and finally, when the belt conveyor n becomes vertical, the tilt detector 52
The switch lever b hits the conveyor pel) 18,
The tilt detector 52b outputs a detection signal to the control device ρ. When the microcomputer 〇 takes in this detection signal, it is determined that there is a detection signal at the step (step stop), and at the step (takumi) the microcomputer ω outputs a signal to stop the motor, and the motor stops. Return to step b, receive the information necessary for the next picking operation, and start a new operation.

Also, if there is no detection signal from the photoelectric detector section in steps ψ) and (b), or if there is a detection signal in step ψ), it is an abnormal state, so jump to ■ in Figure 9. , steps r, s, t.

Execute U.

That is, in step r, a signal to stop the motor is output from the microcomputer to stop the drive of the belt conveyor, and further, in step $, the microcomputer outputs a signal to stop the motor.
A signal for reversing the motor direction is output from 〇 to return the belt conveyor to the vertical position, and in step t, it is detected by the presence or absence of the detection signal output from the detector 52b that the belt conveyor has been returned to the vertical position. computer
ω is determined, and in the next step U, the microcomputer ω outputs a signal to stop the motor ψ, and the swinging operation of the belt comparison section is stopped. If necessary, a program may be constructed so that in step U, a signal indicating "no books, abnormality" is output from the microcomputer to an external display at the same time. After step U, step b
The information necessary for the next work is received from the control computing engine and the work is started again.

In the above embodiment, the microcomputer ○ is used to automatically carry out the picking operation according to the operation program set therein, but each motor 17.33.
40, 42, 55 or the winch 4 may be manually controlled to perform picking according to the procedures shown in FIGS. 8 and 9. In this case, it is preferable that a display device be connected to each detector and the driver check the detection status while performing the detection.

Furthermore, if each part is manually controlled by the driver's visual inspection, each detector is not required. Furthermore, in this embodiment, since the conveyor pel 18 has a plurality of claws 31,
Continuous picking efficiency is better than using only one claw 31. Further, when picking, the book 7 is not subjected to a large impact like a potball drop, so the book 7 is less damaged and there is no deterioration in quality. In addition, picking efficiency is high because continuous picking does not involve the phantom swinging and positioning of a belt conveyor for each book. Furthermore, since picking is performed using the 3N claws, there is an advantage that even thin objects can be picked.

The second embodiment of the present invention shown in FIG. 10, FIG. 11, and FIG. 12 differs from the previous embodiment in the following points, and otherwise exhibits the same structure 1 function.

Immediately, the claws fixed to the conveyor belt 18 of the belt conveyor phantom 69.70. n is conveyor belt 1
The protrusion length from 8 is different.

A detection piece nail is fixed to the width end of the conveyor belt 18, and a detector 68 (for example, a photoelectric detector can be adopted) for detecting the detection piece 67 is attached to the conveyor 7 frame 23a. The mounting position of the detector is such that the claw θ faces downward from the tray l, as shown in Figure @10, and sometimes the detection piece 6
7 is placed in a position where it can be detected.

In this embodiment, in which the mounting l5il intervals of each mold 69, 70, and 71 to the conveyor frame 18 are set at equal intervals, even if the books 7 of different thicknesses are mixed in the tray 1, the books By selectively using a claw that has a protruding length that can be used to catch and raise 7, it is possible to pick books 1h7 of multiple types of thickness. Also, it is possible to use only claws with a long protruding length from the beginning, but in this case, there is a risk that two thin books 7 may be caught at the same time, resulting in a miscount of the picking amount. This creates the risk of over-picking.

This embodiment does not have this risk, and picking is performed as follows.

In other words, the conveyor belt moves closer to the tray 1all by swinging, and the conveyor belt is driven endlessly to move the detection piece 67.
7 is detected by the detector section, the drive of the conveyor belt `` is stopped. In this way, the claw ω is located at the bottom of the conveyor belt and stops. In this case, the prisoner on the tt belt conveyor is brought closer to the tray 1 side by swinging as shown in Fig. 10.After that,
The conveyor belt is driven, and the books 7 near the lower end of the tray 1 are pulled out to the top of the tray 1 by the claw ω and picked.

This extraction is detected by the photoelectric detector 6, the drive of the conveyor belt 18 is stopped, and the belt conveyor is removed from the phantom tray 1.
Swing the conveyor belt 18 slightly away from the conveyor belt 18.
is driven again and the extracted books 7 are transferred to the belt conveyor row side. Other nails70. At time n, the belt conveyor phantom moves away from the tray l, so it passes the book 7 without catching it. When the claw 69 is again below the tray 1, the belt conveyor is swung toward the tray 1 to pick up the next book 7. When the thickness of the book 7 increases, the detector unit detects the detection piece, and then the conveyor belt 18 is moved to the tray 1 by the appropriate claw 70 or claw 71 for the book 7. The belt conveyor row continues to be driven until it reaches the bottom of the tray 1, and then the belt conveyor row is moved toward the tray 1 side and swung, and the books are taken out.

In this way, even if the thickness of the books 7 in the tray 1 changes, it is possible to reliably pick one book at a time.

Furthermore, if a claw with a long protrusion length is intentionally used for thin books 7, it is possible to pick a plurality of books at the same time.

Still another embodiment of the present invention shown in FIG.
9 is provided with a horizontal expansion/contraction device [75, and this horizontal expansion/contraction *1ii7
5, there is a device W17 for swinging the belt conveyor row.
6 and a conveyor bell of a belt conveyor row) 1g
It has two claws attached at equal intervals. The rest is the same as the embodiment shown in each figure from FIG. 1 to FIG. 9, and the same reference numerals are given to the four parts.

The telescopic system [75 is a drive system in which the rotating shaft of the motor n attached to the elevating body 19 and the rotating shaft of the pinion 78 attached to the elevating body 19 are connected by a check 779, and the elevating body 19 It has a support system consisting of a horizontal rack 81 supported by rollers attached to the rack, and the tooth profile of the rack 81 and the pinion are engaged.

On this rack 81, a belt conveyor n is placed horizontally*(
A motor switch for oscillating rotation between the two-dot chain line in Fig. 13) and the solid line state, and a belt conveyor phantom are installed.

In this embodiment, when the motor n is driven and this driving force is transmitted to the pinion 78 via the checker 779, the pinion 78
8 rotates and projects the rack 81 in the horizontal direction. Then, the belt conveyor n is moved horizontally to the tray 1@. Next, the belt conveyor is rotated upward from the position indicated by the two-dot chain line to the position indicated by the solid line by the rotational force of the motor, and then the conveyor belt 18 of the belt conveyor is driven.
The books 7 in the tray 1 are successively picked one by one by the claws and sent onto the belt conveyor.

After the picking is completed, the belt conveyor is laid down horizontally and the lapuku 81 is pulled back.

In the second embodiment, the same effects as those of the embodiments shown in the figures from IJI to FIG. It is efficient because there is no repositioning work for the tray 1, and furthermore, since picking is performed using claw blades, there is an advantage that even thin objects can be picked. In addition, the horizontal expansion and contraction device 75
Since the belt conveyor is brought closer to the tray 1 side, the length of the belt conveyor n becomes smaller and smaller than the method of bringing the belt conveyor n closer to the tray 1 by swinging itself, and the books can be transferred quickly to the belt conveyor. will be achieved.

As described above, according to the present invention, the objects to be picked are conveyed smoothly and orderly on the conveyor from the tray to the picker side without any impact, thereby preventing quality deterioration of the objects to be picked, and the objects to be picked from the tray are transferred to the picker by the claws. This has the effect that even thin objects can be picked reliably, and furthermore, continuous picking can be carried out without repeating large-scale positional corrections of the conveyor equipped with claws, and continuous picking can be achieved efficiently. is obtained.

[Brief explanation of drawings]

1! Figure 1 is a plan layout of a book distribution center that employs an embodiment of the present invention, Figure 2 is an elevation view of the picker, shelves, and collection conveyor shown in Figure 1, and Figure 3 is Figure 42. 582 is a perspective view of the tray shown in FIG. Fig. 6 is an enlarged elevational view of the main parts of the picker in a sudden work situation; Fig. 6 is a top plan view showing the transition area between the collection conveyor shown in Fig. 182 and the conveyor on the picker elevating body; Fig. 7 is the same as Fig. 2. The functional block diagram of the picker control device shown in FIGS. 8 and 9 is a flowchart of the operation program for the picker by the microcomputer shown in FIG. Another embodiment of the invention, No. 10 is an elevational view showing the positional relationship between a conveyor with claws and a tray in a picking operation state, and No. 1
Figure 1 is a front view of the belt conveyor shown in Figure 10.
Figure 2 is a bottom view of the belt conveyor shown in Figure 10.
FIG. 3 shows still another embodiment of the present invention, and is an elevational view showing the arrangement relationship of each component device during a picking operation. 1...tray, 4...shelf, 7...
...Books, 8...Travel rails, 9...
Picker, 18...conveyor pel), 19...
... Elevating body, 23.24 ... Belt conveyor, 30, 69. 70.71...Claw, 36a
...Bracket, ab...Arm, 3
6c...bearing, ah...gear, I...
Worm gear, Xun...Motor agent Patent attorney Usui 1) Toshiyuki 1"1 shi1 M"2m t6 Figure #-7N 77 Procedural amendment (Table 1J of 0 quotation, jc f'l.: 1981 Patent Application No. 68681 Name of the Invention Bikinog Device Sanzanichi ni Tsutomaku-1ts: oHg Ceremony Society Hitachi / Kaname Manufacturer Table 3 III
II B) Jo (Assistant Agent 11:) Each column of ``Claims J'', [Detailed Description of the Invention 1], and [Brief Description of Contents of [Capture 11] (J)] in the subject specification of Jo (Assistant Agent 11). and drawing attachment 1. The statement under - in the claims of the specification is amended as follows: A picking device defined as a claim. A picking device according to item 1 of the claims. A pinking device with a d-pi in the claims @ Item 1. A pinking device. 2. A book or song described from the first line of the second page of the specification to the fourth line of the same page. - Correct "to the picking device" to "to the device that takes the items stored in the tray into the picker side." 3. From line 8 on page 4 of the specification to line 6 on page 5 As described in "Basic configuration..."
·explain. 1 The basic configuration is a member that passes through the tray to take out the articles from the M tray and takes the taken out articles to the picker side, and an endless conveyor whose feeding direction is oriented in the direction in which the articles are taken out. , a claw attached as the member to the endless feedable belt of the endless conveyor so as to protrude toward the M tray side, and a conveying device provided close to an end of the endless conveyor located in the direction in which the articles are taken out. , the claws are passed through the tray by the endless feeding action of an endless conveyor,
The claws passing through the tray catch the article and take it out of the tray, and the taken-out article is transferred to a conveying device by the feeding action of an endless conveyor and taken into the picker side. Embodiments of the present invention will be described below with reference to FIGS. 1 to 15. ” is corrected. 4 Add the following sentence between page 31 @ line 20 and page 32 @ line 1 of the specification. "In yet another embodiment of the invention, shown in FIG.
A tray 1 is supported horizontally by a horizontal tray support 4a attached to a shelf 4, and the books 7 in this tray 1 are packed to the left by a dummy object 5 which is pushed to the left by a spring U. Belt conveyors β, 24 arranged at right angles to each other as shown in FIG.
is supported horizontally by a telescoping device 75 shown in FIG. 113, for example. A weight is attached to the surface of the conveyor belt 18 of the vertical belt conveyor n so as to project toward the tray 1 side. The protrusion length of this hook is set to be enough to catch 71 books. Horizontal bracket blades are fixed to the conveyor frame of the belt conveyor n in a two-stage arrangement, upper and lower, and vertical guide root blades are fixed to the tip of each bracket blade. The position of the guide plate 82 is determined so that there is a space between it and the conveyor belt 18 through which the guide plate 117 and the pawls can pass. In the embodiment shown in FIG. 14, the direction of the conveyor belt 18 is brought closer to the left end of the tray 1 by the stretching action of the telescoping device. After that, the endless movement of the conveyor belt 18 causes the claw (9) to pass through the tray L from the bottom to the top, and hooks the 71 books on the leftmost side with the claw. Take it out. The books 7 taken out from the tray 1 are placed on the weight and sent upward. If the book 7 falls to the right side during feeding, the book 7 that fell
The guide blades stop the receiver to maintain the grip of the book 7 and the upward feeding of the book 7 by the claws. The books 7 sent upward are pushed to the left at the upper end of the guide plate 82 and transferred to another horizontal belt conveyor, where they are sent to the center of the picker. When the book W7 is taken out from the tray 1, the book WI7 remaining in the tray is pushed to the left side by the spring 8, so that the claw I will touch the book 7 the next time it is taken out. Therefore, by driving the conveyor belt 18 endlessly on the spot, books can be taken out continuously. In this way, there is an advantage that the tray 1 can be placed easily and the belt conveyor does not need to be oscillated. Still another embodiment of the present invention is shown in FIG. 15, in which a book 7 is taken out from a tray 1 vertically placed on horizontal tray supports 4a-f attached to a shelf 4. That is, each belt conveyor 24 is arranged horizontally and linearly. It is supported by a telescoping device 75 shown in Fig. 3, so that it can be horizontally displaced. Claws (9) are provided protruding from the surface of the conveyor belt 18 of the belt conveyor n. Vertical bracket blades are fixed to the conveyor frame of the belt conveyor n at two places on the left and right 1. A space between guide plates is fixed at the upper end of each bracket plate, and the right end between the guide plates is bent upward. The bent part is used as a stopper plate. In the embodiment shown in FIG. 15, once the belt conveyor is brought close to the bottom surface of the tray 1 by the telescoping device, the conveyor belt 18 is driven endlessly to pass the claws into the tray 1. In this way, only the 71 books at the bottom of the tray 1 are caught by the claws and are ejected from the tray 1 on the left side. At this time, if the books 7 on the second tier from the bottom also try to be pulled out due to friction with the books 7 on the lower tier, the books 7 on the upper tier hit the stopper plate, preventing the books 7 from being pulled out and moving, and the books 7 on the second tier from the bottom are prevented from moving from the tray L. Only one book, Book N7, is removed and sent to the left side, transferred to the belt conveyor, and taken into the picker side. As shown in step 2, each book is taken out one by one with one claw. In this embodiment, the path from when the books 7 are taken out to when they are taken into the pivcar side is straight, which is efficient, and one book at a time can be taken out reliably. 5. This is an elevational view described on page 33, line 13 of the specification. ” is an elevational view, FIG. 14 is a still further embodiment of the present invention, and is a schematic elevational view of the main part, and FIG. 15 is still another embodiment of the present invention, a schematic elevational view of the main part. It is a diagram.”
Correct to. 6 Add attached figures 14 and 15 to the drawings, 1'1
4 simple

Claims (1)

[Scope of Claims] ] In a device for taking articles into a picker side from a tray which is arranged in an inclined state and has a shape in which each of the end face and the lower face on the lower end side of the inclination and the upper face are open, the picker has an endless A picking device characterized in that a conveyor including a shaped belt is swingably provided, a claw is provided on the belt in a posture protruding from the belt, and a conveyance device is provided on the picker close to the center of swing of the conveyor. Device. 2. pi] Picking pull 1 according to claim 1, characterized in that a plurality of claws aW1 are provided on the distributing belt. 2. The picking device according to item 2, characterized in that the picking device is set to .