JPS60223723A - Picking device - Google Patents

Abstract

PURPOSE:To provide sure picking one after another by rotating a picking arm upward while a picking roller is pressed to the object to be picked, thereby increasing the reactive force of a spring, and by sensing the arm condition with optimum pressing force. CONSTITUTION:The frequency of picking in correspondence to the desired number books to be taken out, which is given by a counter 41, is stored in a computer 42. Link 8 is rotated downward by a motor 29 to allow a picking roller 32 to land on the uppermost book 31, and further downward rotation of this link 8 will cause upward rotation of a picking arm 33. Now a coil spring 39 is tensed, and as the reaction thereto the spring 39 pulls the arm 33 to actuate its downward rotation, so that the pressure between the roller 32 and the book 31 is increased, and if the arm 33 is rotated upward until this pressure attains its optimum level, the arm 33 will heave and tumble a switch lever 36a of a sensor 36. Now an ON signal is sent to the above-mentioned computer 42 to stop the motor 29, and rotation of the roller 32 provides collection of the book 31.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a device for picking stacked items.

[Background of the invention]

In the method of picking stored items one by one that are stacked in multiple tiers, one idea is to apply feeding force from the picking head to the items stored in the upper tier to pull in only one item stored in the upper tier. When applying a force to the storage force, a method has been considered in which the picking head is strongly pressed against the storage object to prevent the feeding force from being transmitted to the storage object.

According to this way of thinking, if the pressing force of the picking head against the stored items is too strong, the stored items in the top row and the next lower row will be drawn in at the same time, whereas if the pressing force is weakened, However, there is a drawback that heavy stored items cannot be pulled in, making it impossible to reliably pick stored items one by one.

In addition, as a picking device used in automated warehouses,
JP-A-55-161705, JP-A-56-3204, etc. are known.

[Purpose of the invention]

An object of the present invention is to provide a picking device that can reliably pick one item at a time.

[Summary of the invention]

The basic structure of the uninvented item is a king arm that can be rotated up and down - 2 supported by 1 king arm! A picking roller rotatably attached to the tip of the picking arm in Iff, an electric motor connected to the picking roller, a spring attached by straining the posture of applying downward rotational force to the picking arm, and a picking in W. The picking acid a includes a detector with a detection range set above the arm, an electric motor connected to the picking roller, and a current detector attached to the electric motor. When pressed against the object as a king head, the picking arm rotates upward, and this rotation stretches the spring, and the spring reaction force increases the force of the picking roller against the object to be picked, and the picking continues until the appropriate pressing force is achieved. When the arm rotates upward,
The arm is detected by a detector and the state of appropriate pressing is detected.Furthermore, the picking roller is rotated by an electric motor to pull in the picked object, and after this pulling is finished, the electric motor detects the state of the idling picking roller. The completion of the first picking is detected by detecting the current during no-load operation with a current detector.

[Embodiments of the invention]

Hereinafter, one embodiment of the invention will be described based on the figures from Fig. 1 to Fig. 1g5.

Figure 1 is an overall view of the picking area, and the pickers are
A ceiling guide system [6] which is guided by a rail 5 on the ceiling, and a running device 3 that moves the rail 1 on the floor with running wheels 2.
It consists of a vertical column 4, an elevating body 7 that moves the column 4 up and down, a parallel link 8 supported vertically rotatably from the elevating body 7, and a head part 9 supported by the parallel link 8.

The replenishment machine uses a general warehouse stacker crane. That is, in the IJ1 diagram, the ceiling rail (9
) is the guide rail! 7I! 1i19 and a column 16 vertically supported by a running gear M15 that runs on wheels 14 on the rail ribs on the floor, is equipped with an elevating body 17 that can move up and down, and this elevating body 17 is equipped with a fork device 1g that is horizontally telescopic. .

The shelves are placed in a V between the picker and the replenishment machine.
The tray 11 is made up of a vertical column 11 erected on the floor and a horizontal column attached horizontally to the vertical column 11.The second horizontal column 12 is equipped with trays 10 in upper and lower stages.

The lower surface of the tray 10 is provided with a belt conveyor row as shown in FIG. 2, and gears are connected to the shafts of the belt pulleys of the belt conveyor row.

One of the two parallel links 4 is rotatably mounted on the lifter 7 of the picker, and the conveyor frame of the belt conveyor row is mounted on the upper end of the two links 4. There are n. The other side of this parallel link (2) is rotated to the rotating shaft of a motor (n) on the elevating body (7). The belt conveyor row has a general configuration in which a motor 4 attached to a conveyor frame rotates a belt pulley. A gear δ is connected to one side of this pulley.

The elevating body 7 of the picker has a parallel link 8 that can be rotated vertically by a motor 4, as shown in Fig. 2, and a head mounting frame is pivotally attached to the tip of the link 8. On this frame n, there is a picking arm (3L) as shown in Fig. 4, and a two-wood picking arm (11) is attached to the shaft so that it can rotate up and down. Rotating shaft 32 a common as a pibbing head
It's attached to me. An electric motor on a frame 37 is connected to the rotating shaft 32a through a driving force transmitting means such as a chino or a belt, and the electric motor is indirectly connected to a picking roller through the driving force transmitting means. .

A coil spring (
The direction of action is set so that the force of the coil spring rotates the picking arm blade downward.

In addition, there is a switch lever 36 above the picking arm.
A detector 36 (specifically, a limit switch can be adopted) arranged with g is attached to the frame group.

A current detector is connected to the electric motor as shown in Fig. 3. The connection method may be any known method.

Some of the motors 9.35 shown in Figure 1 are controlled by a computer mounted on the computer. This computer order-4
2, as shown in FIG. 5, inputs the counter 41 for specifying the picking number N, the outputs of the detector Sumire and the current detector Kiku,
It is configured to output to the control circuit of motor 4 and the control circuit of motor 35. The flowchart of the processing program set for this computer company is jI4
As shown in the figure.

The picking operation will be explained below while explaining this flowchart.

Trees 31, which are objects to be stored in the tray 10, are stacked in multiple narrow tiers as shown in FIG. 2 and placed on a belt conveyor section.

When storing the tray IO on the shelf, use the fork attachment W of the replenishing machine.
Support the tray 10 with the i8, move it up and down, position the fork *W1g along the desired shelf, and then
The tray 10 is inserted above the horizontal column ν by extending the rib a, and then the tray 10 is lowered by lowering the elevating body 17, and the tray 10 is placed on the horizontal column from the fork device 18. Furthermore, when collecting empty trays 10 from shelves, the procedure is reversed to that described above.

When taking out Daikoku books one by one from tray 10.

Picking roller & picks up 4 trees in tray 10 3
Move pile 1 to the front. In this handbook, when the motor n is first driven to raise the link 4, the belt conveyor n moves upward and approaches the belt conveyor row, and finally the gear and the gear 6 mesh with each other.

Here, when the motor 1 drives the pulley, the gear 5 rotates simultaneously with the pulley and drives the gears.

For this purpose, the pulley of the belt conveyor row connected to the gear rotates, and the stack of books 31 on the belt conveyor section is moved by the belt conveyor section to a position where it reaches the picking roller. Here, if the entire pile of trees 31 is to be taken out at once, the belt conveyor is driven as it is to receive the entire pile of trees 31 onto the belt conveyor section.

When such pile picking is required, it is necessary to incorporate an idle gear between the pulley 5 and gear b in order to match the belt feeding directions of the belt conveyor and the belt conveyor.

If you want to take out the desired number of books one by one from the stack of terminal needles, as shown in Figure 4, first take out the same number of books as the desired number to Computer Co., as shown in block A. The number of times N of picking is stored. Next, B
The block drives the motor 4 for link elevation so that the link 8 rotates downward. When this link 8 rotates downward, the picking roller moves to the top tree m! J2
Land on the narrow width of the figure. After that, when the link 8 is rotated downward, the picking arm blade rotates upward around the shaft, pulling the coil spring.As a reaction force, the coil spring rotates the picking arm downward. Because of the pull b2, the force of the picking roller blades pressing against the book-411 increases. This pressing increases as the amount of upward rotation of the picking arm (upwards) increases. When the picking roller rotates upward to the point where the force is appropriate for pressing against the friend tree 31, the picking arm pushes up the switch lever Ma of the detector O and knocks it down.

For this purpose, the detection M3I+ performs a switching operation to r
Output to q scratch signal combination, -ku ζ. Here, as shown in Fig. 5, the ON signal of the detector is determined in the C block, and the motor 4 is stopped in the D block to prevent the pressing force of the picking roller from increasing any further. At the same time, the E block drives the motor to rotate the picking roller blades.

In this way, the picking roller rotates while being pressed against the end 31 by force, and the rotational force of the picking roller & causes the tree 31 to move up and down the elevating body 7@
It is transmitted to the head office as a feeding force that pulls it into the head office. As a result, the end shrine is drawn toward the elevating body 7 and sent onto the diagonal slide supported by the lower link side of the link 8. Thereafter, the end slides on the platform J and is stored in the collection tray on the elevating body 7.

The force of the picking roller's pushing against the proverbial tree M increases in proportion to the amount of rotation of the picking arm, so if the force is pressed appropriately to pull in one book of the main office in advance, the force will be good. Note the amount of upper rotation that will be used, and then rotate it further■
The degree W of detection difficulty is determined in advance so that the picking arm O is detected at the position where the picking arm O is detected. By doing as in 2, there will be no malfunctions such as pulling in two trees 31 at the same time, or not being able to pull in any of the trees.

When the first detail of the tree 31 is pulled in, the picking roller blade is pulled by the coil spring and rotates downward by the difference in height between the top tier head office and the next tier tree mark, attempting to pull in the next tier tree M. However, as soon as the picking roller blade on the top row comes off, the picking roller idles, the load on the electric motor increases, and the current in the electric motor changes to a low level. For this purpose, the electric surge detector Tochi outputs an OFF signal to the computer company, and the computer C determines the OFF state of the current detector 0 shown by block F in FIG. After that, the G block sends a command signal to the control circuit material to stop the motor in order to stop the rotation of the picking roller blades, thereby stopping the motor. In this way, even if the next stage of wood m is light, there will be no malfunction in which it is pulled in by mistake.

After stopping the rotation of the picking roller, in the H block, the number of bib kings N to 1 is given by Callan-9-41.
The computer C is made to perform a subtraction calculation for the number of batches, replace N with N-1, and update the counter setting. Next, in block (2), the computer determines whether N is 0 or not, and if it is 0, the picking is completed and the work is stopped.

If it is not 0, the OFF status of the current detector chrysanthemum is reset to the initial setting state in the J block, and the process is repeated again from the B block until N becomes 0.

I! It is preferable that the process shown in FIG. 4 is performed automatically using a computer, but the driver checks the switching operation of the detector iris and current detector iris and manually performs each motor 9. A may be executed according to the flowchart shown in FIG.

If the thickness of the book 31 changes, the weight of the book 31 generally changes, and the force with which the picking roller n presses against the book m needs to change. In this case, the position of the switch lever 36m of the detector is adjusted up and down to satisfy the above-mentioned need.

〔Effect of the invention〕

As described above, according to the present invention, the pressing force of the picking roller against the object to be pitched can be limited to an appropriate force, and the picking roller can pick two pieces in succession for each picking. This can be prevented with appropriate stop timing, ensuring that 1.
The effect that individual picking can achieve can be obtained.

[Brief explanation of drawings]

Figure 91 is an overall view of a picking area according to an embodiment of the present invention, Figure 112 is an enlarged view of the main part of the picker shown in Figure 1 just before the picking operation, and Figure 3 is an upper view of the part shown in Figures 1 and 2. 4 is a processing flowchart according to an embodiment of the present invention, and FIG. 95 is a block diagram showing an input/output system of a computer according to an embodiment of the present invention. 8...Parallel link, 4...Motor,
Drying: Picking roller, blade: Picking arm, ah... Electric motor: 1 shaft...
...Detector, (...Coil spring, Chrysanthemum...
...Current detector\'IrEJ

Claims (1)

[Claims] 1. The picking arm rotatably supported, a picking roller rotatably attached to the tip of the picking arm, an electric motor connected to the picking roller, and installed in a position that applies downward rotational force to the picking arm. A picking device comprising a tabular spring, a detector having a detection range set above the picking arm, an electric motor connected to the picking roller, and a current detector connected to the electric motor.