JPH0356305A - Takeoff method of article - Google Patents

Abstract

PURPOSE:To improve takeoff efficiency and to attempt to increase rapidity by placing a container on the takeoff position so as to take off articles stored in the container according to the placing position data of the articles in the case of taking off the articles stored in the container. CONSTITUTION:A container 33a storing an article 33b to pick up is transferred and placed at the takeoff position by an inclined conveyor 30b. Then, the takeoff order is decided so that articles are taken off in sequence, first with the article 33b stored on the upper side in the container 33a (on the deep side seen from the picking side) to the article 33b stored on the lower side. Thereafter, a gripping device 6 is driven to take off the articles according to this order. By this constitution, it is possible to efficiently and rapidly carry out the takeoff.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention is directed to detecting the position of articles stored in containers such as plastic containers and corrugated pole boxes.
< , relates to a method for efficiently and quickly taking out articles.

(Prior Art) As a conventional technique related to a method for taking out an article, the one described in Japanese Patent Application Laid-Open No. 75770/1984 is known.

To explain the conventional technology described in the above-mentioned publication, Japanese Patent Laid-Open No. 52-75770 discloses that
A biting device is described that detects the state of the suction surface of the bag, searches for a suctionable surface, and automatically performs a biting operation on a predetermined baggage (article).

(Problems to be Solved by the Invention) However, the above-mentioned conventional technology had the following problems.

That is, since the picking device described in Japanese Patent Application Laid-open No. 52-75770 does not have article placement position data, it first detects the placement position of the object, and then uses the detected placement position. Since it is necessary to take out the articles at the same time, it is not possible to move the articles efficiently and take them out quickly.

Therefore, an object of the present invention is to place a container at an article take-out position and then take out a desired article based on the placement position data of each article, thereby allowing the article to be removed without detecting the article placement position. The object of the present invention is to provide a method for taking out articles that can be taken out efficiently and quickly.

(Means for Solving the Problems) The present invention provides an article retrieval method for taking out a plurality of articles from a container storing a plurality of articles. By sharing an article retrieval method characterized by taking out a desired article based on article placement position data, 1.
: The purpose stated above has been achieved.

In addition, the loading position data of each article is based on the loading position data of the container or any article, the above-mentioned capacity, or the loading position of any of the above-mentioned articles.'' Preferably, the calculation is performed based on the relative position data of the article.

(Function) The article retrieval method of the present invention efficiently and quickly cuts the articles by placing the container at the article retrieval position and then taking out the desired article based on the placement position data of each article. Take it out.

(Example) Hereinafter, first, an example of an article handling device using the article takeout method of the present invention will be described.

Fig. 1 is a front view showing a Pinoking device using an embodiment of the article handling device, Fig. 2 is a side view thereof, Fig. 3 is an explanatory view showing the state in which the wire is stretched, and Fig. 4 is its An explanatory diagram showing the upper part of the mast of the traveling body and the platform, Fig. 5 is a perspective view showing the gripping device, Fig. 6 is a longitudinal sectional view of the gripping hand using the annular chive, and Fig. 7 is its A sectional view showing the elevating mechanism of the elevating platform, Fig. 8 is a perspective view showing an example of its application, and Fig.
Figure O is a side view showing the thrusting lever and the swinging lever.
In these drawings, (1) is the traveling body of the picking device, which is equipped with a mass 1- (2) made of square pipes, and is connected to a traveling drive drum (4) installed on the ground 1- through a traveling wire (3). ), and is configured to travel along the storage opening (30a.) of the storage facility ((to)).

In addition, (5) is a lifting platform that descends along the mass L- (2), and the field descending platform (5) is equipped with a container receiving part (5a) and is connected to the ground-L through the R descending wire (2). It is driven by an elevating drive drum (21) installed in the storage equipment (30), and is configured to move up and down along the storage opening (30a) of the storage equipment (30).

In addition, storage equipment (fluid shelf) consisting of an inclined (roller) conveyor (30b) equipped with a storage opening (30a) of multiple rows and multiple stages for storing (3) (33a), (6)
is stored in the room (33a)! A plurality of gripping hemlocks f9+, (9), (IL
(1 (It, (II)) is attached to the lifting platform (5) via a moving device (7) to be described later, and (9) is attached to a pair of suppressing pieces (1). Cylinder(
11 is a gripping hesode that supports and grips the article (33b) by opening and closing; (10 is a suction pane; a gripping hesode that sucks air from 1◆ and suctions and grips the article (33b) with negative pressure; ( I1+ is inserted by pushing the upper part of the article (33b) into the center of the annular tube (1) and expanding and deforming the annular tube (1) toward the center by injecting air into the field. (7) is a gripping head that grips an article (33b) that is
is a moving device that moves in the flow direction of the inclined conveyor (30b), and is driven by 7 cylinders, and (8) is the glue/darono of the moving device (7). Also, (91) is the container (33a) The gripping head (9) 'i' on the ball motor (91a) side is
Ha/L. It is a pitch changing device that moves along a linear guide (91c) by a pole screw (9lb) driven by a motor (91a) and changes the pitch of the gripping heads (9), (9). 9), (
9) is the article (33b) stored in the container (33a).
) are held one by one. Also, (10
1) The gripping hemlock (1) on the pulse motor (101a) side is connected to the gripping hemlock (1) by the pole screw (10lb) driven by the pulse motor (LOLA) according to the storage pitch of the articles (33b) stored in the container 6 (33a). Linear guide (l01
c), and is a pitch changing device that changes the pitch of the gripping head (I1, (11), and each gripping head (In, (2) is the end fixing point of the lifting wire (20), (2) is the anchoring point of the running wire (3) at the top of the mast (2). , I2→ is the pulley of the running wire (3), (
■ is a pulley with 0 wires for lifting, (2 #3 is a running body (1)
The running wheels of (2) are the guide rolls of the running body (1), (
28) is the lifting roller of the lifting platform (5), (a) is the traveling rail of the traveling body (1), (31) is the article conveyor, (
3 to 1 storage box transport conveyor, (34 is storage box, (3 old collection chute, (rope is collection box, (37) 1i running wire (3) anchoring point at the bottom of running body (1) , (3) rotates the gripping device (6) to remove the gripping head (9), 0
Rotary air motor that allows selection of @, (++), (
40 is a push-up tool provided at the downstream end of the inclined conveyor (30b), and a container (33a) is placed on the inclined conveyor (30b) by a wheel provided at the tip thereof.
The container is pushed up and taken out onto a container holder (5a) provided on the lifting platform (5). Also, (41)
is a swinging lever for raising and lowering the push-up tool (4@), and is located at a position that does not obstruct the discharge of the container (33a) placed on the inclined conveyor (30b), and is provided at the tip of the gripping device (6). The push-up tool (40
It is designed so that it can be raised and lowered. (50 is goods (33b)
This is the butsunoya that discharges the waste into the collection chute (31).

Therefore, in the above-mentioned picking device, when the traveling drive drum (4) is rotated in the direction of the arrow in FIG. Pull the attachment point (37) at the bottom of (1) to the left to run the traveling body (1) to the left, and drive the traveling drive drum (
If 4) is reversed, the traveling body (1) will travel to the right.

In addition, by rotating the lifting drive drum (21) in the direction of the arrow, the lifting wire (2) is fed out below the mast (2), and is reeled in from above the mast (2), causing the lifting platform (5
) to rise. In addition, if the lifting drive drum (21) is reversed, the lifting wire (20) moves in the opposite direction and moves to the lifting platform (5).
descend. If the elevating drive drum A (21) is stopped, even if the traveling body (1) runs along the storage opening (30a), the elevating wire (20) is connected to the elevating drive drum (2l).
), the platform (5) can maintain a constant height regardless of the movement of the traveling body (1). In this way, the traveling of the traveling body (1) and the raising and lowering of the lifting platform (5) are carried out independently from each other by the traveling drive drum (4) and the lifting drive drum (21) which are fixedly installed on the ground.

The above-mentioned picking device also includes an inclined conveyor (30b
) is equipped with a control combination (not shown) in order to regulate which article (33b) stored in the container (33a) placed in the container (33a) is taken out. is equipped with a picking order table by type (T1), a picking address table by type (T2), etc., and is stored in the upper side of the container (33a) based on the data registered in advance in these tables (T1) and (T2). Goods (3
3b) can be taken out. In addition, the type-specific takeout order table (T1) is as shown in FIG.
This is an order data table in which the order in which the articles (33b) stored in the container (33a) are taken out is registered by type, and also the order in which the articles (33b) taken out correspond to the articles (33b) that are taken out. It is also a stock position data table that stores the stock positions of the articles (331) remaining in the container (33a) (not marked with a take-out order mark) by marking the take-out order. In addition, the above-mentioned product type pick/guard address table (T2) indicates the placement position of each article (33b) stored in the container (33a) placed at the article take-out position based on the origin. This is a mounting position data table in which .

Next, one embodiment of the article retrieval method of the present invention using the above-mentioned biting device will be described.

Each storage opening (30a) of the storage facility (31) stores a plurality of containers 5 (33a) each storing one type of article (33b).The top surface of the container (33a) is The article (33b) is stored in the inclined conveyor (30b) in such a state that the article (33b) can be taken out from the upper surface by opening the container.In other words, the article (33b) is stored in a container such as a plus container with the upper surface opened. In this case, it is sufficient to supply the product to the inclined conveyor (30b) as it is, but if it is stored in a cardboard box or the like, it is preferable to cut the top surface of the box beforehand and then supply it to the inclined conveyor (30b).

Articles stored on each storage interval (30a) (33b)
When pinking is done in batches such as by customer,
A predetermined article (33b) is binned in the following manner based on data organized in order of Pinoking type for each batch.

First, for each type of item (33b) to be stored, place the item (33b) in the lowest position of the storage opening (30a). It is determined from which position in (33a) the data should be taken out. That is, containers (33
a) is supplied to the inclined conveyor (30b) while being regulated by the side guide of the article supply conveyor of the article feeding device (not shown) which runs and moves up and down along the upstream end of each storage opening (30a). At the same time, the inclined conveyor (
The position of the article is regulated by a stonoper (30c) disposed at the most downstream position of the article 30b), and the article is placed at a predetermined article take-out position. The order of takeout in the takeout order table (Tl) for each type is from the item (33b) stored in the container (33a) at the top (back side when viewed from the binoking side) to the bottom (front side when viewed from the picking side). Stored items (33b
) and have already been taken out (3).
In the order corresponding to 3b), for example, in Fig. 14, for the product A, there is a mark (the mark on the upper right of the number indicating the order) for order Go and order 2, so the order that does not have the mark {=1 It is decided to take out (binoking) the article (33b) corresponding to the smallest among them next, and the container (
The article (33b) 13 stored on the lower side of the inside 33a) is left behind. Furthermore, when taking out the remaining items (33b), the items (33b) stored at the back of the items (33b) remaining in the container (33a) are bisected/gagged. Yes, container (
When all the items (33b) stored in 33a) are picked, the pick-up order table for the corresponding item (33b) is opened.
All sequential marks of T1) are cleared.

When it is determined in which order the articles (33b) are to be taken out, the # of the determined article (33b) is determined. Placement (binoki/gu)
The article (33b
), the coordinate values (X, YZ> directly above the placement position) are based on the type-specific bisoking address table (T2), for example, the item (33 b) of type A in order 3 (product number A-3).
When it is decided to bink the coordinate value (400, 500
, 400) is given.

Incidentally, there are various methods for writing the coordinate values (X, Y, Z) as the placement position data of each article (33b) in the type-specific Vicki/Gard address table (T2) 14. For example, any article (33b) in the container (33a) placed at the article take-out position for each type as the parent address in advance, for example, the article (33b) in order 1 of type A (product number A-1), the type In addition to teaching the placement position data of items (33b) etc. in order 1 (product number B-1) of B, the data is taught based on the matrix pitch of the items (33b) stored in (33a) for each type as a child address. Then, each article (33b) based on the placement position of any of the articles (33b) above, for example, article (33b) of type A in order 2 (item number A2), article B in order 2 (item number B-2) ) etc. by teaching the relative position data of the articles (33b), etc., the control computer determines the location of each article (33b) based on the parent address and the child address.
Calculate the placement position of each item (
33b) can be written in the type-specific biting address table (T2) as the placement position data. Therefore, for example, even if the placement position of the container (33a) is changed, each item (33a) can be changed by simply reteaching the parent address.
The placement position data in 3b) can be corrected. It goes without saying that it is also possible to modify only the child address if necessary.

Also, instead of teaching the placement position data of any article (33b) as a parent address, the placement position data of a container (33a) placed at the article take-out position is taught for each product type, and as a child address. Container (33a
), the control computer determines the placement position of each article (33b) based on the parent address and the child address by teaching the relative position data of each article (33b) based on the placement position of the article (33b). is calculated, and the calculation results are used as placement position data for each article (33b) in the type-specific biting address table (T
2) may be written.

In addition, only the parent address is written in the product type picking address table (T2), and each product (3
Each time the placement position data of 3b) is given, the container (33a)
The placement position data of each article (33b) may be calculated based on the matrix pitch of the articles (33b) stored therein.

Alternatively, the placement position data of each article (33b) may be written one by one without dividing into a parent address and a child address.

When the placing (bizuking) position data of the article (33b) is given, the address of the destination in the traveling (X) direction and the lifting (Y) direction is given to the traveling body (+1) and the lifting platform (5), for example, the product number A- For item 3 (33b), the coordinate values (400, 500
), a movement command including movement speed, movement acceleration, type of acceleration curve, etc. is given, and based on the movement command -17, the gripping device (6 ) should bitch the goods (
33b).

When the gripping device (6) moves to a position facing the article (33b) to be bitched, the article (33b) to be bitched
Gripping head (9), f9), (lr,
Elf), (l1) is given, and based on the selection command, the rotating air motor (31) is operated to select one of the gripping heads (9). (9). Ql, Q(1).
, Q+) are selected. Furthermore, the gripping head (9),
(9), (I1. (II) The selection of (II) may be made while the traveling body (1) and the lifting platform (5) are moving.

Gripping head +91 , (9) , (l's, (I[
l1, CI1) is selected, the moving device (7) is provided with the address in the depth (Z) direction of the destination, for example, for the article (33b) with product number A-3, the coordinate value (400), the moving speed, the moving acceleration, A movement command including the type of acceleration curve, etc. is given, and the movement device (7) is actuated based on the movement command, and the gripping device (8) attached to the tip of the cylinder rod (8) is
6) moves onto the article to be picked (33b). Also, at the same time, the pitch change device (9]), (1.01.)
A movement command including a destination address is given to , and based on this movement command, the pulse motor (9].a), (
10]. a), the grasping hesode (91,
(9), (IOL (I1, (II) moves onto the article (33b) to be pinocked.

When the gripping device (6) is positioned above the article (33b) to be visorated, the movement including the address of the destination in the vertical (Y) direction, movement speed, movement acceleration, type of acceleration curve, etc. is displayed on the lifting platform (5). A command is given, and based on the movement command, the lifting platform (5) is lowered to a predetermined gripping position (9), (
9) , (I1, (I1, (II+) moves to the article gripping position 11a).

Predetermined gripping heads (9), (9+, (+o)
, (+1, when (u) moves to the article gripping position,
Gripping head (9). +9+, (11) (1119,
(Gripping command is -5' to I++, gill J1, 1 to the gripping command (9), (9), (I1
), (IO+. (I+) is the desired quantity of goods (33
b) Grasp.

Grasping henod (9), +9), (IG, no
), fil) grasps a desired quantity of articles (33b), a movement command is sent to the lifting platform (5) including the address of the 11 targets in the lifting (Y) direction, moving speed, moving acceleration, type of acceleration curve, etc. is given, and based on the movement command, the lifting platform (5) is moved to a position where the bottom surface of the article (33b) is slightly 12-12 cm above the top surface of the container (33a). ′−jru.

The lifting platform (5) is the container (33a) containing the article (33b).
Move to a position slightly 12 from the -12 side of A movement command including the type of continuous curve etc. is given, and the Izuki movement device (7) is applied to the movement command.
) is activated and the gripping device (iiW) attached to the tip of the /reader 1 flap (8), (6) is moved between the storage compartments 1-. ．． J (
30 a. ) move outward.

When the gripping device (6) moves in the vertical direction of the storage space p (30a), it moves up and down f! A movement command including the address of the destination in the vertical (Y) direction, movement speed, movement acceleration, type of acceleration curve, etc. is given to (5), and based on the movement command, the lifting platform (5) is lowered to grasp the The article (33b) held by the device (6) is moved onto the article conveyor (31).

When the article (33b) held by the gripping device (6) is moved onto the article conveyor (31), the gripping head (9
), (9), fl1, (l(I, (I1)) is given a release command, and based on the release command, the grip henode (9
), (9). flCI, (10, (I1) releases the article (33b) held by it, and the article (33b) is placed on the article conveyor f31).

The article transport conveyor (3l) on which the released articles (33b) are placed is continuously operated until the picking for one storage box (34) is completed, and the articles are successively picked up by the gripping device (6). The various articles (33b) are conveyed to the downstream end of the article conveyor (31), and the waiting storage boxes (3) are conveyed by the storage box conveyor (3) below the downstream end of the article conveyor (31). When all the items (33b) are put into the storage box (3), the storage box (3) is released, and the next storage box (3D) is put into the storage box (3). Article conveyance = 1 It is located below the downstream end of the conveyor (3l) and is on standby.

In addition, all the articles (33b) stored in the container (33a) placed at the most downstream position of the inclined conveyor (30b)
) is taken out and the container (33a) is emptied as shown in FIG. 11, the gripping device (6) moves the container (33a) onto the inclined conveyor on which the empty container (33a) is placed as shown in FIG. (30b) to a position opposite to the swinging conveyor 11), and the load receiving table (5a) is moved to the position opposite to the swinging conveyor (30b).
After the gripping device (6) is moved to a position facing the tip of the gripping device (6), the gripping device (6) is moved in the flow direction of the inclined conveyor (30b) by the operation of the moving device (7), and the hooker ( 61) to pull the swinging lever (41), that is, move the hooker (61) to the L of the swinging lever (41), then lower the hooker (61) and move the swinging lever (4l).
After engaging with 22 , the hooker (61) is moved to the R platform (5) side, and as a result, the cap (33a) is pushed up by the prong-bearing tool (40). Tsugi-Higera Hatayo @(
33a) is adapted to be taken out onto a container holder (5a) as shown in FIG. 13 by a container (33a) placed on the upstream side. The container (33a) taken out to the container holder (5a) is moved to a predetermined position by the movement of the traveling body (1) and the lifting platform (5), and is then discharged.

FIG. 9 is a perspective view showing an application example different from that shown in FIG. 8, and the embodiment shown in FIG.
They are substantially the same except that they are provided with a plurality of stoppers (not shown) for temporarily stopping → and are not provided with the article conveyor (31).

That is, in the pinoking apparatus of the embodiment shown in FIG. Items picked from the waiting storage box (30a) above the storage box (30a)
When the loading of 33b) is completed, the storage box (3◆) starts,
The item to be stored next (33b) is transported to the lower part of the storage opening (30a) where the item is stored, and is again stopped by a stopper and placed on standby, and the storage box T3
All the articles (33b) to be inputted into the storage area 4 are sequentially inputted.

Although one embodiment of the article retrieval method of the present invention has been described above, the present invention is not limited thereto. For example, the article removal position is not limited to the inclined conveyor (30b), but may be on a fixed shelf on which the container (33a) is placed horizontally.

(Effects of the Invention) As described above, in the article retrieval method of the present invention, after placing the container at the article retrieval position, desired articles are taken out based on the placement position data of each article. Therefore, it is possible to efficiently and quickly take out an article from the container without detecting whether the article is left in the t-position.

The placement position data of each article is the placement position data of the container or any of the articles, and the relative position data of each of the articles based on the placement position of the container or any of the articles. Since the calculation is made based on , data entry work can be completed in an extremely short time.

[Brief explanation of drawings]

Fig. 1 is a front view showing a Bitskinog device using the method for taking out articles of the present invention, Fig. 2 is a side view thereof, Fig. 3 is an explanatory diagram showing the tensioned state of the wire, and Fig. 4 is its running. An explanatory diagram showing the upper part of the mast and the lifting platform, Figure 5 is a perspective view showing the gripping device, Figure 6 is a vertical cross-sectional view of the grip using the annular chive, and Figure 7 8 is a perspective view showing an example of its application, FIG. 9 is a perspective view showing an example of application different from that shown in FIG. 8, and FIGS. 10 to 13 are This is a side view showing the push-up tool and the swing lever, and is an explanatory diagram for explaining how to take out an empty container. Fig. 14 is an explanatory diagram of the take-out order table by type and the Bikki/Garde stable by type. be. Note that in FIGS. 1, 2, 8, and 9, the push-up tool, swing lever, etc. are omitted. Further, in FIGS. 2 and 5, the hooker is omitted. Further, in FIGS. 8 to 13, the gripping head is partially omitted. (6): Gripping device (7): Moving device (9)
, (tl. (n): Gripping head 26 (30b) Inclined conveyor (33a): Container (33b) Product patent applicant Seibu Electric Co., Ltd. Agent Shojiro Tojima 27 JP-A-3 56305 (16) JP-A-3 56305 ( 17) Variety A 14th Zusho-mori E

Claims (1)

[Claims] 1) In an article retrieval method for taking out the article from a container storing a plurality of articles, after placing the container at an article retrieval position, placing position data of each article is provided. A method for taking out an article, characterized in that a desired article is taken out based on the following. 2) The placement position data of each item is the placement position data of the container or any of the items, and the relative position data of each of the items based on the placement position of the container or any of the items. The article retrieval method according to claim 1, wherein the calculation is performed based on the following.