JPS5852103A - Picking equipment - Google Patents

Abstract

PURPOSE:In a picking equipment for handling an object such as a book, to handle the object without damaging it, by providing racks in which object housing trays are supported in an inclined state and by providing pickers movable along the racks. CONSTITUTION:A picker track 2 is provided in a looped state between racks 1-a, 1-b. A plurality of pickers 3-a-3-x are movably supported on the track 2. Tracks 4-a, 4-b for replenishers are provided behind the racks 1-a, 1-b. The replenishers 5-a, 5-b are movably supported on the tracks 4-a, 4-b. Each of the pickers 3-a-3-x has a column 20 movable on the track 2 (rail 13). A vertically moving section 19 having a picking head 12 is provided on the column 20. Housing trays 11 are provided on arms 10 on the stanchions 9 of each of the racks 1-a, 1-b so that the trays can be inclined. After an object in the tray 11 is picked up by the head 21, the object is put in the retrieving tray of the vertically moving section 19.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to picking work for book boards or sheet-like objects, and provides picking equipment and equipment suitable for picking objects such as books, which have interlayered postures. Regarding.

Conventionally realized automatic picking of small items 1141
1 (#Kaimei56-321!S, 6!L%lt
Akira Machai! ! Is-1841H! Arrangement C) is a pick-up device using the so-called daruma-dropping method or cutting-out method, and the posture of the object at the end of the picking operation is not constant, and the object may be collected in a rough position like a book, or in a pick-up mode. However, it has a drawback that it cannot be used as a picking method and 11W when the quality of the object must be maintained.

The main purpose of the present invention is to provide equipment for pitching objects such as books without reducing their quality. The main point of the present invention is to monitor the system and equipment.The basic structure of the present invention is to include a storage tray for picking objects with a part of the lir surface open, and a 1ff
The storage tray is equipped with a shelf that supports it in an inclined position with the front side lowered, and a shelf that can be freely advanced to the Nffllff surface.

a picker having a picking head set in an upward peeling direction and an inward direction of the picker in a picking feeding direction of the picking object; and a horizontal or nearly horizontal end of the picking feeding direction of the picking head provided on the picker; 1ffle The picking equipment is characterized by being equipped with a collection tray that supports the receiving surface of the picking object in a vertically movable manner, and when the picking object is sent diagonally upward from inside the storage tray with the picking head, The object to be picked is automatically placed on the picking head in a horizontal or almost horizontal position according to the diagonal position, and is sent horizontally or almost horizontally.
The object is stored in the collection tray, and the height of the object to be picked on the collection tray can be adjusted so that the object to be picked does not fall through a large distance during storage.

An embodiment of the present invention will be described below with reference to FIGS. 1 to 13. FIG. 1 shows the layout of a picking area to which a picking method according to an embodiment of the present invention is applied, in which two rows of racks 1-a * 1-b are arranged to store items to be picked. . In the system shown in Fig. 1, a loop-shaped picker track 2 is arranged between the shelves 1-1-b with the same storage content in both series. A plurality of pickers 1 to 3-x are arranged above and pick while moving on this track 2. Also shelf 1-awl-
On the back of b, there is a track 47 for replenishment machines 1s-a to 5-, b.
m14-b is arranged, and on this track 4-ae4-, a plurality of replenishment machines S-, ~S-b are movably arranged and replenish the picking target to the shelf 1-mal-b. In addition, the object storing tray 11 is taken in and out of the shelf 1-1 #1-b, and the shelf 1 = a * 1 '' b
A collection tray 38 for storing objects to be picked is placed at both ends of the p-3-a? 3-X tray transfer area 6-b picker 1 to 3-x collection after picking is completed It also serves as an interface with external equipment. Of course, as will be described later, this location also includes a signal transmission M station for receiving and receiving control signals between the control computer that controls the picking system and each picker. -at both ends of ae4-b.

Storage tray 11 in which picking objects for replenishment are stored
Tray handing place 8- for passing to replenishing machines 15-a to 8-d
A to 8-d are installed, and return areas 9-1 to 9-1 for returning empty storage trays and shelves are also installed.

At this location, of course, the same signal transmission *a as mentioned above is also interrupted. Each picker 3-x to 3-x is placed at the tray transfer station 6-1. Alternatively, at the point 6-b, the empty collection tray 38 is received and the picking information from the computer is received, and then the second step is to move along the track 2 along the shelf, pick the object, and place it at the edge of the shelf. Piggin for one time when you move? When all of the steps are completed, the tray receiver discharges the collection tray 38 at pick-up points 7-b and 7-IA, and one picking operation is completed. On the other hand, each replenishment machine 5-1 to 5-
d receives the replenishment signal at the end point of the replenishment machine trajectory 4'-, 4-b, and at the same time transfers the corresponding tray ν- containing the picking object to the tray receiving areas 8-a to 8-d. At the same time as replenishing the corresponding shelves, the empty storage trays 11 on the shelves are collected.

Return trays to tray return areas 9-a to 9-d. Picking and replenishment are performed as described in 2.

Figure 2 shows a picker with the layout shown in Figure 1.3-
Hatake~3-x, shelf 1-ael-b, replenishment machine 5-
It is a side relationship diagram of a=5-b. Picker 3-a
~3-x is the wheel Pa running on the rail 13 that constitutes the track 2
There is also a normal stacker crane type that has a column 20 via a traveling device 115, has a support rail 22 supported by a support wheel 23 at the upper part, and runs upright on the floor 12. The main body elevating part 19, which can be raised and lowered along the column 20, has a picking head part 21, and this picking head part 21 allows the shelf to be moved up and down (a*1-).
The objects to be picked in the storage tray 11 on the storage tray 11 are picked one by one. Shelf 1-'a * ]
-b c Each vertical support 9. Consisting of each horizontal support 10,
Is it installed upright on the floor 12? be done. Each school pillar 1 between each pillar 9
G is distributed with a height difference, and when the storage tray 1181 is placed on the technique pillar 10, the storage tray 11 is supported at an angle. The storage tray 11 has lead in one direction [multiple stages, picker 3-
A plurality of rows are also stacked in the running direction of a to 3-x, and a two-dimensional matrix-shaped column support 1 is configured with respect to the picker running surface. The one shown on the right in Figure 2 is replenishing machine 5-a.
~ in s-d.

The configuration of this machine is basically the same as a conventional stacker crane with forks, but as shown in FIG.
1-b, the multi-stage telescopic fork device 28 is configured to rotate between a solid line display position and a dotted line display position. The second replenishment machine 5-Otori to 5-d is similar to the picker, and the trajectory 4-. , 4-b constitutes rail 1
6 running wheels 17. It has a post 30 via the traveling fill 18, and the above of the dI post 0 is in a form in which the ceiling support rail 24 is sandwiched between the support wheels 2B. Striker 30 is standing upright. This post 30 is provided with an elevating part 29 that can be freely raised and lowered along the post 30;
A telescopic fork acid M28 is installed in the elevating part 29 via a fork part rotation mechanism 27, and a 0. The slope of the shelf creates space for picking and has the effect of increasing the space efficiency of the shelf 1-awl-b as a whole.
1-b is coated two-dimensionally in the running direction and the lifting direction of the pickers 3-1 to 3-x, and this edge has a one-to-one relationship with the type of picking object stored on the shelf. We are trying to take appropriate measures. That is, one storage tray 11 stores picking objects of the same type. Picker S-a~3-x and replenishment machine 6-a~! -d, as described above, positions the picking head section 21 or the fork device 28 at the corresponding address according to the picking and replenishment signals, and performs the respective picking and replenishment operations.In the picking method according to the present invention, , for collection of pickers and for loading on shelves.

Since a dedicated tray is used, this will be explained below. Fig. 3 shows a storage tray 11 for shelves, and is an external view. The storage tray 11 is
It has a closing part 34 on the front surface and is pivoted, and the docking head part 21 and the first one 33 of each picking object 32 in the storing tray 11 come into contact with each other at this part. The picking object 32 is c! as shown in FIGS. 3 and 4. They are stored in a tray in a single row, and are pressed down by a spring 36 at the rear by a presser plate 31 to prevent the row from being disturbed. The leading object 33 of the picking object comes into contact with the picking head section 21, so that the picking object can be picked one by one. Since the storage trays 11 are stacked at a certain angle of inclination on the shelves with the opening facing downwards, the effect of the holding plate 31 is combined with the effect of preventing the posture of the objects 32 to be picked in the storage tray 1 from being disturbed. As shown in FIG. 4, the presser plate 31 is made up of two blocks, which are connected by a spring 36, and when in the maximum position, the presser plate 31 can be refilled, This has the effect that the posture of the objects 3 and 2 to be picked is not disturbed even during conveyance by 5-d. The storage tray 11 can be used to load items onto the branch posts 1G of the shelves via the claws 3Is on the bottom of the storage tray 11, or to store items on the branch posts 1G of the shelves 1-m and 1-b from the shelf posts 9. Tray 1
It is installed in a cantilever type towards both sides of the replenishing machine 5-
a ~ 5- b Tsumetsuichi Fork IIIjIM37
Even when the crane is tilted, the handling method is the same as in a normal stacker crane, by loading and unloading trays into and from the first shelf 1-' to 1-b. As described above, such a storage tray 11 also has the effect of ensuring that the quality is completely maintained even when the posture of the picked object itself is in the middle layer. 5. What is shown in Figure 5 is a collection tray 38 for storing and collecting the picked items of the picker 3-x@.・Therefore, even after picking is completed, it is necessary to align and collect the objects. A recovery tray 38 for this purpose is the tray shown in FIG. This collection tray 38
The bottom @4O has openings at 4 locations on the side Ii, and has a shape that matches the openings and slides freely in the upward and downward directions.
This bottom plate has a (picking vs. enemy receiving surface)! By moving O up and down, the posture of the object to be picked is maintained and 119 collections are performed. The vertical movement of the bottom plate 40 is as follows: Pickert-a ~ B 7 b @
The pantograph type installed in the
i, 6th! It is possible to line up and collect as shown in Figure 1, but there is a problem. This-picker 3-a of collection tray 38
~Picker 3-a~B-x The telescopic fork device 4 provided on the hook of B-x, the picking head section that performs the zero-order picking operation performed by 42-b. 21, the picking head 45 is attached to the single picker elevating section 19 by a parallel link mechanism 46, as shown in FIGS. 7 and 8.

By rotating the link 46, the head 45 comes into contact with the picking object 335 at the opening of the storage tray 1.1.

This link is driven by a motor 48 and the picker runs.

During lifting and lowering, it is held in the position indicated by the layer line in Fig. 8, and only during picking, it is moved to the position indicated by the layer line in Fig. 81.
Picking, perform the action. Picking spatula F4B,
It has a structure in which the claws are attached to an endless conveyor stretched over a diagonal conveyor, and each piece is picked one by one from the tray using two forces: the force of the lever between the conveyor and the object to be picked, and the tensile force of the claws. In this method, the picking head 32 is cut out. Endless drive of the conveyor is done by motor 4i') It is made of the same material as shown in FIG.
8 in and out 5.7 T-ri! sW 42-a
*4'2=b and a breadboard graph type jack *#41 for vertically moving the tray bottom plate 4o, and attached to the uppermost position fc of the collection tray 38, the center 4j44-a, 44' -1) The topmost position of the picking object 39 in the first collection tray 38 is always
Collection/retrieval - Operation details 1 911 moves the picking head 4s to the shelf at the corresponding address so that it is held at the highest position in the tray 38, and the 111w moves the picking head 4s to the shelf at the corresponding address. Second place! After deciding, parallel ink 46! , and is moved to come into contact with the picking object 33 located in the opening 34 of the storage tray 11 in the shelf.

In this state, go to Pi=ng°, Rad 4! ! The inlet drive conveyor is in contact with one picking object 33 at the head of the picking objects 32. Head 4 in this state! When the endless conveyor S rotates i, the object 3
3 moves diagonally upward, and when the storage tray 11 is removed, head 4! It falls horizontally to the S side and rides on the endless conveyor of the head 48. Head 4 even in 20"' condition
Step 7 Since the endless conveyor is rotating, the object to be picked 33 can be picked while maintaining its horizontal position. l
It is transported inside the storage tray °-38. The object 33 to be picked during the second period is 1. Although the attitude of the fly 901' will change, the directionality etc. will be maintained, and as shown in FIG.
``There is no inherent deterioration in the quality of the object.''
The above explanation is about 1,1 Φ picking, but when picking multiple pieces of the same variety,
Achieved by repeating the above encouragement meeting multiple times -3
8 is detected by sensors 44-a and 44-b, and the control device! 81 allows the expansion and contraction of the jacking device 241! Ridder! The sO is driven and controlled so that the upper surface of the collection tray is always directly under the sensor, so that the retracted picking object is rolled into the collection tray 38 without disturbing its posture. to control. 'By the above-mentioned operation, picking at a certain address is completed, but for picking of 1 difference, by positioning the picking head section 21 at each corresponding address, the above-mentioned picking operation is executed at that location. and perform a series of Pig Cow jig tasks. When a series of picking is completed and the picker returns to the collection point.

As shown in Fig. 1, fork 4 1e 42-b
- is extended, the collection tray 38 is handed over to the transfer station 7-17-b, and one picking operation is completed. Of course, in this case, the jacking unit W41 is at the lowest position Vt, and the collection tray 38 supports the collected items with the bottom plate 40. Also, when starting picking, empty collection tray 38
Pickers 1 to 3 are moved by forks 42-a and 42-b in the opposite direction to that shown in FIG.
-X is received and the above-mentioned picking operation is executed.Next, the operation control method will be explained. 11th
FIG. 12 shows a diagram of the overall operation control system configuration of the picking method according to the present invention.

This system has a control computer OPu in the center, which controls the pickers a to B-x and the replenishing machines 5-a to 5-d via a signal transmission device 8TR. Trajectory 2 and Replenisher Trajectory 16
1 issues the orbit loop closure control command through the loop closure control IIIM of the pickers 3-B to B-x,
Replenishment * This ° performs blockage control of B-a to 8-d.
Other section 1 also handles the delivery of each tray shown in Figure 1, that is, controls the hot water supply device. The shelves Z-a+i-b are numbered as shown in FIG. 11, and each address is 0.1).
There is a one-to-one correspondence with certain types of picking heads. A common control scheme is first order. That is, when a certain picking order is received, the calculation@OP u calculates the total amount of picking equivalent to 70 orders, compares it with the capacity of the collection tray 38, and determines whether it will be picked once or multiple times. Decide whether to do so. Thereafter, a positioning path for the pickers 3-a to 3-B-x (this corresponds to each designated product type) is determined in accordance with the picking contents.

Calculation of Σ(l, j), plus each address 0. The number of items picked in j) is combined and sent to the pickers 3-1 to 3-x via the signal transmission device @8TR as a control command to the pickers 3-maro to 3-x. Picker 3-1 to 3-x
temporarily stores the contents of this command in the built-in memory, retrieves the contents of this memory sequentially, and stores them at individual addresses 0 .
There is one method that performs picking in J) and picks all the picking amount equivalent to one order during five rounds of the orbit. On the other hand, the calculation 5110 P u constantly compares the order quantity and the inventory in the shelf, and when the inventory quantity becomes less than the standard quantity, it issues a command to the replenishment machine to fill the specified shelf 1.
- Make up for the shortage of ael-b. In this way, the picking area layout shown in FIG. 1 is created.

Automatically control all equipment and equipment to achieve fully automatic picking work. On the other hand, the control of each of the Bitcars 3-a to 3-x is performed by the control system shown in FIG. Small control computer 53, traveling drive device M62, traveling position detection 1jij
63. Occlusion signal detector 64. Lifting drive *ff154. J
F demotion 11 detected! fss, 7 oak drive system sa, fork position U detection 111! B? , Hiraking head drive @@
5B, contact detection W59, jack drive @@60. It consists of a height detection a61 and performs the above-mentioned picking operation and positioning operation. Small IJ! The control computer 53 memorizes the contents of commands from the central computer, sequentially retrieves the contents of the memory, and controls the movements of traveling, lifting, picking heads, jacks, forks, etc. using a minor servo loop as shown in Figure 5. The replenishing machine also has a similar control system that performs sequence control of each arm inner servo loop. By configuring the control system in this way, it is possible to perform fully automatic picking using the same simple control method as a conventional stacker crane, without having to perform complicated controls such as relative tracking control in conventional picking systems. It has the effect of being able to perform high quality work. With such picking, care must be taken in terms of quality control. It is possible to pick objects such as books, films, MTs, electronic parts, etc. with high quality and at high speed.

According to this embodiment, it is possible to store objects without deteriorating their quality using a tray with a simple structure, and it is also possible to pick objects in units of 1' or a plurality of objects consecutively, and it is space efficient. In addition to making it possible to create high shelves and tray structures, the picking method itself can be improved.
The collection 111 uses a method of cutting upwards and can be accepted in alignment.
K is installed on the picker side, and all operations that replace picking and furnace operations are performed on the picker side, resulting in high quality.

It has the effect of realizing and providing high speed, energy saving, and simple control method.

Another effect of this practical example is that the shape of the shelf trays allows for 1/1 handling with a normal stacker crane, which has the effect of easily achieving consistent automation and mechanization from replenishment to picking. - As described above, according to the present invention, since the objects to be picked can be handled in an orderly manner, it is possible to provide picking equipment that maintains the high quality of the objects to be picked.

[Brief explanation of drawings]

FIG. 1 is a layout diagram of a picking system according to an embodiment of the present invention, FIG. 2 is an elevational view of the shelf section in FIG. 1, and FIG.
The figure is a three-dimensional perspective view of the storage tray in Figure 2, and Figure 4 is a three-dimensional perspective view of the storage tray in Figure 2.
A conceptual diagram of the relationship between the storage tray shown in the figure and the fork of the refilling machine shown in FIG. 2, and the inside of the storage tray seen from the side;
FIG. 5 is a three-dimensional perspective view of the collection tray adopted in one embodiment of the present invention, No. 61! 1 is a vertical sectional view of the collection tray shown in FIG. 5 when in use, FIG. 7 is a detailed view of the picker elevating body part adopted in an embodiment of the present invention, and FIG. 8 is a surface view of FIG. 7. , Fig. 9 is a layout diagram of the main parts during the picking operation in an embodiment of the present invention, Fig. 10511 is a diagram showing the collecting tray receiver in a passing state in an embodiment of the present invention,
6 is an address allocation diagram of shelves in an embodiment of the present invention, the first
Figure 2 is a configuration diagram of the overall/operational control system according to one embodiment of the present invention, and Figure 13 is a diagram of one embodiment of the present invention! It is a picker control block diagram by an example. 1-loue 1-b ””-' shelf, 2.4-io4-b
...orbit, 13-Hatake ~ 3-x... picker, 5-a ~ 5-d... replenishment machine, 9...
・・Strings for tiers, 10 ・Branch pillars for tiers % 11 ・・・・
・・Storage tray, 14.16・・・・Running wheel, 20・
...Post, 21... Picking head section, 32, 3 B----- Picking object, 3
8...Collection tray, 40-...Bottom plate of the recovery tray. 41...Jacket device, 46...Parallel link ''J'1 Figure O 2nd eye 3fJ Age 9 Figure Ito Figure C7 → No Saitt (2 year old Figure 13)

Claims (1)

[Claims] 1. A storage tray for storing an object to be picked, a shelf for supporting the storage tray with an inclination, an opening opening in the surface of the storage tray located at the downward slope end of the slope 11e, and a front panel. &- A picker arranged to face the open part of the storage tray held by a guest, and a picker mounted on the picker so as to be able to advance freely into the open part of the storage tray supported by the shelf, and a picker for picking the object to be picked. The feed direction is diagonally upward and 1fff! It consists of a picking head installed toward the inside of the picker, and a collection tray that is loaded onto the picker at the end of the delivery end of the picking object toward the inside of the picker by the picking head, and is provided with a bottom plate that can be moved up and down. Picking equipment.