JPS5912006A - Assortment and recovery device for picking articles - Google Patents

Abstract

PURPOSE:To efficiently perform assortment work by judging condition of articles picked out and also by assorting and recovering the articles separately right after picking out the articles on the basis of the judgement. CONSTITUTION:In an installation equipped with a device 16 picking out an article 13 from a housing position 15, a conveyor 30 is provided in such arrangement to receive the article 13 sent from the device 16, while a conveyor 20 is provided in a position where the article 13 sent from the conveyor 30 is received so as to be freely movable into and out of said receiving position. Further, a camera 33 for an image processing device is provided above the conveyor 30 and the detective direction of said camera is turned toward the article on the conveyor 30, while an article recovery container 17 is provided in both positions where the article discharged from the conveyor 30 is received and also the article discharged from the conveyor 20 is received respectively. Thus, through assorting and recovering special articles and other articles separately right after taking out articles, work of removing the special articles from among the recovered articles is saved, efficient assorting work being performed.

Description

[Detailed description of the invention] The present invention relates to a picking shed.

Conventionally, several types of devices have been proposed for taking out items stored in trays, but in all cases, they take out defective items and normal items without distinguishing between them, so it is difficult to use when packing items into boxes. This required manual labor to remove defective items from the items taken out. Therefore, work efficiency was poor.

An object of the present invention is to improve efficiency by eliminating the work of sorting and collecting specific articles from other articles immediately after taking out the articles, and removing the specific articles from among the collected articles.

The gist of the present invention is that, as a basic configuration, in a facility equipped with a device for taking out articles from a storage position, a first conveyor is provided in a position to receive articles sent from a marking device, and A second conveyor is provided at a position to receive the incoming articles so as to be movable in and out of said position,
Pattern V! above the first conveyor with the detection direction facing the article on the first conveyor! sorting of picked items, characterized in that a recognition device is provided, and article collection containers are provided at a position for receiving articles discharged from the first conveyor and a position for receiving articles discharged from the second conveyor. It has a collection device, picks up the retrieved items into a first conveyor, detects the items with a pattern recognition device, and moves them to a movable position on the second conveyor based on the detection results. Either the items are sent out on the first conveyor and placed in the collection container, or they are transferred from the first conveyor to the second conveyor.
The core pair or articles are taken out and put into another collection container, and the articles are sorted and collected in the takeout 1lI8.

Now, one embodiment of the present invention will be explained based on the figures from Fig. 1 to Fig. 6. As shown in Fig. 1, a tray 15 is stored diagonally in column 1. A plurality of books 13 are stored vertically in the tray 15.

Wheels 6 of a traveling body 7 are mounted on rails 3 installed along this shelf 1. These wheels 6 are connected to a motor 5 attached to a traveling body 7 and a drive target.A support frame 4 is fixed upright on the traveling body 7, and its upper part is prevented from falling by a guide rail 2 attached to the ceiling. It is said that it can be guided in the direction of travel. An elevating body 12 is assembled to this support frame 4 so as to be freely movable downward, and is suspended and supported by a rope 10 that can be operated from a winch 9 attached to the traveling body 7.

A fork 45c is attached to the elevating body 12 so as to be horizontally movable. That is, as shown in FIG.
is mounted on a roller 45a supported by the elevating body 12, and the elevating body 12 and the fork 45c are connected by a horizontal cylinder device 45b. For this reason, when the cylinder device 45b is expanded or contracted, the fork 45c moves horizontally and is projected from and returned to the temperature elevating body 12.

On the fork 45c, there are 3 partitions separated by two partition plates.
A collection container 17 having a chamber is mounted.

The elevating body 12 has a frame 12 at a position above the collection container 17.
a is fixed. A conveyor 16 having a conveyor belt 16d stretched between pulleys 16b and 16c rotatably attached to a conveyor frame 16a is arranged at the end of the frame 12a from the shelf 1. One end of the shaft of the pulley 16b is passed through a bearing 16e attached to the frame 12a,
The other end is rotatably inserted into the arm 16f.

One end of this arm 16f is conveyor frame +63
and a shaft is fixed to the other end, and this shaft is fixed to the frame 12.
It passes through a bearing 1G g attached to a, and a gear n is fixed to its shaft end. The gear η meshes with the worm gear η, and the worm gear n is fixed to the rotating shaft of a motor 21 fixed to the frame +2a. A gear n is fixed to the shaft end of the pulley 16b, and a gear that meshes with the gear γ is fixed to the rotating shaft of a motor O fixed to the frame 12a. The conveyor belt +6d is fixed with a claw having a protruding length corresponding to the thickness of 131 books. Further, the tray 15 is provided with an opening through which the nail can pass.

A conveyor (9) equipped with two parallel conveyor belts 30a, 30b arranged close to the upper end of the conveyor 16 is mounted horizontally to the frame 12a. A motor 3I is connected to the pulley shaft of this conveyor (G) via gears 31a and 31b. A conveyor adder is placed close to this conveyor (g). This conveyor is added to the frame 12 as shown in Figure 6.
It is attached to a so that it can be raised and lowered freely. That is, each conveyor includes two pulleys 20b and 20c that are rotatably mounted on the conveyor frame 20a, and each pulley IJ 20.
b, Conveyor bell carried like an end between 2Oc)
20d. One end of the shaft 20e of the pulley 2fllb is passed through a bearing 2Of fixed to the frame 12a.

A gear 35a is fixed to one end of the shaft 20e, and either a gear 35b meshed with the gear 35a or a rotating shaft of a morph member fixed to the frame 12g. The other end of the shaft 20e is rotatably inserted into the arm 20g. A-
A 20 g Lt one end 1) 11 or conveyor frame 2
Fixed to 0a. At the other end of the arm 20g is a shaft 20e.
A shaft 20h is fixed so that the shaft center is aligned with the shaft 20, and this shaft 20h is passed through a bearing 20i fixed to the frame 128. Axis 20h
A gear 2111j is fixed to the other end, and this gear 20j
A worm gear 20k meshed with the worm gear 20k is fixed to one rotating shaft of a motor 34 fixed to the frame 12a.

A line camera of a pattern recognition device employed as an image processing device is attached to the frame 12a via a bracket so as to face the book 13 on the conveyor 30.

Reference numeral 32 is a light, and its illumination direction is directed toward Father's book I3 on the conveyor. The line camera of pattern recognition 'ArH is to capture the object to be detected by the line sensor 40 through the lanes 41. As shown in FIG. 4, the functional blocks include an analog signal circuit section receiving input from the line camera wing, a pattern matching circuit 59 and a contour matching circuit receiving output from the analog signal circuit section, and each circuit 59.
60, and a pattern recognition processing circuit 62, which receives the output from the determination circuit. In such blocks, the light blades are
” - to clarify the brightness and darkness of the surface of the book 13, the line camera captures the image of the surface of the book 13 using the line sensor sum, and the analog signal circuit unit outputs an input signal matched to each subsequent block. The pattern matching circuit 59 compares the output information between the analog signal circuits and a preset pattern, or compares the preset contour pattern with the contour matching circuit mark, and determines the comparison result. When the circuit matches, the signal is “0”, and when it is not matched, it is [1].
] is generated as a determination signal and sent to the pattern recognition processing circuit 62. When the pattern recognition processing circuit 62 receives the determination signal, it sends a scan signal to each circuit 59, 60 to perform matching with the next information. As a result, the pattern processing circuit 62 receives the judgment signals one after another, and transmits the overall judgment result to the arithmetic processing section of the computer on the control device 19 side.

The control device 19 is supported by the traveling body 7, and as shown in FIG.
1 to the computer section and the input interface 52 to each detection @36.37.39°42,43.44.
Input signal from 45.46.47 Interface 5
2 and a relay input circuit 49 for input to each motor 5.
．． 21.25.31.34.35 and winch9. A relay output circuit (supply) for transmitting the output of the output interface 55 to each control section of the cylinder equipment WI 115b, a pattern recognition circuit 62, and a communication circuit 57 for transmitting information between the control calculation engine and the computer. Become.

The computer controls each detector, pattern recognition device, and control meter 8.
After receiving the output from the machine, the program memory (EP
-ROM) to issue control commands to the control units of each motor, winch, and cylinder device 1j45b.

The detector A is a limit switch fixedly installed on the right end of the elevating body 12 as shown in FIG. 2, and the switch lever is arranged so that the conveyor 16 touches the conveyor 16 in a vertical state. The detector n is a limit switch fixedly installed on the right end of the frame 12a, and its switch lever is arranged W so as to hit the conveyor 16 in an inclined position.

The detector blade is a limit switch fixed to the frame 12a as shown in FIGS. 2 and 3, and the switch lever is protruded to a position where it hits the books 13 on the conveyor (9). The detector 42 is a limit switch fixed to the frame 12a, and the switch lever protrudes at a position that touches the conveyor wall in a horizontal state. The detector block is a limit switch fixed to the frame 12a, and its switch lever protrudes to a position where it hits the upright conveyor (9). The detector shrine is a limit switch fixed to the right end of the elevating body I2, and its switch lever protrudes to a position where it hits the collection container 17. The detector 6 is in the middle of the elevating body 12, from the detection a44 to the collection container! 7, and its switch lever protrudes to a position where it hits the collection container. The detector 46 is a position detector attached to the traveling body 7, and may be of any conventional type such as a relative positioning type or an absolute positioning type.

The detector 47 is a position detector attached to the elevating body 12, and may be any conventionally known type.

Each part of this embodiment operates based on an operation program set in a computer program memory (BP-ROM) 53 in the control device 11jlQ.

That is, when the data necessary for the retrieval operation is input from the control computing engine to the arithmetic processing unit 51 via the communication circuit 57, the data is stored in the data memory (RAM) 52, and at the same time, the initial settings of the control unit rR19 are performed. Execute.

The arithmetic processing unit 51 reads out from the data memory 52 the running address (horizontal position) and the up/down address (vertical position) of the shelf section in which the tray 15 containing the books 13 to be taken out is placed, and reads out the running address (horizontal position) and the up/down address (vertical position) of the shelf section in which the tray 15 containing the books 13 to be taken out is placed, and reads out the running address (horizontal position) and the up/down address (vertical position) of the shelf section where the tray 15 containing the books 13 to be taken out is placed. 47 outputs a start command to the motor 5 and the winch 9 until the address is detected, the winch 9 raises and lowers the lifting body, and the traveling body 7 travels on the rail 3 by the driving force of the motor 5. When the detector 46 detects the target running address and the detector 47 detects the target elevator address, the detection signals of each detector 47 are output to the computer, so the computer inputs each detection signal or It determines that the motor 5 and the winch 9 have been stopped and outputs a stop command to the motor 5 and the winch 9. This allows the conveyor 16 to move to the target tray 1.
It is possible to stop before 5. Subsequently, the computer executes the following operating program contents. That is, the computer outputs a normal rotation start command to the motor 21. For this purpose, the motor 21 rotates in the normal direction, and the rotational force in the normal rotation direction is transmitted to the arm 16 (via the gears n and 23), so the arm 16f rotates, and the conveyor fleno, which is integrated with the data 16f, +6 A also rotates. Therefore, conveyor 16
rotates from the position indicated by the dotted line to the position indicated by the solid line in FIG. 2 and approaches the tray 1. When the conveyor 16 rotates to the position indicated by the solid line in FIG. 2, the detection a37 hits the end of the conveyor belt 16d, so the detector 37 sends a detection signal to the computer side. When the computer determines that the detection signal from the detector 37 is input/, ), it outputs a start command for the motor δ, the motor 31, and the motor 5,
31 is driven to rotate. For this reason, the conveyor belt】6d
The conveyor belts 30a and 30b are driven to rotate endlessly. Conveyor bell) 16d is driven.
The claw 24 integrated with the conveyor bell) +6 d also moves in an endless trajectory. Since the claw U passes through the inside of the tray 1 while moving, only one book 3 in the tray is caught by the type 1, and that book 13 is caught by the claw U and moved above the tray 1. taken out, conveyor belt 16
d and is sent to the upper part of the conveyor 16.

Finally, the book 13 transfers to the conveyor recess and is sent by the driving conveyor bells 30a and 30b.

During this transfer, the book 13 was placed on the detector.
The detector transmits the detection signal to the computer side. The computer determines that a detection signal addressed to the detector has been input, and executes the next program. The computer outputs a stop command to the motor 31 to stop the conveyor chrysanthemum,
When a recognition execution command is output to the pattern recognition processing circuit 62, the light 32 illuminates the book 13, the line camera 32 captures an image of the book 13, and the pattern recognition device determines whether the book 13 has a normal surface or outline. If the book is normal, it is determined that the book is of high quality with no scratches or torn covers, and a signal indicating that the book is normal is output to the computer side. Upon receiving this signal, the computer uses the piston cylinder device 4.
The controller 5b outputs a signal to extend the cylinder rod. For this purpose, the piston cylinder device 1I45
b causes an elongation action and moves the collection container 17 to the left in FIG. 2 together with the fork 45c. When the collection container 17 moves and the collection container 17 is out of the detection area of the detector 45, the detection signal from the detector 6 is no longer input to the computer side, so the computer determines the state and detects the piston cylinder assembly fW 45 b. A stop command is transmitted to the control section and the fork 45c is stopped. In this way, the compartment on the right side of the collection container 17 comes to a position where it can receive the books 13 discharged from the conveyor nozzle.Next, the computer gives a restart command to the motor 3I to drive the conveyor belts 30a and 30b. Let's collect book fi13! g
It is released into the right ventricle of 17. Therefore, normal books are collected into the right chamber of the collection container 17. When a certain period of time elapses from when the motor 31 is restarted until the books 13 enter the collection container 17, the computer outputs a stop command to the motor 31 and stops the conveyors 16 and 30.

If the judgment result by the pattern recognition device is that the pattern does not match or the contours do not match,
This means that Book@13 is scratched or the cover is turned up and bent, so a signal indicating an abnormality is output to the computer. Therefore, the computer gives a normal rotation start command to the motor A to drive the motor A in the normal rotation. The rotational force of this motor in the forward rotation direction is
The force is transmitted to the gear 70 via the gear 20j to the shaft (a) h, so the arm 20g rotates and the conveyor force is rotated in the horizontal direction. The compare nod ° is at the position indicated by the dotted line in Figure 2.
When the conveyor belt 21111d falls over, the detector 42 detects the end of the conveyor belt 21111d, and a detection signal from the detector 42 is input to the computer. When the computer determines that this detection signal has been input, the computer outputs a stop command to motor A and a start command to each motor 31 and 35, stops motor A, and drives motor-applied conveyor bell 20d. Conveyor belt 3o with motor 31
a, , 30b are re-driven.

In this way, the books 13 are transferred from the conveyor belt to the conveyor belt, and are discharged from the conveyor belt into the left chamber of the collection container 17. Therefore, low-quality books are collected only in the left chamber of the collection container.

In addition, if the books 13 cannot fit into the right chamber of the collection container 17, the piston cylinder device i
! A command is given to the control section of the r45b to retract the cylinder to move the fork 45c inside the elevating body 12, and when the detector 44 or the recovery container 17 is detected, the computer issues a stop command to the control section of the piston cylinder device [45b]. Power up. In this way, high quality books can be collected even in the middle room of the collection container 17.

In this way, the data memory (RAM) 52 stores the information that the books 13 taken out from the tray 1 are sorted into low quality and high quality and collected, and the high quality books 13 are collected as many as the number of books taken out. Repeat until . When a certain period of time has elapsed from starting motor A until the book I3 is collected into the left chamber of collection container 17, the computer outputs a stop command to data 35.31.25, and motor M
A command to start operation is issued. Therefore, when the conveyor force rotates in the upright direction and the detector 43 detects the conveyor force, a stop command is output from the computer to the motor A and the original state is restored. Note that the books 13 in Tray I are
It automatically slides downward on the slope of , and is brought up to N, where the lotus can reach. For this reason, books can be efficiently and continuously taken out simply by moving them in an endless loop.

When all the unloading is completed, the computer sends a reverse command to the motor 21, so the conveyor 16 moves the tray 1
The conveyor 16 rotates in a direction away from the detector, and the conveyor 16 hits the detector. When this happens, the detection signal from the detector section is input to the computer, so the computer gives a stop command to the motor 21 to stop the rotation of the conveyor 16 and allow it to move without coming into contact with the tray I.

Thereafter, after moving the traveling and elevating body to the shipping port, the collected books 13 are unloaded.

The above is an example in which the operation program set in the computer in the control device i [19 is executed to automatically perform the retrieval work. A process for projecting an image of a book on a monitor television may be provided, and an operator may manually operate each motor while viewing the monitor television.

As described above, according to the present invention, it is possible to judge the condition of the articles taken out and to sort and collect the articles separately based on the judgment immediately after taking them out, thereby improving work efficiency after collection.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of a book retrieval workshop according to an embodiment of the present invention; 4 is a block diagram of the control device shown in FIG. 1 and related peripheral equipment, and FIG. 5 is a partial cross-sectional view of the support structure for the collection container shown in FIG. 2. FIG. 6 is an enlarged view of the main part of FIG. 3. 1...Shelf, 12...Elevating body, 13...
...Books, 15...Tray, 16.20.30
...conveyor, Sae...claw, 17...
...Collection container, 21.25.31.34.35...
...Motor, wings...Line camera, 59...
...Pattern matching circuit, 61...Judgment circuit, 62...Pattern recognition processing'''11-1 2-1-4Figure 5 (17 O5V1 O6Figure?(

Claims (1)

[Claims] 1 In a facility equipped with a device for taking out articles from a storage position, a first conveyor is provided at a position to receive articles sent from the device, and a second conveyor is provided at a position to receive articles sent from the first conveyor. A conveyor is provided so as to be movable in and out of the above-mentioned position, and a camera of an image processing device is provided above the first conveyor in (I) with the detection direction facing the article on the first conveyor; An apparatus for sorting and collecting picked items, characterized in that an article collection container is provided at a position for receiving articles discharged from the second conveyor and at a position for receiving articles discharged from the second conveyor.