JPS5917422A - Method of controlling picking - Google Patents

Abstract

PURPOSE:To improve the efficiency of picking of an article and enable the secure picking without damaging it, by moving down parallel links at a speed variable from a high level to a low level and by moving them up at a constant speed. CONSTITUTION:Picking rollers 3 rotatable at will are coupled by support arms 2 to parallel links 1, each of which is secured at one end and movable up and down at the other, in a picking equipment. The parallel links 1 are moved down at a speed variable from a high level to a low level and are moved up at a constant speed. For that reason, the rollers 3 are rapidly moved to the top of an article 5 to be picked and are slowly brought into contact with the article. Therefore, the picking rollers 3 are moved to the article 5 in a short time and the article is prevented from being damaged by the rollers. Efficient picking is thus enabled for the individual article 5.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for picking stacked thin articles.

Conventionally, as a picking device, a parallel link that rotates and moves up and down is equipped with a support arm on the rotating side of the picking roller to freely drive the rotation, and the parallel link is slowly rotated down and the picking roller is slowly softened and stacked. The applicant of the present application has proposed a system in which the rotational driving force of a picking roller is applied to the hardest articles above the picked articles, the articles are moved horizontally, and the articles are picked one by one. .

In order to improve picking efficiency, it is necessary for the picking roller to quickly reach the top surface of the article. If it is attempted to be satisfied by accelerating the speed, the picking roller will impact the article due to the inertia of the rotating end side of the parallel link, and the pressing force of the picking roller against the article will be excessive. This may result in damage to the articles or the two articles on the top and next tiers may be pulled out at the same time.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method that improves pinking efficiency and picks items one by one reliably and without causing damage.

Each embodiment of the present invention will be described below with reference to FIGS. 1 to 4. One end of the parallel link 1 is rotatably attached to the picker, and the other end of the parallel link 1 has a support arm 2 with a support arm 441126. Increase vertical rotation freely! I'm getting tired. A picking row 23 is rotatably connected to the second support arm 2 by a motor 17 supported on the link L side and a drive belt.
is installed. The support arm 2 and the parallel lick 1 are connected by a coil spring 4. Also, parallel link 1
A limit switch 19 is provided in which a part of the switch lever is placed above the support arm 2 with a certain gap.

Further, a distance detector section is attached to the parallel link via a support bracket 27 with the detection direction facing downward.

The rotating shaft 16a of the parallel link 1 is connected to the rotating shaft of a variable speed motor 16, which is mounted on a picker.

A slide 7 is provided along the lower link member of the parallel link 1. Further, a limit 2 limiter is attached to the lower surface of the slide 7, with a part of the switch lever protruding toward the upper surface of the slide 7. In addition, the picker has a collection capacity! a6 is attached to the lower end side of the slide 7.

A photoelectric detector 4Ti20 is provided at the entrance of the collection container 6 with its detection direction being horizontal. In addition, the receiving plate 6a in the collection container 6 is fixed to (not included) 18 a, and is not provided (not included) 18 a
The screw shaft 18b is connected to the rotating shaft of the motor 8. Therefore, when the screw shaft 18b is rotated by the motor 18, the nano) 18a is screw-fed, and the receiving plate 6a can be moved up and down.

Below the parallel rick 1, a belt conveyor 8 driven by a motor 15 is attached to the picker by a parallel link 10. A gear 13 is connected to the rotating shaft of one belt pulley 12 of the belt conveyor 8 . The rotating shaft 10a of the parallel link 10 has a motor 11 installed in a pinker.
The rotating shafts of the two are connected. Limit switches 21 and 22 are installed on the picker, sandwiching the link 10. A number of books 5 as objects to be pinked are stacked horizontally in multiple stages, one above the other, and stored on a belt conveyor 9. This belt conveyor 9 is used as a shelf for storing the 11F registers 5. A photoelectric detector 11i25 is attached to the frame of the belt conveyor 9 so as to be located on the leading end side of the belt conveyor 9. A gear 14 having a tooth profile that can mesh with the gear 13 is connected to the rotating shaft of the belt pulley of the belt conveyor 9.

As shown in Figure 2, each limit switch and detector 19°Z3
．． 24 and 28 are input to the four sides of the picker control computer, and the output side of the computer is connected to the motor 16 side.

A picker operation control program is stored in the computer 4, and the picker is controlled by the program. A part of the contents of the program is shown in a flowchart as shown in FIG.

An explanation of this flowchart and the operation of each part shown in FIG. 1 will be described below.

The motor 18 is rotated normally to position the receiving plate 6a at the uppermost position. Next, with the parallel link 1 erected as shown by the two-dot chain line in FIG. 1, the motor 11 is rotated in the normal direction. In this way, the balance link 10 rotates in the upright direction. Therefore, as the belt conveyor 9 rises, it approaches the belt conveyor 9 side, and finally gear 13 and gear 1
4 meshes with each other.

At this time, the parallel link 10 is detected by the limit switch 21, so the motor 11 is stopped at the timing when the detection signal is received, and the motor 5 is rotated. In this way, the belt conveyor 8 is driven and the gear ]3
rotates, the rotational force is transmitted to the gear 14, and the belt conveyor 9 is also driven. For this reason, the pile of books 5 that is out of reach of the picking roller 3 is removed by the picking roller 3.
It is sent to a position where it can be reached. The stack of books 5 sent is detected by the photoelectric detector 5. The motor I+15 is stopped at the output timing of the detection signal of this photoelectric detector, and the pile of books 5 is positioned at the end of the belt conveyor 9 and stopped.

If you want to pick the entire stack of books 5 to the picker side at once, keep rotating the motor 15 to transfer the stack itself to the belt conveyor 8, then reverse the direction of the motor 11 to move the parallel stack 10 down, The motor 11 is stopped when the limit 2 is detected on the link 10. In this way, the pile can be taken over to the picker side all at once.

If you specify a pinking quantity that is less than the number of books in the entire stack, step 1 of the program flowchart in Figure 3
Set the picking number on the counter of computer 4 using a. Next, a high-speed normal rotation movement command is given from the computer 4 to the motor 16 side using the stethoscope (bl), and the normal rotation speed of the motor 16 is switched to high speed and driven.In this way, the parallel link 1 moves downward at high speed. It rotates.With this rotation, the picking roller 3 and the distance detector part
It reaches the sky above Lagoon 5. When the parallel link 1 further rotates downward at high speed, the distance detector unit detects that the distance to the book 5 has reached a predetermined constant distance and turns on. The computer 4 determines the result of this ON operation in step (C) and executes the next step (d). Step (
In d), a low speed Takamatsu start command is given from the computer 4 side to the motor 6 side, and the normal rotation speed of the motor 16 is switched to a low speed and driven. For this reason, the pinking roller 3 slowly lands on the tatami mat 5. Therefore, %15 will not be damaged. As the parallel link 1 continues to rotate downward at low speed after landing, the coil spring 4 slowly extends and the support arm 2 rotates around the shaft in a horizontal direction, until finally (J The limit switch 9 is turned on and its output is transmitted to the computer 4 side.

The computer controller receives the output from the limit switch 19 and turns the limit switch 19 ON' in step (e).
Determine mJ operation and execute the next stesoge (fl). In step (f), a stop command is output from the computer 4 side to the motor 16, and a start command is output to the motor 17. Therefore, the rotation of the parallel link 1 stops, and the picking roller 3 is rotationally driven by the motor 17.At this point, a downward rotational force is applied to the support arm 2 due to the reaction of the coil spring 4 stretching, and the picking roller 3 is rotated against the book 5. When pressing, you can obtain just the right amount of force.

When the picking roller 3 is pressed against the book 5 and driven to rotate, one book 5 at the top row slides horizontally toward the upper end of the slide 7, and finally moves onto the slide 7. The book 5 that has been transferred to the slide 7 slides downward on the top surface of the slide 7, and on the way, the book 5 resembles the switch lever of Limit 2 Itchim. Therefore, the limit 2 circuit is turned on and its detection power is input to the computer 29 side. Therefore, the computer 4 determines in step (g) that the limit 2 timing has been turned on, and executes the next step 01).

In step (11), motor 16 is connected from the west side of the computer.
A reverse high speed start command is given to the motor 16, and the motor 16 rotates at high speed in the reverse direction. Therefore, parallel link 1 is slide 7
At the same time, the slide 7 rotates in the upright direction, and the inclination angle of the slide 7 becomes steeper. Therefore, the book 5 does not stop in the middle of the slide 7, but continues to slide downward reliably, enters the collection container 6, and transfers onto the receiving plate 6a in a horizontal state. When the link member forming the upper side of the parallel link 1 hits the switch lever of the limit switch B due to the upward rotation of the parallel link 1, the limit switch n is turned on and the switch is turned to the computer 9 side.
Input the N operation output results. Computer addition is
Step that the limit switch n made ONwJ (
After making the determination in 1), perform step 1). In the Stesoge (''), a stop command is output from the computer 4 to the motor 16, the motor 16 stops, and the upward rotation of the parallel lick 1 also stops.・Since 1lJNi5 crosses the detection beam of the photoelectric detector while the book 5 is entering the collection container 6,
A photoelectric detector (5) performs a detection operation. At the same time as this operation, the motor 18 is reversed for a certain period of time to lower the receiving plate 6a by the thickness of one book 185, creating a space in the upper part of the collection container 6 to receive the next book 5. let Next, the number of pickings set on the counter in the computer 9 is subtracted by one time using the stethoscope (k), and whether or not the subtraction result is zero is determined using the stethoscope (θ).

Step (If it is zero in the judgment of e, end the picking,
If not, perform each step below step (b) until it reaches zero and collect the specified quantity of books 9.
15 is picked and collected in a collection container 6 in an orderly manner.

In another embodiment of the present invention, the motor 16 is not a variable speed type but a constant speed motor set at high speed. Changes are made as shown in the flowchart. The difference is that the steno knob (d) in Fig. 3 has been changed to step (d,) and step (d,).The other parts are the same in structure and 70-chart.

Step (d) in the program flowchart has been changed to step (d□) and step (d,). The changes in the effect caused by the heat are as follows.

That is, when the computer 4 receives information that the distance detection a28 has reached the set distance to the base f15 from the distance detector unit, the distance detector unit is turned ON using the nut knob (C).
It is determined that there is movement, and Mork I6 is sent from the convenience store side.
Step (dl) given by the stop command to the side is executed, and the downward high-speed rotation of the parallel link 1 is temporarily stopped. Next, in step (d), the computer sends a command to the motor 16 to start normal rotation again (to start the high-speed rotor motor 1).
6 is rotated in the normal direction, and the parallel 1 nonch 1 is started to rotate downward at high speed. At the time when step (dl) is executed, the vertical gap between the picking roller 3 and the book 5 is extremely small, so the parallel 9 ink 1 starts rotating downward and then reaches a high-speed downward rotating state when picking the pongee. When the roller 3 hits each of the books 5, the limit switch 17 is turned on. In this way, the downward inertial movement of the picking roller 3 just before it hits the book 5 can be eliminated by temporarily stopping the motor 16, and even after the motor 16 is restarted, the downward inertial movement can be eliminated even after the motor 16 is restarted. Since the picking roller 3 can be brought into contact with the books 5, no impactive damping action occurs between the picking rollers 3 and the books 5, as in the previous embodiment. 5 does not cause an excessive force condition.

As described above, according to the present invention, it is possible to bring the pinking roller close to the object to be picked at a high speed and reduce the speed to a substantially low speed when the picking roller comes out onto the object to be picked. It is possible to quickly move onto the object to be picked and perform picking work efficiently, and at the same time, it is possible to prevent damage to the object to be picked and to be able to reliably pick one item at a time.

[Brief explanation of drawings]

Fig. 1 is an elevational view of a picking bag length according to an embodiment of the present invention, and Fig. 2 shows the switches, detectors, and hairs shown in the moxibustion diagram.
FIG. 3 is a flowchart of the operation control program set in the computer shown in FIG. 2, and FIG. - Chart diagram. 1...Parallel link, 2...Support arm, 3
...Picking roller, 4...Coil spring, 5...Book, 6...Collection container,
7...Slide, 16.17...Motor, γ...Support placket, Public...Distance detector Figure 2 Figure 3

Claims (1)

[Claims] 1. In a pinking equipment in which a picking roller is provided on a parallel link whose one end is fixed and whose other end is movable in the vertical direction and which can be rotated freely via a support arm, the speed of the downward movement of the parallel link is variable from high speed to low speed. A picking control method characterized in that the lifting operation is performed at a constant speed.