KR102338408B1 - Automatic Picking System - Google Patents

Abstract

An automatic picking system is disclosed. The automatic picking system according to an embodiment commonly shares a single drive shaft with each other and individually pushes and discharges the goods in each unit loading unit through each accessory, so that the processing speed is fast and installation and operating costs are reduced can save

Description

Automatic Picking System {Automatic Picking System}

The present invention relates to an automatic picking system.

A company with a large material handling scale has invested heavily in cost reduction and automation to have advanced material handling equipment and processes. A general goods handling system is mainly limited to storage or movement of goods within a warehouse. Accordingly, the automated article processing system for automatically picking up the stored article (a state in which a stored article is selected and transported) and transported has been relatively slow.

The Automatic Picking System (APS), which currently exists at home and abroad, uses a method of sorting box-type products (cosmetics, pharmaceuticals, etc.) with uniform dimensions using gravity.

The automatic picking system requires a driving device that drives a picking module that picks an article, and the method of individually attaching a driving device to each picking module consumes a lot of manufacturing cost. Picking up as one drive moves along the rail reduces throughput per hour. An object of the present invention is to solve both of these problems, and to increase the processing speed and reduce installation and operating costs.

According to an embodiment, an automatic picking system that has a high processing speed and can reduce installation and operating costs is proposed.

The automatic picking system according to an embodiment has a loading space for stacking a plurality of articles up and down in a multi-layered manner, and includes a plurality of unit stacking parts having outlets opened so that the pushed articles are discharged, and each unit stacking part is arranged in a line A plurality of unit pickups located under each of the stacking parts, but sharing a single drive shaft in common, and individually pushing the goods in each unit loading part through respective attachments. It includes a pickup unit and a motor for rotationally driving the drive shaft.

Each unit pickup unit includes a single driving shaft shared by a plurality of unit pickup units and rotationally driven by a single motor, a driving device rotating by the driving shaft, and provided on the periphery of the driving device to rotate along the driving device It may include a first accessory for pushing and discharging an article by phase shift, and a direction switching device for changing the phase of the first accessory by applying a physical force to the first accessory.

The first accessory device may include an ejection trigger for discharging the article while lying down front and back or sideways in the moving direction of the driving device when the article is not ejected, and then moves forward and backward or sideways when the article is ejected.

The first accessory may be rotated along the track of the driving device, and the phase may be changed by the direction changing device in the changing section.

Each unit pickup unit may further include a spring that provides an elastic force to the first accessory so that the phase of the first accessory is not switched in a position where the direction changing device is not present.

The automatic picking system may further include a control unit for common control of the drive shaft by providing a control signal for driving to the motor, and a control unit for individual control by providing a control signal to a direction changing device for changing the phase of the first accessory.

The automatic picking system further includes a sensor for detecting a position of the first accessory, wherein the control unit receives a position detection signal from the sensor to change the phase of the first accessory to the direction changer according to the position of the first accessory A control signal can be transmitted for

The pickup unit includes a first unit pickup unit including a first driving device rotated by a driving shaft, a second unit pickup unit including a second driving unit rotating by a driving shaft, a first driving device and a second It may include a connecting rod for connecting the driving device, and at least one intermediate pickup unit formed between the first unit pickup unit and the second unit pickup unit through the connecting rod.

Each unit pickup unit includes a second accessory that is provided on the connecting rod for each unit pickup unit, rotates along the connecting rod, and pushes and discharges an article by phase change, and a second accessory by applying a physical force to the second accessory It may include a direction change device for changing the phase of the device.

The second attachment includes a discharge trigger having a structure that discharges or does not discharge items by laying and standing by a direction change device, and is attached to one or both sides of the discharge trigger so that the end of the discharge trigger moves to the upper part of the upper plate of the unit loading unit. It may include a track holding part to keep it constantly protruding or not protruding.

The track holder and the eject trigger can be operated out of phase, or both rise and fall together, or only change the phase of the eject trigger without the track holder to eject or not eject the article.

The track holding part moves along the lower part of the track on the top plate of the unit stacking part when the product is not discharging, and moves along the track top on the top plate of the unit loading part when the product is discharged. It can move along the track and when discharging goods, it can move along the lower part of the track on the top plate of the unit loading section.

The turning device may cause the track retainer to move along the top or bottom of the track on the top, with the diaphragm being closed or opened by a solenoid.

According to the size of each intermediate pickup unit, the position of each intermediate pickup unit may be spaced from side to side on the connecting rod.

The second accessory may further include a folding spring that provides an elastic force so that the ejection trigger is normally laid down while the article is ejected, while the ejection trigger is raised.

The motor is a motor or stepping motor equipped with an encoder capable of recognizing a position, and each unit pickup unit is synchronized with the position of the drive shaft and the accessory device is brought into contact with the item at the time of discharging the item, and a control unit that generates a control signal to discharge the contacted item may include

In the automatic picking system according to an embodiment, the automatic picking system has a high processing speed and can reduce installation and operating costs. That is, there is no need to install all the driving devices for driving the unit pickup unit for each unit stacking unit, and since a plurality of unit pickup units share a single driving shaft, only one driving device needs to be installed, thereby dramatically reducing the system construction cost. In addition, in order to solve the problem of slow processing speed when picking up one driving device while moving along the rail, the processing speed can be shortened by picking items using the power individually transmitted to each pickup unit. .

While each unit pickup unit shares a single drive shaft, it is possible to shorten the processing speed and reduce installation and operating costs by changing the phase, such as laying down or standing the ejection trigger.

Furthermore, when each unit pickup unit not only shares a single drive shaft but also a drive device through a connecting rod, the ejection trigger can be adjusted left and right on the connecting rod, so positioning is very easy in multi-line production and handling of articles It is also easy to increase the number. In addition, since not all driving devices are required for each pickup unit, installation and operating costs can be reduced.

1 is a view showing the configuration of an automatic picking system according to a first embodiment of the present invention;
2, 3 and 4 are views respectively showing side, front and upper surfaces of the unit pickup unit according to the first embodiment of the present invention;
5 is a view showing a three-dimensional appearance and a side view of a unit pickup unit for showing the operation of the direction changing device changing the phase of the accessory according to the first embodiment of the present invention;
6 to 9 are views showing the detailed configuration of the first accessory according to the first embodiment of the present invention;
10 and 11 are views showing the position of the moving line and the middle line of the accessory device and the direction change device when the ejection trigger is erected or laid down according to the first embodiment of the present invention;
12 and 13 are views showing the configuration of the unit pickup unit and the loading unit and the pickup unit in the absence of articles, respectively, according to a second embodiment of the present invention;
14 is a view showing a side surface of a unit pickup unit according to a second embodiment of the present invention;
15 to 18 are a side structure, a top structure, a state when the track holding part passes over the top plate (when discharging goods), and when the track holding part passes under the top plate of the second accessory according to the second embodiment of the present invention; A drawing showing the appearance of each (when the product is not discharged),
19 and 20 are views viewed from the top and the side, respectively, in a state in which the direction changing device according to the second embodiment of the present invention changes the phase of the second accessory;
21 to 24 are a top surface structure (when an article is discharged), a side structure (when a product is discharged), a top surface structure (when a product is discharged), and a side structure (when a product is discharged) of the second accessory device according to the third embodiment of the present invention. ) is a drawing showing each,
25 to 28 are a side structure (when an article is not ejected), a front structure (when an article is not ejected), a side structure (when an article is ejected), and a front structure (when an article is ejected) of the ejection trigger according to the third embodiment of the present invention ) is a diagram showing each.

Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

In describing the embodiments of the present invention, if it is determined that a detailed description of a well-known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted, and the terms to be described later are used in the embodiment of the present invention. As terms defined in consideration of the function of Therefore, the definition should be made based on the content throughout this specification.

Each block in the accompanying block diagram and combinations of steps in the flowchart may be executed by computer program instructions (execution engine), which computer program instructions are executed by the processor of a general-purpose computer, special-purpose computer, or other programmable data processing device. It may be mounted so that its instructions, which are executed by the processor of a computer or other programmable data processing device, create means for performing the functions described in each block of the block diagram or in each step of the flowchart.

These computer program instructions may also be stored in a computer usable or computer readable memory that may direct a computer or other programmable data processing device to implement a function in a particular manner, and thus the computer usable or computer readable memory. It is also possible to produce an article of manufacture containing instruction means for performing the functions described in each block of the block diagram or each step of the flowchart, the instructions stored in the block diagram.

And since the computer program instructions may be mounted on a computer or other programmable data processing device, a series of operational steps is performed on the computer or other programmable data processing device to create a computer-executable process to create a computer or other programmable data processing device. It is also possible that instructions for performing the data processing apparatus provide steps for executing functions described in each block in the block diagram and in each step in the flowchart.

In addition, each block or step may represent a module, segment, or portion of code comprising one or more executable instructions for executing specified logical functions, and in some alternative embodiments the blocks or steps referred to in some alternative embodiments. It should be noted that it is also possible for functions to occur out of sequence. For example, it is possible that two blocks or steps shown one after another may be performed substantially simultaneously, and also the blocks or steps may be performed in the reverse order of the corresponding functions, if necessary.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiments of the present invention illustrated below may be modified in various other forms, and the scope of the present invention is not limited to the embodiments described below. The embodiments of the present invention are provided to more completely explain the present invention to those of ordinary skill in the art to which the present invention pertains.

An automatic picking system according to an embodiment is a device for automatically picking up and discharging an article. The article may be, for example, a small article such as medicine or cosmetics, but is not limited thereto. In addition, it is possible to pick up a variety of goods. For example, in the pharmaceutical field, about 17,000 to 20,000 kinds of medicines need to be stacked, which can be applied to picking up these multi-variety small items.

There must be a driving device for driving the picking module that picks the goods, and the method of individually attaching the driving device to each picking module consumes a lot of manufacturing cost. Picking up as one drive moves along the rail reduces throughput per hour. An object of the present invention is to solve both of these problems, and to have a fast processing speed and to reduce installation and operating costs. To this end, the drive is transmitted to one power shaft so that each drive device can share it, and it is intended to individually connect it to the drive device so that the power is transmitted. Hereinafter, the configuration of the automatic picking system for achieving this object will be described in detail with reference to the drawings to be described later.

1 is a diagram showing the configuration of an automatic picking system according to a first embodiment of the present invention.

Referring to FIG. 1 , the automatic picking system 1 includes a loading unit 10 , a pickup unit 20 , a motor 30 , and a control unit 280 .

The loading unit 10 has a plurality of unit loading units 100 arranged in a line. 1 illustrates that there are three unit loading units 100 for convenience of explanation, the number of unit loading units 100 is not limited thereto. Each unit loading unit 100 is formed with a loading space for stacking a plurality of items up and down in multiple layers, the loading space has a closed space surrounded by an external wall, but in some areas, for example, an opening at the lower end of the side The discharge port (120 in FIG. 2) of the form of the above is formed. The article (A) located at the bottom of the loading space may be discharged through the outlet (120 in FIG. 2 ).

The pickup unit 20 includes a plurality of unit pickup units 200 positioned below each unit loading unit 100 . Each unit pickup unit 200 shares a single drive shaft 202 with each other in common, and individually receives the power of the drive shaft 202 through the drive device 220 . In addition, the article in the unit loading unit 100 at a position corresponding to each unit pickup unit 200 is individually discharged. The driving device 220 may be in the form of a driving chain or a driving belt. Hereinafter, although the description is limited to the case in which the driving device 220 is a driving chain, it may be replaced with a driving belt. When the driving device 220 is a belt, the gear 210 may be replaced with a belt pulley.

Each unit pickup unit 200 is provided with a driving device 220 that rotates by the power of the driving shaft 202 , and has a shape that protrudes around the driving device 220 for discharging articles in the unit loading unit 100 . The first accessory device 230 is mounted. The driving device 220 in each unit pickup unit 200 continues to rotate by the drive shaft 202 irrespective of whether or not the product in the unit loading unit 100 corresponding to each unit pickup unit 200 is discharged. to keep When the article is to be discharged, the first accessory device 230 pushes the article through the phase change of the first accessory device 230 to discharge the article. The phase includes at least one of a position and a state of the first accessory 230 .

The driving device 220 surrounds the outer periphery of the gear 210 and rotates by rotation of the driving shaft 202 fixed to the gear 210 . As the drive device 220 rotates along the drive shaft 202 , the first accessory device 230 on the drive device 220 rotates together. At this time, when the ejection trigger of the rotating first accessory 220 changes from a lying position to a standing state, the erected ejection trigger may eject the article in a manner that the ejection trigger contacts the article and pushes it out. The first accessory device 230 is provided on the periphery of the driving device 220 and moves along the driving device 220 to push and discharge the article by phase shift.

A single motor 30 drives a single drive shaft 202 to rotate. The controller 280 provides a control signal for driving to the motor 30 to control the drive shaft 202 in common. In addition, individually, a control signal is provided to the direction changing device ( 240 in FIG. 2 ) which serves to change the phase of the first accessory device 230 .

2, 3, and 4 are views respectively showing a side, a front, and an upper surface of the unit pickup unit according to the first embodiment of the present invention.

1 to 4 , the unit pickup unit 200 includes a drive shaft 202 , gears 210 - 1 and 210 - 2 , a drive device 220 , a first accessory device 230 , and a direction change device. 240 , a sensor 250 and a control unit 280 .

The drive shaft 202 is shared by a plurality of unit pickup units 200 and is rotationally driven by a single motor 30 . The first gear 210-1 is rotatable together with the driving shaft 202 about the driving shaft 202, and the second gear 210-2 includes the first gear 210-1 and the driving device 220. ) and rotates together with the first gear 210-1. The first gear 210 - 1 and the second gear 210 - 2 are formed to be spaced apart from each other by a predetermined distance in a direction perpendicular to the driving shaft 202 , and rotate together when the driving shaft 202 rotates. The driving device 220 is fitted on the outer periphery of the first gear 210-1 and the second gear 210-2 to rotate along the driving shaft 202.

The first accessory device 230 is provided on the circumference of the driving device 220 and moves along the track on which the driving device 220 rotates. When a physical force is applied from the direction changing device 240 while moving, it serves to push the article A through a phase change.

The direction changing device 240 changes the phase of the first accessory device 230 according to the control signal of the control unit 280 . A phase may include at least one of a position and a state. For example, the direction change device 240 may set up or lay down the ejection trigger in the first accessory device 230 . When the ejection trigger is raised, the article (A) is pushed out through the erected ejection trigger. The ejection trigger is laid down front and back or sideways in the moving direction of the driving device 220 when the article is not ejected, and when the article is ejected, it is erected forward and backward or sideways to eject the article (A). The ejection trigger may have a form that is hinged to be erected or laid down.

The direction changing device 240 may be a diverter. The direction changing device 240 may change the phase of the first accessory device 230 through Up-Down at the junction. For example, when the direction changing device 240 is in the up (Up) state, the discharge trigger is set up, and when the direction changing device 240 is in the Down state, the discharge trigger is laid aside. That is, to eject the article (A), raise the ejection trigger, and to not eject the article (A), lay down the ejection trigger.

As shown in the front view of Figure 3, there is a long hole between the upper plate (Board: B) of the unit loading unit 100, the driving device ( 220), the article (A) can be discharged by pushing the article while moving.

The left side of FIG. 4 is a top view of a state in which the discharge trigger of the first accessory device 230 is erected, and the discharge trigger erected in the open space between the upper plates B of the unit loading unit 100 invades the discharge trigger. Since it moves on the upper plate B of the unit loading part 100, the article A in the unit loading part 100 is pushed and discharged. On the contrary, the right side of FIG. 4 is a top view of the discharge trigger of the first accessory device 230 lying on its side, and since the discharge trigger moves under the upper plate B of the unit loading unit 100, the article A ) is not emitted.

It is necessary to synchronize whether to discharge the goods or to wait. For synchronization, the unit pickup unit 200 according to an embodiment includes a sensor 250 that detects a position through which the first accessory device 230 passes. In this case, the position of the first accessory device 230 is sensed through the sensor 250 , and the control unit 280 receives a position detection signal from the sensor 250 . The control unit 280 determines the position of the first accessory device 230 by the detection signal, and according to the position of the first accessory device 230, the phase change of the first accessory device 230 to the direction change device 240 is performed. to transmit a control signal for The direction changing device 240 receiving the control signal from the control unit 280 changes the phase of the first accessory device (230). The sensor 250 may be an optical sensor.

As another example for synchronization, the motor 30 of the unit pickup unit 200 is a motor having an encoder capable of recognizing a position or a stepping motor. At this time, the control unit 280 generates a control signal to change the phase of the first accessory device 230 through the direction change device 240 in synchronization with the position of the drive shaft 202 to generate the direction change device 240 . You can be motivated by providing

5 is a view showing a three-dimensional appearance and a side view of the unit pickup unit for showing the operation of the direction changing device changing the phase of the accessory according to the first embodiment of the present invention.

1 and 5 , the first accessory device 230 according to an embodiment rotates along a track around the driving device 220, and the phase is changed by the direction change device 240 in the changing section. . When discharging an article, for example, the sensor 250 detects the position where the first accessory device 230 passes and detects the entry of the first accessory device 230 within the change section of the driving device 220. The detection signal is transmitted to the control unit 280 , and the control unit 280 transmits a control signal to the direction changing device 240 . The direction changing device 240 applies a physical force to the first accessory device 230 according to the received control signal and sets the ejection trigger in the first accessory device 230 . In the track around the driving device 220, the positions of the change section for setting the discharge trigger and the change section for laying down the discharge trigger may exist separately, and the change section for setting the discharge trigger and the change section for laying down the discharge trigger The location may be the same. In a position where the direction changing device 240 is not present, a spring for preventing the phase of the first accessory 230 from being changed may be provided in the first accessory device 230 .

The ejection trigger of the first accessory device 230 may be erected or laid down by the direction switching device 240 . For example, as shown in FIG. 5 , the direction switching device 240 applies a physical force in different directions to the discharge trigger 232 through an operation of switching up and down to lay down the discharge trigger 232 or can be erected

6 to 9 are views showing the detailed configuration of the first accessory according to the first embodiment of the present invention.

In more detail, FIGS. 6 and 7 are views from the side and front when the first attachment is erected, and FIGS. 8 and 9 are views from the side and front when the first attachment is laid down, respectively .

6 to 9 , the first accessory device 230 according to an embodiment includes a support 231 , an ejection trigger 232 , connection members 233 , 234 , 235 , and a protrusion member 236 . do. The support 231 is attached to the driving device 220 and rotates along the track of the driving device 220 when the driving device 220 rotates. The ejection trigger 232 is hinge-coupled to the support 231 and is rotatable from the support 231 . For example, erected for discharging articles and laid down for non-discharging. The protruding member 236 is connected to the discharge trigger 232 through the connecting members 233, 234, 235, and as the physical force of the direction changing device 240 is applied, as it rotates up and down, the protruding member 236 and Stand up or lay down the connected ejection trigger (232). For example, when the direction changing device 240 applies force while the protruding member 236 is raised, it goes down, the protruding member 236 goes down, and the ejection trigger 232 connected to the protruding member 236 is laid down. . Conversely, when the direction changing device 240 applies force while the protruding member 236 is lowered, the protruding member 236 goes up and the ejection trigger 232 connected to the protruding member 236 is erected. The structure of the connecting members 233 , 234 , and 235 is as shown in FIGS. 6 to 9 , but is not limited thereto.

The direction changing device 240 according to an embodiment includes a body 243 and a body 243 that are fixedly formed to be spaced apart from the driving device 220 by a predetermined distance, and a hinge formed on at least a part of one side of the body 243 ( 242) and a conversion bar 241 extending from the hinge 242 and rotating from the body 243. As the transition bar 241 moves upward and raises the protruding member 236 upward, the ejection trigger 232 connected to the protruding member 236 may be erected. Conversely, as the transition bar 241 descends and lowers the protruding member 236 downward, the ejection trigger 232 connected to the protruding member 236 may be laid down. The structure of the above-described direction changing device 240 is only an embodiment for helping the understanding of the present invention, and any structure that can lay or stand the ejection trigger 232 by applying physical force in different directions may be used. do.

10 and 11 are diagrams showing the position of the moving line and the middle line of the accessory device and the direction change device when the ejection trigger is erected or laid down according to the first embodiment of the present invention.

In more detail, FIG. 10 shows a state when the phase of the first accessory device 230 is changed through the direction changing device 240 located in the change section, and FIG. 11 is without the direction changing device 240 . It shows a state in which the phase of the first accessory device 230 does not change in the position.

Referring to FIG. 10 , in the direction changing device 240 , the switching bar can be rotated up and down between the driving device 220 and the second track 222 based on the first track 221 of the driving device 220 . has a structure The first accessory 230 moves on the first track 221 or the second track 222 in a state where the ejection trigger is lying when the article is not ejected, and when the article is ejected, the ejection trigger moves to the third track 223 Move to the upright position. The third track 223 is a line at least partially including on the upper plate B of the unit loading part, and is a position where the article A can be pushed and pushed.

Referring to FIG. 11 , in a position where the direction changing device 240 is not present, the first accessory 230 may be fastened through a spring for preventing the phase of the first accessory 230 from being changed.

12 and 13 are views respectively illustrating the configuration of the unit pickup unit and the loading unit and the pickup unit in a state in which there is no article according to the second embodiment of the present invention.

The automatic picking system of the first embodiment described above with reference to FIGS. 1 to 11 has a structure in which each unit pickup unit shares power through a single drive shaft, but both a driving device and an accessory device are required for each unit pickup unit. In contrast, as shown in FIGS. 12 and 13 , the automatic picking system according to the second embodiment is different in that each unit pickup unit shares a single driving shaft, but also shares a driving device. The loading unit 10 has the unit loading units 100 arranged in a line.

12 and 13 , in the automatic picking system according to the second embodiment, a first unit pickup unit and a second unit pickup unit are provided at both ends, respectively, and at least between the first unit pickup unit and the second unit pickup unit One intermediate unit pickup unit is provided. In this case, not all unit pickup units each have a driving device, but only the first unit pickup unit and the second unit pickup unit at both ends each have one driving device 220-1 and 220-2. After connecting the first driving device 220-1 and the second driving device 220-2 with the connecting rod 260, at least one intermediate unit pickup unit between the first unit pickup unit and the second unit pickup unit has no drive. A second accessory device 270 is provided on the connecting rod 260 for each unit pickup unit. The first driving device 220 - 1 and the second driving device 220 - 2 can be shared through the connecting rod 260 .

Since the position of the second accessory 270 can be adjusted left and right on the connecting rod 260 , it is very easy to adjust the position when manufacturing a multi-line and it is also easy to increase the number of processed articles. Furthermore, since not all of the driving devices are required for each pickup unit, but only two, installation and operation costs can be reduced. In accordance with the size of the intermediate article, the position of each of the second attachments 270 may be adjusted to the left and right on the connecting rod 260 .

12 and 13 , the phase of the ejection trigger of the second accessory device 270 may be changed to a standing state for discharging an article, and a phase may be changed to a lying state for not discharging an article.

14 is a view illustrating a side surface of a unit pickup unit according to a second embodiment of the present invention.

Referring to FIG. 14 , the unit pickup units are commonly connected by a single connecting rod 260 , and individually by pushing the article A through the phase shift of the second accessory device 270 for each unit pickup unit. discharge

The second accessory 270 according to an embodiment includes a fixing part 271 , an ejection trigger 272 , a shaft 274 and a track holding part 275 .

The fixing unit 271 is mounted on the connecting rod 260 for each pickup unit, and the discharge trigger 272 is hinged with the fixing unit 271 to be folded or unfolded. The track holding part 275 moves along the track lower part of the upper plate (B) of the unit loading part when the article is not discharged, and moves along the upper part of the track on the upper plate (B) of the unit loading part when the article is discharged, and the ejection trigger Keep the end of the unit from constantly protruding or not protruding from the upper plate of the unit loading part. The track holding part 275 may be in the form of a rod or a wheel.

The second accessory 270 may further include a folding spring that provides an elastic force so that the ejection trigger 272 is normally laid down and raised when an article is ejected. The direction changing device 240 is provided on the upper plate (B) of each unit loading unit, and as a physical force is applied to the second accessory device 270 , the phase of the second accessory device 270 is changed.

15 to 18 are a side structure, a top structure, a state when the track holding part passes over the top plate (when discharging goods), and when the track holding part passes under the top plate of the second accessory according to the second embodiment of the present invention; It is a drawing showing the state of each (when the product is not discharged).

15 to 18 , in order for the ejection trigger 272 of the second accessory 270 to move stably when the article A is ejected, the ejection trigger 272 must not be folded when in the ejection state. In this part, the track holding part 275 is switched up or down before entering onto the top plate (B) because it is necessary to keep the two states of going up or down on the top plate (B). A second accessory device 270 may be provided to do so.

Since the basic mode is a state in which the article A is not discharged, the track holding unit 275 may be in a state lying on a folding spring to move along the track lower portion of the upper plate B. In the discharge mode, the direction changing device operates to raise the track holding part 275 to the upper part of the track of the upper plate (B) so that the track holding part 275 moves along the upper part of the upper plate (B) track, and the upper plate (B) moves along the upper part of the track. Until the end, the track holding part 275 keeps the end of the ejection trigger 272 constantly protruding above the upper plate B to eject the article A through the push. When the track holding part 275 moves along the lower part of the track of the upper plate (B), the end of the ejection trigger 272 is the upper plate (B) until the track holding part 275 moves all the way under the upper plate (B) track. Keep it from protruding above the track.

19 and 20 are views viewed from the top and side, respectively, of the direction changing device according to the second embodiment of the present invention changing the phase of the second accessory device.

19 and 20, the direction changing device 240 causes the track holding part 275 to move along the upper part of the track top of the top plate (B) when the article is discharged, and the end of the discharge trigger 272 is the top plate ( B) By maintaining the constant protrusion to the upper part of the track, the track holding part 275 pushes the article until it passes the upper part of the upper plate (B) of the track.

21 to 24 are a top surface structure (when an article is discharged), a side structure (when a product is discharged), a top surface structure (when a product is discharged), and a side structure (when a product is discharged) of the second accessory device according to the third embodiment of the present invention. ) is a diagram showing each.

21 and 23 , the solenoid 300 serves to open and close the transverse membrane of the direction changing device 240 . As shown in FIGS. 21 and 22, when the horizontal membrane of the direction changer 240 is closed by the solenoid 300, the track holding part 275 goes to the lower side of the upper plate (B) of the track, and the discharge trigger 272 moves upward. You can climb up and push items away. On the other hand, referring to FIGS. 23 and 24 , when the diaphragm of the direction changing device 240 is opened by the solenoid 300, the track holding part 275 passes the upper side of the upper plate (B) track, and the discharge Because the trigger 272 passes in a lying state, the article is not ejected.

As described above, the track holding unit 275 and the ejection trigger 272 may be configured to operate in opposite phases, and they may go up or down together. Alternatively, only the phase may be changed without the track holding unit 275 .

25 to 28 are a side structure (when an article is not ejected), a front structure (when an article is not ejected), a side structure (when an article is ejected), and a front structure (when an article is ejected) of the ejection trigger according to the third embodiment of the present invention ) is a diagram showing each.

25 and 26, when the diaphragm of the direction changing device 240 is open, the track holding part 275 passes the upper side of the track of the top plate B, and the discharge trigger 272 is laid down. Do not dispose of items. In contrast, as shown in FIGS. 27 and 28 , when the diaphragm of the direction changing device 240 is closed, the track holding unit 275 passes the lower side of the track of the upper plate B, and the discharge trigger 272 is lying down and does not discharge articles.

When picking and discharging items using the automatic picking system described above with reference to FIGS. 1 to 28 , if the discharge time is controlled by placing several discharge points, the items are placed in the loading yard according to the ordered items and quantity. It can be picked up and discharged at the same time. The loading dock may be a moving conveyor, basket, or the like. Accordingly, it is possible to collect or store the items in the loading area for each order.

So far, the present invention has been focused on the embodiments thereof. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention can be implemented in modified forms without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is indicated in the claims rather than the foregoing description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

Claims (16)

Doedoe having a loading space for stacking a plurality of articles up and down in multiple layers, and a plurality of unit loading parts having outlets opened so that the pushed articles are discharged, each of the unit loading parts being arranged in a row;
a pickup unit located under each unit loading unit, having a plurality of unit pickup units that share a single drive shaft in common and individually push items in each unit loading unit through respective attachments; and
a motor for rotating the drive shaft; includes,
pickup unit
a first unit pickup unit including a first driving device rotated by a driving shaft;
a second unit pickup unit including a second driving device rotated by a driving shaft;
a connecting rod connecting the first driving device and the second driving device; and
at least one intermediate pickup unit formed between the first unit pickup unit and the second unit pickup unit through a connecting rod;
Automatic picking system comprising a. According to claim 1, wherein each unit pickup unit
a single drive shaft shared by a plurality of unit pickup units and rotationally driven by a single motor;
a drive device rotating by a drive shaft;
a first accessory provided on the periphery of the driving device and rotating along the driving device to push and discharge the article by phase shift; and
a direction changing device for changing the phase of the first accessory by applying a physical force to the first accessory;
Automatic picking system comprising a. 3. The method of claim 2, wherein the first accessory comprises:
Discharging trigger for discharging the product while lying down front and back or sideways in the direction of movement of the drive device when the product is not discharged, and moves upright or sideways when discharging the product;
Automatic picking system comprising a. 3. The method of claim 2, wherein the first accessory comprises:
Automatic picking system, characterized in that the phase is changed by the direction changer in the changing section while rotating along the track of the driving device. According to claim 2, wherein each unit pickup unit
a spring providing an elastic force to the first accessory so that the phase of the first attachment is not changed in a position where there is no direction change device;
Automatic picking system, characterized in that it further comprises. The method of claim 1, wherein the automatic picking system comprises:
a control unit for controlling the drive shaft in common by providing a control signal for driving to the motor, and providing a control signal to a direction changing device for changing the phase of the first accessory for individual control;
Automatic picking system, characterized in that it further comprises. 7. The method of claim 6, wherein the automatic picking system comprises:
a sensor for detecting the position of the first accessory; further comprising,
the control unit
An automatic picking system, characterized in that by receiving a position detection signal from a sensor and transmitting a control signal for changing the phase of the first accessory to the direction changing device according to the position of the first accessory. delete According to claim 1, wherein each unit pickup unit
a second accessory provided on the connecting rod for each unit pickup unit, rotating along the connecting rod, and then pushing and discharging the article by phase change; and
a direction changing device for changing the phase of the second accessory by applying a physical force to the second accessory;
Automatic picking system comprising a. 10. The method of claim 9, wherein the second accessory comprises:
an ejection trigger of a structure for ejecting or not ejecting articles by laying and standing by a direction change device; and
a track holding part attached to one or both sides of the ejection trigger to keep the end of the ejection trigger constantly protruding or not protruding from the upper plate of the unit loading unit;
Automatic picking system comprising a. 11. The method of claim 10,
An automatic picking system, characterized in that the track holding unit and the discharging trigger operate in opposite phases, or both ascend and descend together, or only change the phase of the discharging trigger without the track holding unit to discharge or non-discharge articles. 11. The method of claim 10, wherein the track holding portion
When goods are not discharged, they move along the lower track on the upper plate of the unit stacking part, and when goods are discharged, they move along the upper track on the upper plate of the unit stacking part. and automatic picking system, characterized in that it moves along the lower part of the track on the upper plate of the unit loading unit when discharging the goods. 11. The method of claim 10, wherein the direction changing device is
An automatic picking system, characterized in that the diaphragm is closed or opened by a solenoid and the track holder moves along the top or bottom of the track on the top plate. According to claim 1, wherein each intermediate unit pickup unit
An automatic picking system, characterized in that the position of each intermediate pickup unit is adjusted to the left and right on the connecting rod according to the size of the product. 11. The method of claim 10, wherein the second accessory comprises:
A folding spring that provides an elastic force so that the ejection trigger is usually laid down when the article is ejected, but is erected;
Automatic picking system, characterized in that it further comprises. The method of claim 1, wherein the motor
A motor or stepping motor with an encoder capable of position recognition,
Each unit pickup unit
a control unit for generating a control signal to discharge the contacted article by bringing the accessory into contact with the article at the article ejection time in synchronization with the position of the drive shaft;
Automatic picking system comprising a.

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