WO2020158019A1

WO2020158019A1 - Transfer apparatus

Info

Publication number: WO2020158019A1
Application number: PCT/JP2019/032485
Authority: WO
Inventors: 文恵山田; 哲資棚橋
Original assignee: 村田機械株式会社
Priority date: 2019-01-28
Filing date: 2019-08-20
Publication date: 2020-08-06
Also published as: TW202039337A; JPWO2020158019A1; JP7088322B2

Abstract

In this transfer apparatus for taking out parcels stacked within a rack, a portion to be inserted in the rack when taking out a parcel is configured to have a reduced thickness. A picking apparatus 41 is for transferring cases 5 stacked on a shelf 15, and is provided with an elevation platform 37a, a lower arm 51a, an upper arm 51b, a transfer table 57, and a suction pad 59. The lower arm 51a is mounted to the elevation platform 37a and is capable of pivoting about the vertical axis. The upper arm 51b is mounted to the lower arm 51a so as to be capable of pivoting about the vertical axis. The transfer table 57 is mounted to a lower part of on the leading end side of the upper arm 51b so as to be capable of moving back and forth in the horizontal direction and pivoting about the vertical axis. The suction pad 59 is mounted on the leading end side of the transfer table 57 at a height position that overlaps the upper arm 51b in a lateral view, so as to be capable of moving up and down and back and forth.

Description

Transfer device

The present invention relates to a transfer device, and more particularly to a transfer device for transferring stacked loads.

The automated warehouse mainly has a rack and a stacker crane. The rack has shelves arranged vertically and horizontally. The stacker crane travels in the vicinity of the rack, and loads and unloads luggage on the rack.
Depending on the automated warehouse, one piece of luggage may be placed on each shelf of the rack, or a plurality of pieces of luggage may be stacked on each shelf of the rack (for example, see Patent Document 1). ).

Patent Document 1 discloses a pallet and case automatic storage picking system. In that system, a stacker crane equipped with an in-rack conveyor and two lifts can take out cargo with high capacity.

Japanese Patent No. 6343358

Both of the transfer devices 40 of Patent Document 1 have a transfer conveyor 41 and a suction arm 42 provided with a suction head 43.
In this case, the transfer conveyor 41 and the suction arm 42, which are inserted into the rack, are arranged side by side in the vertical direction, so that the dimension in the height direction of these members becomes large. Therefore, even if the picking target is a parcel of the minimum height, it is necessary to secure a sufficient upper space of the shelf for picking.

An object of the present invention is to reduce the thickness of a portion to be inserted into a rack when taking out a load in a transfer device that takes out a load stacked in a rack.

Below, we explain several aspects as means for solving the problems. These aspects can be arbitrarily combined as needed.

A transfer device according to one aspect of the present invention is a device for transferring loads stacked on a shelf, and includes a base, a lower arm, an upper arm, a transfer table, and a suction pad. I have it.
The lower arm is attached to the base so as to be rotatable about a vertical axis.
The upper arm is attached to the lower arm so as to be rotatable about the vertical axis.
The transfer table is attached to the lower end of the upper arm on the tip side so as to be able to move forward and backward in the horizontal direction and to be rotatable around the vertical axis.
The suction pad is attached to the tip end side of the transfer table at a height position overlapping with the upper arm in a side view so as to be movable back and forth and vertically movable.
In this device, a transfer table is attached to the lower part of the upper arm, and a suction pad is provided at a height that overlaps with the upper arm, so that a portion to be inserted into the rack when the luggage is taken out (for example, the upper arm and the transfer table). , Suction pad) thickness can be reduced.

The transfer device may further include a controller that controls the lower arm, the upper arm, the transfer table, and the suction pad.
The controller is
Advancing the suction pad, adsorbing to the luggage, lifting the luggage,
By moving the transfer table forward, it is inserted into the gap below the load, and by moving the transfer table further forward, the load is placed on the transfer table.
In this device, since the load is placed on the transfer table by advancing the transfer table, it is not necessary to move the lower arm further to the inner side when the innermost load is taken. Therefore, the lower arm does not enter the shelf.

The transfer device may further include a spacer. The spacer has a vertical dimension that is provided between the lower arm and the upper arm and is longer than the vertical dimension of the transfer table.
In this device, the spacer can prevent interference between the lower arm and the transfer table. As a result, the arm can be folded small.
The transfer device may further include a first pad support member and a second pad support member. The first pad support member is supported on the transfer table so as to be movable in the transfer direction. The second pad support member is vertically movable with respect to the first pad support member, and may support the suction pad.

With the transfer device according to the present invention, it is possible to reduce the thickness of the portion to be inserted into the rack when taking out luggage.

The schematic top view of an automatic warehouse system. The schematic side view of an automatic warehouse system. The typical partial front view of a picking device. The block diagram which shows the control structure of an automatic warehouse system. The typical partial front view showing one state of picking and payout operation. The typical partial front view showing one state of picking and payout operation. The typical partial front view showing one state of picking and payout operation. The typical partial front view showing one state of picking and payout operation. The typical partial top view showing one state of picking and payout operation. The typical partial front view showing one state of picking and payout operation. The typical partial top view showing one state of picking and payout operation. The typical partial top view showing one state of picking and payout operation. The typical partial front view showing one state of picking and payout operation. The typical partial front view showing one state of picking and payout operation. The typical partial top view showing one state of picking and payout operation. The typical partial front view showing one state of picking and payout operation.

1. First Embodiment (1) Description of Whole Automatic Warehouse System The automatic warehouse system 1 will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic plan view of an automatic warehouse system. FIG. 2 is a schematic side view of the automatic warehouse system.

The automatic warehouse system 1 is a system for storing and picking a pallet 3 and a case 5 (an example of luggage). A plurality of cases 5 are stacked on the pallet 3. Specifically, the plurality of cases 5 are products of the same type, and are mounted on the pallet 3 so as to be vertically, front-rear, left-right, and stacked. That is, many cases 5 are mounted on the pallet 3 in an aligned state.
In the following description, the pallet 3 may simply mean the pallet 3 in which a plurality of cases 5 are stacked.
The automatic warehouse system 1 has a first rack 11 and a second rack 13. The first rack 11 and the second rack 13 are arranged in parallel, and a traveling lane 19 is provided between them. The first rack 11 has a plurality of shelves 15 for storing the pallets 3 in a plurality of rows and a plurality of rows. The second rack 13 has a plurality of shelves 15 for storing the pallets 3 in a plurality of stages and a plurality of rows.
The second rack 13 further includes a delivery conveyor 17 for paying out cases. The delivery conveyor 17 is arranged in the second rack 13 and extends along the extending direction of the second rack 13. The delivery conveyor 17 is arranged at an intermediate position in the vertical direction of the second rack 13. The delivery conveyor 17 is, for example, a roller conveyor, and delivers the cases 5 one by one.
In the following description, the horizontal direction in which the first rack 11 and the second rack 13 extend is the first direction (arrow Y), and the horizontal direction orthogonal to the first direction is the second direction (arrow X).

The automated warehouse system 1 has a pallet crane 21 that travels in the travel lane 19 and a case crane 23. The pallet crane 21 transfers the pallets 3 to and from the shelves 15. Further, the pallet crane 21 carries out an operation of collecting empty pallets and exchanging luggage. The case crane 23 picks the case 5 placed on the shelf 15.

As shown in FIGS. 1 and 2, the case crane 23 is arranged on the right side of the pallet crane 21. The case crane 23 repeatedly picks the case 5 from the pallet station 16 which is the base point toward the end point (right side in the first direction) and delivers it to the delivery conveyor 17. The pallets 3 are stored on the shelves 15 in the movable area of.
When the case crane 23 arrives at the end point and the pallet crane 21 also moves to the end point, the pallet crane 21 and the case crane 23 return to the pallet station 16 without storing or picking. Continuous processing is performed with this cooperative operation as one cycle.
The pallet station 16 has a conveyor, in which the pallet 3 is transferred to and from the pallet crane 21, and the pallet 3 is transferred to and from a forklift (not shown).
Note that, unlike the above-described picking operation, the case crane 23 continuously picks up luggage to the same destination, so that picking may be repeated while moving to a position separated in the traveling direction.
The case crane 23 can store the case 5 in the first rack 11 or the second rack 13. The pallet crane 21 can also pick the pallet 3 and convey it to the pallet station 16 which is the base point.

(2) Pallet Crane The pallet crane 21 has a traveling device 25, a lifting device 27, and a transfer device 29, as shown in FIG. 4 (described later). The traveling device 25 has a known configuration including a motor, a power transmission mechanism, and wheels. The lifting device 27 is mounted on the traveling device 25 and lifts and lowers the transfer device 29. The lifting device 27 has a known structure including a mast, a lifting platform, a motor, and a power transmission mechanism. The transfer device 29 transfers the pallet 3 to the shelf 15.

(3) Case Crane The case crane 23, as shown in FIG. 4, has a traveling device 35, a lifting device 37, and a pair of picking devices 41 (an example of a transfer device). The traveling device 35 has a known configuration including a motor, a power transmission mechanism, and wheels. The lifting device 37 is mounted on the traveling device 35, and has a known configuration including a mast, a pair of lifting platforms 37a, a motor, and a power transmission mechanism. The pair of picking devices 41 are mounted on the pair of lifts 37a, respectively, and can be lifted and lowered independently of each other. The pair of picking devices 41 each have a motor and a power transmission mechanism.

As a rough operation, the picking device 41 picks one of the cases 5 stored in a stacked state on the shelves 15 of the first rack 11 or the second rack 13 and then pays it out to the delivery conveyor 17.

As shown in FIG. 3, the picking device 41 has a SCARA arm 51, and a swivel device 53 for swiveling the SCARA arm 51 about an up-and-down axial center with respect to a base part which is a part of the lifting platform 37a. There is. FIG. 3 is a schematic partial front view of the picking device.
The SCARA arm 51 is a known technique, and by rotating the arm structure, the arm structure bent in a V shape is straightened, and thereby the tip is moved to the first rack 11 or the second rack 13 side. You can The SCARA arm 51 has a lower arm 51a and an upper arm 51b. The base end of the lower arm 51a is attached to the swivel device 53 so as to swivel about a vertical axis. The base end of the upper arm 51b is attached to the tip of the lower arm 51a so as to be rotatable about a vertical axis. The base end of the lower arm 51a of the SCARA arm 51 is connected to a motor (not shown) of an arm driving device 81 (described later), and the SCARA arm 51 interlocks with the upper arm 51b when the lower arm 51a turns. It has a chain interlocking mechanism (not shown) for pivoting.

The picking device 41 has a transfer table 57. The transfer table 57 is attached to the lower portion on the tip side of the upper arm 51b so as to be movable back and forth in the second direction. Further, the transfer table 57 is attached so as to be rotatable with respect to the upper arm 51b.
Specifically, as shown in FIG. 3, a base portion 61 is rotatably provided below the tip of the upper arm 51b. The transfer table 57 is supported movably in the second direction with respect to a guide portion (not shown) of the base portion 61, and is connected to the base portion 61 via a rack and pinion mechanism (not shown). .. Therefore, the transfer table 57 can be moved in the second direction with respect to the tip of the upper arm 51b by driving the rack and pinion mechanism with the motor. Specifically, the transfer table 57 is movable between a first position in which the front end is close to the tip of the upper arm 51b and a second position in which the front end is farthest from the tip of the upper arm 51b.
A roller 58 is rotatably attached to the front end of the transfer table 57.
The picking device 41 has a suction pad 59. The suction pad 59 is attached to the front end side of the transfer table 57 so as to be movable in the second direction and the vertical direction. Specifically, as shown in FIG. 3, the first pad support member 62 is supported by the transfer table 57, and specifically, a belt mechanism extending in the second direction of the transfer table 57 (not shown). It is fixed to a belt (not shown). Therefore, the first pad support member 62 can move on the transfer table 57 in the second direction by driving the belt mechanism with the motor. A chain mechanism may be used instead of the belt mechanism.
Further, the second pad support member 63 is supported movably in the vertical direction with respect to the guide portion (not shown) of the first pad support member 62, and the rack and pinion mechanism is provided with respect to the first pad support member 62. It is mounted so that it can be raised and lowered by. The suction pad 59 is attached to the second pad support member 63 so as to be swingable. The height position of the suction pad 59 is a position overlapping with the upper arm 51b in a side view (at least a part of the suction pad 59 is located in the height region A corresponding to the vertical dimension of the upper arm 51b). ing).
Instead of the rack and pinion mechanism, another linear drive such as an electric cylinder or an air cylinder may be used.

More specifically, the vertical size of the suction pad 59 and the vertical size of the upper arm 51b are substantially the same. The upper surface of the suction pad 59 is lower than the upper surface of the upper arm 51b, and the lower surface of the suction pad 59 is lower than the lower surface of the upper arm 51b.
As a modification, the suction pad 59 may be arranged at a position higher than the position shown in FIG. In that case, specifically, the upper surface of the suction pad 59 is lower than the upper surface of the upper arm 51b, and the lower surface of the suction pad 59 is higher than the lower surface of the upper arm 51b. That is, the suction pad 59 is contained within the height area A of the upper arm 51b.
As yet another modification, the suction pad 59 may be arranged at a higher position. In that case, specifically, the upper surface of the suction pad 59 is located higher than the upper surface of the upper arm 51b, and the lower surface of the suction pad 59 is located between the upper surface and the lower surface of the upper arm 51b.

The picking device 41 further includes a spacer 60. The spacer 60 is provided between the lower arm 51a and the upper arm 51b. The spacer 60 is larger than the vertical dimension of the transfer table 57 (that is, the thickness in the vertical direction, the length from the mounting portion of the transfer table 57 and the lower arm 51a to the lower end of the insertion portion of the lower arm 51a). Has a long vertical dimension.
The spacer 60 can prevent the lower arm 51a and the transfer table 57 from interfering with each other. As a result, the SCARA arm 51 can be folded small.

(4) Control Configuration of Automated Warehouse System The control configuration of the automated warehouse system 1 will be described with reference to FIG. FIG. 4 is a block diagram showing the control configuration of the automatic warehouse system.
The automatic warehouse system 1 has a controller 71 (an example of a control unit).
The controller 71 is a computer having a processor (eg, CPU), a storage device (eg, ROM, RAM, HDD, SSD, etc.), and various interfaces (eg, A/D converter, D/A converter, communication interface, etc.) System. The controller 71 performs various control operations by executing a program stored in a storage unit (corresponding to a part or all of the storage area of the storage device).

The controller 71 may be composed of a single processor, but may be composed of a plurality of processors independent for each control.
Some or all of the functions of each element of the controller 71 may be realized as a program that can be executed by a computer system that constitutes a control unit. In addition, a part of the function of each element of the controller 71 may be configured by a custom IC.

The controller 71 includes a delivery conveyor 17, a traveling device 25, an elevating device 27, a transfer device 29, a traveling device 35, an elevating device 37, a turning device 53, an arm drive device 81, a transfer table drive device 82, a suction device 83, a suction device. The pad drive device 84 is controlled.
The arm driving device 81 moves the SCARA arm 51 forward and backward. Specifically, a motor (not shown) of the arm driving device 81 drives a chain interlocking mechanism (not shown) so that when the base end of the lower arm 51a pivots, the upper arm 51b pivots interlockingly. As a result, the SCARA arm 51 can take a V-shaped posture and a posture in which the SCARA arm 51 extends straight to the rack side.
The transfer table drive device 82 moves the transfer table 57 forward and backward with respect to the upper arm 51b. Further, the transfer table 57 is rotatable with respect to the upper arm 51b. The transfer table 57 and the upper arm 51b are connected by a chain (not shown), and both rotate in conjunction with each other. As a result, even if the SCARA arm 51 turns, the transfer table 57 can face straight forward.
The suction device 83 sucks and releases the suction pad 59.
The suction pad drive device 84 moves the suction pad 59 with respect to the transfer table 57 in the vertical direction and the second direction.

Although not shown, the controller 71 is connected with a sensor for detecting the size, shape and position of the pallet 3 and the case 5, a sensor and a switch for detecting the state of each device, and an information input device.

(5) Picking/Payout Control Operation The picking/payout control operation by the controller 71 will be described.
(5-1) Picking Operation The flow of the case picking operation of the picking device 41 will be described with reference to FIGS. 3 and 5 to 16. In the schematic front view, the base 61 and the first pad support member 62 are omitted for simplification of the drawing.

First, the picking device 41 moves to the picking position of the small case 5A designated by the controller 71. The small case 5A of this embodiment is a luggage having a minimum height. The small cases 5A are stacked on one pallet (not shown).
As shown in FIG. 3, the transfer table 57 and the suction pad 59 move forward toward the small case 5A. Specifically, the transfer table 57 is driven forward by the transfer table drive device 82, and the suction pad 59 moves forward according to the transfer table 57. In this case, since the transfer table 57 is attached to the lower portion of the upper arm 51b and the suction pad 59 is provided at a height overlapping with the upper arm 51b, when the case 5 is taken out, the inside of the first rack 11 or the second rack 13 is removed. The thickness of the portion (for example, the upper arm 51b, the transfer table 57, and the suction pad 59) to be inserted into is small.
As a result, as shown in FIG. 3, the gap B between the uppermost small case 5A and the ceiling 15a of the shelf 15 can be kept small.
As shown in FIG. 5, the suction pad 59 is pressed against the small case 5A side. Specifically, the suction pad 59 is driven forward by the suction pad drive device 84 with respect to the transfer table 57. Then, when suction is performed next, the suction pad 59 sucks the small case 5A.

As shown in FIG. 6, the suction pad 59 rises to lift the small case 5A. Specifically, the suction pad 59 is driven upward by the suction pad drive device 84 with respect to the transfer table 57. The front surface of the small case 5A is lifted by the suction pad 59 and is inclined.
As shown in FIG. 6, the transfer table 57 is moved forward to be inserted into the gap below the small case 5A, and the transfer table 57 is further moved forward to mount the small case 5A on the transfer table 57. At this time, the roller 58 comes into contact with the lower surface of the small case 5A that is tilted as described above, so that the small case 5A moves smoothly onto the transfer table 57.

At this time, only the upper arm 51b is in the shelf 15 and the lower arm 51a is not in the shelf 15.
As a method of mounting the case 5 on the transfer table 57, since the transfer table 57 is inserted below the case 5 as described above, it is not necessary to provide a drive mechanism such as a belt conveyor on the transfer table 57, and therefore the thickness can be reduced. Has been realized. Further, there is an advantage that the case 5 to be picked does not slide strongly on the case 5 below it.
Instead of inserting the transfer table 57 under the case 5, the case 5 may be placed on the transfer table 57 by moving the suction pad 59 to the front side with respect to the transfer table 57.

As shown in FIG. 7, the transfer table 57 is pulled toward the SCARA arm 51 side, and the suction pad 59 is moved toward the SCARA arm 51 side with respect to the transfer table 57.
As shown in FIGS. 8 and 9, by folding the SCARA arm 51, the small case 5A is pulled toward the lift table 37a. At this time, the spacer 60 can prevent the lower arm 51a and the transfer table 57 from interfering with each other.

(5-2) Dispensing Operation Subsequently, the elevating table 37a is moved up and down to a position corresponding to the delivery conveyor 17.
As shown in FIG. 10, the transfer table 57 is moved to the first rack 11 side.
As shown in FIGS. 11 and 12, by swiveling the swivel device 53, the front end of the transfer table 57 is directed to the second rack 13 side.
As shown in FIG. 13, the transfer table 57 is moved to the second rack 13 side while holding the small case 5A.

As shown in FIGS. 14 and 15, the suction pad 59 and the transfer table 57 are moved to the second rack 13 side.
As shown in FIG. 16, the suction pad 59 is further moved with respect to the transfer table 57 to further release the suction, whereby the small case 5A is discharged onto the delivery conveyor 17.

2. Features of Embodiments The above embodiments can also be described as follows.
The picking device 41 (an example of a transfer device) is a device for transferring the cases 5 (an example of luggage) stacked on the shelf 15 (an example of a shelf), and is a lifting platform 37a (an example of a base). A lower arm 51a (an example of a lower arm), an upper arm 51b (an example of an upper arm), a transfer table 57 (an example of a transfer table), and a suction pad 59 (an example of a suction pad). There is.
The lower arm 51a is attached to the lifting platform 37a so as to be rotatable about a vertical axis.
The upper arm 51b is attached to the lower arm 51a so as to be rotatable about the vertical axis.
The transfer table 57 is attached to the lower portion of the upper arm 51b on the front end side so as to be capable of advancing and retracting in the horizontal direction and pivotable about the vertical axis.
The suction pad 59 is attached to the tip end side of the transfer table 57 at a height position overlapping the upper arm 51b in a side view so as to be movable back and forth and vertically movable.

In this device, the transfer table 57 is attached to the lower portion of the upper arm 51b, and the suction pad 59 is provided at a height overlapping with the upper arm 51b, so that the portion to be inserted into the first rack 11 when the case 5 is taken out. The thickness can be reduced.

3. Other Embodiments A plurality of embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described in this specification can be arbitrarily combined as needed.
Although the transfer device is provided in the stacker crane of the automated warehouse in the above-described embodiment, it may be provided in another type of transport vehicle or a fixed position.

The type of stacker crane is not particularly limited. The present invention can also be applied to a stacker crane provided with one lifting platform.
In the above-described embodiment, the picking operation and the payout operation are performed in one case, but the two operations may be performed in a plurality of cases.
Although the delivery conveyor has one stage in the above embodiment, it may have a plurality of stages.

In the above-described embodiment, since the transfer table is sufficiently long in the second direction, it is not necessary for the lower arm of the SCARA arm to enter the rack even when picking the innermost case. As a modification, the transfer table may be shorter in the second direction than that of the above embodiment. In that case, for example, the lower arm does not have to be put in the rack when the front side luggage is taken, but the lower arm is put in the rack when the far side luggage is taken.
In the above-described embodiment, the SCARA arm is provided with the spacer between the lower arm and the upper arm. As a modification, the spacer may not be provided.

The present invention can be widely applied to a transfer device for transferring stacked loads.

1: Automatic warehouse system 3: Pallet 5: Case 11: First rack 13: Second rack 15: Shelf 16: Pallet station 17: Outgoing conveyor 19: Travel lane 21: Pallet crane 23: Case crane 25: Traveling device 27: Lifting device 29: Transfer device 35: Traveling device 37: Lifting device 37a: Lifting platform 41: Picking device 51: Scala arm 51a: Lower arm 51b: Upper arm 53: Revolving device 57: Transfer table 59: Suction pad 60: Spacer 71: Controller 81: Arm drive device 82: Transfer table drive device 83: Suction device 84: Suction pad drive device

Claims

A device for transferring luggage stacked on a shelf,
The base,
A lower arm attached to the base so as to be pivotable about a vertical axis,
An upper arm attached to the lower arm so as to be rotatable about the vertical axis,
A transfer table attached to the lower end of the upper arm on the tip side so as to be capable of advancing and retracting in the horizontal direction and pivotable about the vertical axis;
A suction pad attached to the tip end side of the transfer table at a height position overlapping with the upper arm in a side view so as to be movable back and forth and vertically movable.
Transfer device equipped with.
Further comprising a controller for controlling the lower arm, the upper arm, the transfer table, and the suction pad,
The controller is
Advancing the suction pad, adsorbing to the luggage, lifting the luggage,
2. The operation of advancing the transfer table to insert it into a gap below the luggage, and further advancing the transfer table to place the luggage on the transfer table. Transfer device.
The transfer device according to claim 1, further comprising a spacer provided between the lower arm and the upper arm, the spacer having a vertical dimension that is longer than a vertical dimension of the transfer table.
The transfer device according to claim 2, further comprising a spacer provided between the lower arm and the upper arm, the spacer having a vertical dimension longer than a vertical dimension of the transfer table.
A first pad support member movably supported on the transfer table in the transfer direction;
The transfer device according to claim 1, further comprising a second pad support member that is vertically movable with respect to the first pad support member and supports the suction pad.
A first pad support member movably supported on the transfer table in the transfer direction;
The transfer device according to claim 2, further comprising a second pad support member that is vertically movable with respect to the first pad support member and supports the suction pad.
A first pad support member movably supported on the transfer table in the transfer direction;
The transfer device according to claim 3, further comprising a second pad support member that is vertically movable with respect to the first pad support member and supports the suction pad.
A first pad support member movably supported on the transfer table in the transfer direction;
The transfer device according to claim 4, further comprising a second pad support member that is vertically movable with respect to the first pad support member and supports the suction pad.