JPH1053334A - Picking system - Google Patents
Picking systemInfo
- Publication number
- JPH1053334A JPH1053334A JP21349696A JP21349696A JPH1053334A JP H1053334 A JPH1053334 A JP H1053334A JP 21349696 A JP21349696 A JP 21349696A JP 21349696 A JP21349696 A JP 21349696A JP H1053334 A JPH1053334 A JP H1053334A
- Authority
- JP
- Japan
- Prior art keywords
- luggage
- scooping
- arm
- load
- upper arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- De-Stacking Of Articles (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、パレットに複数列
・複数段に段積みされた荷物を１個ずつ取り出してコン
ベア等に移載するピッキング装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a picking device for picking up packages stacked in a plurality of rows and a plurality of stages on a pallet one by one and transferring them to a conveyor or the like.
【０００２】[0002]
【従来の技術】複数列・複数段に積まれた荷物を１個ず
つ取り出すために、荷物の下面に入り込んで荷物を掬う
掬い部材と、掬い部材に掬われる荷物のズレを防止する
ために該荷物の背後に位置する荷物の上面を上方から押
さえるズレ止め部材と、掬い部材側で荷物の側面上部を
押圧し、掬い部材に掬われる荷物を傾動させる傾動アー
ムとを備えたピッキング装置が提案されている。又、ピ
ッキング装置には、掬い部材に掬われた荷物を受け取っ
て、所定位置まで搬送する搬送コンベアが連結されてお
り、搬送コンベアは、受け取った荷物を所定位置まで搬
送し、所定位置で荷物を解放するようになっている。2. Description of the Related Art A scooping member which enters a lower surface of a luggage to scoop up luggage and removes luggage which is scooped by the scooping member to remove luggage stacked in a plurality of rows and a plurality of stages one by one. There has been proposed a picking device including a displacement preventing member that presses the upper surface of the load located behind the load from above, and a tilt arm that presses the upper side of the load on the scooping member side and tilts the load scooped by the scooping member. ing. In addition, the picking device is connected to a transport conveyor that receives the load scooped by the scooping member and transports the load to a predetermined position.The transport conveyor transports the received load to a predetermined position, and transfers the load at the predetermined position. It is designed to be released.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、上記の
ようなピッキング装置によって、取り出した荷物を掬い
部材によって搬送コンベア側に移動させる場合、掬い部
材の幅よりも大きな幅を有する荷物であっても、荷物が
掬い部材から脱落しないようにするため、掬い部材に掬
われた荷物側にズレ止め部材を移動させ、ズレ止め部材
によって掬い部材上の荷物の上面を押圧するようにして
いる。そのため、ピッキング装置の動作制御が複雑にな
るという問題があった。However, when the picked-up device as described above moves the picked-up luggage to the conveyor side by the scooping member, even if the luggage has a width larger than the width of the scooping member, In order to prevent the load from dropping off the scooping member, the slip stopper is moved to the side of the load scooped by the scooping member, and the slip stopper presses the upper surface of the load on the scooping member. Therefore, there is a problem that operation control of the picking device becomes complicated.
【０００４】[0004]
【課題を解決するための手段】上記のような問題解決の
ために請求項１の発明は、複数列・複数段に積まれた荷
物を１個ずつ取り出すピッキング装置であって、荷物の
下に進入して物品を掬う掬い部材と、掬い部材に掬われ
る荷物の背後に位置する荷物上面を押圧するズレ止め部
材と、掬い部材に掬われた荷物の上面を押圧保持する保
持部材とが備えられており、ズレ止め部材と保持部材と
は、掬い部材の進退方向に沿って各々別個に移動するこ
とを特徴としている。この請求項１の発明によれば、掬
い部材の進退方向と沿う方向に、ズレ止め部材と保持部
材とが各々別個に移動できるので、ズレ止め部材による
掬い部材に掬われる荷物の上面の押圧と、保持部材によ
る掬い部材に掬われる荷物の背後に位置する荷物の上面
の押圧とを各々別個に行うことができる。このため、掬
い部材上の荷物の上面の押圧と該荷物の背後に位置する
荷物の上面の押圧をズレ止め部材で兼用して行わせる場
合よりも荷物の取り出しにかかる時間を短縮することが
できる。SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the invention according to claim 1 is a picking device for picking up one by one a plurality of packages stacked in a plurality of rows and a plurality of stages. A scooping member for entering and scooping an article, a shift preventing member for pressing an upper surface of the load located behind the load to be scooped by the scooping member, and a holding member for pressing and holding the upper surface of the load scooped by the scooping member are provided. The displacement preventing member and the holding member move independently along the direction in which the scooping member advances and retreats. According to the first aspect of the present invention, in the direction along the direction in which the scooping member advances and retreats, the shift preventing member and the holding member can be moved separately, so that the shift preventing member presses the upper surface of the luggage scooped by the scooping member. The pressing of the upper surface of the load located behind the load scooped by the scooping member by the holding member can be performed separately. For this reason, it is possible to reduce the time required for taking out the load as compared with a case where the pressing of the upper surface of the load on the scooping member and the pressing of the upper surface of the load located behind the load are performed by the shift preventing member. .
【０００５】又、請求項２の発明は、ズレ止め部材が、
掬い部材の進退方向と沿う方向に移動自在な上部アーム
に取着され、保持部材は、上部アームの長手方向に沿っ
て摺動自在に上部アームに取り付けられる摺動ユニット
に設けられることを特徴としている。この請求項２の発
明によれば、ズレ止め部材が取着される上部アームに、
保持部材が設けられる摺動ユニットを摺動自在に取り付
けることで、ズレ止め部材と保持部材とを共通の上部ア
ーム部材で支持することができる。そのため、ズレ止め
部材と保持部材とを各々別個に掬い部材の進退方向に沿
う方向に移動させるための装置の構造が簡単になる。[0005] Further, according to the invention of claim 2, the displacement preventing member comprises:
It is attached to an upper arm that is movable in a direction along the direction of movement of the scooping member, and the holding member is provided on a sliding unit that is slidably attached to the upper arm along the longitudinal direction of the upper arm. I have. According to the invention of claim 2, the upper arm to which the displacement preventing member is attached has
By attaching the sliding unit provided with the holding member slidably, the displacement preventing member and the holding member can be supported by the common upper arm member. This simplifies the structure of the device for separately moving the displacement preventing member and the holding member in the direction along the direction of movement of the scooping member.
【０００６】又、請求項３の発明は、摺動ユニットに
は、複数列・複数段に積まれた荷物側に進出し、掬い部
材に掬われる荷物の掬い部材側の側面上部を押圧して荷
物を傾動させる傾動アームが取り付けられることを特徴
としている。この請求項３の発明によれば、荷物を掬い
部材で掬い取る際、摺動ユニットを上部アームに沿って
荷物側に摺動させてから傾動アームで掬い部材に掬われ
る荷物の側面上部を押圧することができるので、傾動ア
ームの進出ストロークが短縮され、傾動アームによって
荷物の掬い部材側の側面上部を確実に押圧できる。According to a third aspect of the present invention, the sliding unit advances to the side of the luggage stacked in a plurality of rows and a plurality of stages, and presses the upper side of the side of the scooping member side of the luggage to be scooped by the scooping member. A tilt arm for tilting the load is attached. According to the invention of claim 3, when the luggage is scooped by the scooping member, the sliding unit is slid to the luggage side along the upper arm and then the upper side of the luggage scooped by the scooping member is pressed by the tilting arm. Therefore, the advance stroke of the tilting arm can be shortened, and the tilting arm can reliably press the upper portion of the side surface of the load on the side of the scooping member.
【０００７】[0007]
【実施の形態】以下、図面に基づいて本発明を説明す
る。図１は、本発明の実施の形態のピッキング装置の構
成を示す斜視図である。ピッキング装置Ｐには、上部ア
ーム１と下部アーム２とが備えられている。上部アーム
１及び下部アーム２には、各々ガイド部３ａ、３ｂが設
けられており、各ガイド部３ａ、３ｂが、各々図示され
ない支柱に取り付けられたガイドレール４ａ、４ｂと係
合している。そして、上部アーム１と下部アーム２とは
ガイドレール４ａ、４ｂに沿って、各々別個に水平方向
に摺動する。又、上部アーム１と下部アーム２とは、各
々別個に図示されない支柱に沿って自在に昇降する。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 1 is a perspective view illustrating a configuration of a picking device according to an embodiment of the present invention. The picking device P includes an upper arm 1 and a lower arm 2. The upper arm 1 and the lower arm 2 are provided with guide portions 3a and 3b, respectively, and the guide portions 3a and 3b are engaged with guide rails 4a and 4b attached to columns (not shown). Then, the upper arm 1 and the lower arm 2 individually slide in the horizontal direction along the guide rails 4a and 4b. In addition, the upper arm 1 and the lower arm 2 can be freely moved up and down separately along columns (not shown).
【０００８】上部アーム１の先端部には、後述されるズ
レ止め部材５とストッパー部材６とが設けられている。
ズレ止め部材５は、第１シリンダーＣ１のロッド先端に
揺動自在に取り付けられており、第１シリンダーＣ１
が、上部アーム１の先端部に取り付けられる。これによ
ってズレ止め部材５は、上部アーム１に対して近接・離
反する方向に昇降する。一方、ストッパー部材６は、昇
降ガイド６ａに沿って昇降自在に取り付けられる。At the end of the upper arm 1, a shift preventing member 5 and a stopper member 6, which will be described later, are provided.
The displacement preventing member 5 is swingably attached to the rod end of the first cylinder C1.
Is attached to the tip of the upper arm 1. As a result, the displacement preventing member 5 moves up and down in a direction approaching and separating from the upper arm 1. On the other hand, the stopper member 6 is attached to be able to move up and down along the elevating guide 6a.
【０００９】又、上部アーム１には、長手方向に沿って
摺動ガイド７が備えられており、摺動ガイド７には、摺
動ユニット８が取り付けられる。摺動ユニット８は、図
示されない駆動源からの駆動を受けて、摺動ガイド７上
を自在に摺動する。摺動ユニット８には、後述される保
持部材９と傾動アーム１０とが取り付けられる。The upper arm 1 is provided with a slide guide 7 along the longitudinal direction, and a slide unit 8 is attached to the slide guide 7. The sliding unit 8 freely slides on the sliding guide 7 upon receiving a drive from a drive source (not shown). A holding member 9 and a tilt arm 10 described later are attached to the sliding unit 8.
【００１０】保持部材９は、第２シリンダーＣ２のロッ
ド先端に揺動自在に取り付けられており、第２シリンダ
ーＣ２が、摺動ユニット８に直接取り付けられる。一
方、傾動アーム１０は、一方の端部が支持ブラケット１
１に設けられる第３シリンダーＣ３のロッド先端に取付
けられており、他方の端部に荷物を押圧するグリップ部
１０ａが設けられている。支持ブラケット１１には、第
３シリンダーＣ３の軸線方向が上部アーム１の設置方向
と沿うように第３シリンダーＣ３が取り付けられてお
り、支持ブラケット１１自体は、第４シリンダーＣ４の
ロッド先端に取り付けられる。そして、第４シリンダー
Ｃ４が、第４シリンダーＣ４が摺動ユニット８に直接取
り付けられる。The holding member 9 is swingably attached to the rod end of the second cylinder C2, and the second cylinder C2 is directly attached to the sliding unit 8. On the other hand, one end of the tilting arm 10 has the support bracket 1.
A grip 10a is provided at the other end of the third cylinder C3 provided on the front end of the rod and presses the luggage at the other end. The third cylinder C3 is attached to the support bracket 11 so that the axial direction of the third cylinder C3 is along the installation direction of the upper arm 1, and the support bracket 11 itself is attached to the rod tip of the fourth cylinder C4. . Then, the fourth cylinder C4 is directly attached to the sliding unit 8 with the fourth cylinder C4.
【００１１】上記のように保持部材９と傾動アーム１０
とを摺動ユニット８に設けることで、保持部材９は、第
２シリンダーＣ２の作動によって上部アーム１に対して
近接・離反する方向に昇降し、傾動アーム１０は、第３
シリンダーＣ３の作動によって上部アーム１に対して近
接・離反する方向に昇降すると共に、第４シリンダーの
作動によって上部アーム１と沿う方向に進退する。尚、
摺動ユニット８には、ガイド部８ａが傾動アーム１０の
昇降方向に沿って備えられている。ガイド部８ａには、
支持ブラケット１１の係合部１１ａが係合しており、支
持ブラケット１１は、ガイド部８ａにガイドされながら
昇降する。これによって、傾動アーム１０を揺動させる
ことなく昇降させることができる。As described above, the holding member 9 and the tilt arm 10
Is provided on the sliding unit 8, the holding member 9 moves up and down in the direction approaching and separating from the upper arm 1 by the operation of the second cylinder C2, and the tilting arm 10
The cylinder moves up and down in a direction approaching and separating from the upper arm 1 by the operation of the cylinder C3, and advances and retreats in a direction along the upper arm 1 by the operation of the fourth cylinder. still,
The sliding unit 8 is provided with a guide portion 8a along the direction in which the tilt arm 10 moves up and down. In the guide part 8a,
The engaging portion 11a of the support bracket 11 is engaged, and the support bracket 11 moves up and down while being guided by the guide portion 8a. Thus, the tilt arm 10 can be moved up and down without swinging.
【００１２】下部アーム２の先端には、複数列・複数段
に積まれた荷物を１個ずつ掬い取る掬い部材１２と、掬
い部材１２に掬われた荷物を後述する搬送ライン１５ま
で搬送する第１コンベア１３とが備えられている。又、
掬い部材１２自体にも、第２コンベア１４が備えられて
おり、掬い部材１２に掬い取られた荷物は、第２コンベ
ア１４によって第１コンベア１３側に搬送される。At the distal end of the lower arm 2, a scooping member 12 for scooping the luggage piled up in a plurality of rows and a plurality of stages one by one, and a luggage member 12 for transporting the luggage scooped by the scooping member 12 to a transportation line 15 described later One conveyor 13 is provided. or,
The scooping member 12 itself is also provided with a second conveyor 14, and the luggage picked up by the scooping member 12 is transported by the second conveyor 14 to the first conveyor 13 side.
【００１３】第１コンベア１３の後端部には、第１コン
ベア１３によって搬送された荷物を受け取って、荷物を
ピッキング装置Ｐから払いだす搬送ライン１５と、第１
コンベア１３の後端部まで搬送された荷物を搬送ライン
１５側に押し出すプッシャー１６とが備えられている。
プッシャー１６は、第５シリンダーＣ５のロッド先端に
取り付けられている。At the rear end of the first conveyor 13, there is provided a transport line 15 for receiving the packages transported by the first conveyor 13 and discharging the packages from the picking device P,
A pusher 16 is provided for pushing out the load conveyed to the rear end of the conveyor 13 toward the transfer line 15.
The pusher 16 is attached to the rod end of the fifth cylinder C5.
【００１４】次に図２〜図４に基づいて、本実施の形態
のピッキング装置Ｐにおける荷物の掬い取りの手順につ
いて説明する。先ず、待機位置で待機するピッキング装
置Ｐ（図２（ａ）参照）によって、パレット等の荷物載
置部１７上に載置された荷物Ｗ１、Ｗ２の内、荷物Ｗ１
（以下、荷物載置部１７に載置された荷物Ｗ１、Ｗ２の
内、ピッキング装置Ｐ側に位置する荷物Ｗ１を単に「手
前側荷物Ｗ１」と記載し、ピッキング装置Ｐ側から見
て、荷物Ｗ１の背後に位置する荷物を単に「奥側荷物Ｗ
２」と記載する）を掬い取る場合の動作について説明す
る。Next, the procedure of scooping up the luggage in the picking device P of the present embodiment will be described with reference to FIGS. First, the picking device P (see FIG. 2A) which stands by at the stand-by position causes the luggage W1 of the luggage W1, W2 placed on the luggage placing portion 17 such as a pallet to be loaded.
(Hereinafter, of the luggage W1 and W2 placed on the luggage placement unit 17, the luggage W1 located on the picking device P side is simply referred to as “front baggage W1”, and the luggage is viewed from the picking device P side. The luggage located behind W1 is simply referred to as "back luggage W
2) will be described.
【００１５】最初に、ピッキング装置Ｐの動作制御部
（図示せず）に予め入力された荷物の寸法、個数等のデ
ータ（以下、単に「荷物データ」と記載）に基づいて、
上部アーム１を所定位置まで上昇させる。そして、荷物
データに基づいて、ズレ止め部材５が奥側荷物Ｗ２の上
面の手前側荷物Ｗ１側と対向する位置まで、上部アーム
１が進出する（図２（ｂ）参照）。First, based on data (hereinafter simply referred to as “package data”) such as the size and number of packages, which are input in advance to an operation control unit (not shown) of the picking device P,
The upper arm 1 is raised to a predetermined position. Then, based on the luggage data, the upper arm 1 advances to a position where the slip-preventing member 5 faces the front luggage W1 on the upper surface of the back luggage W2 (see FIG. 2B).
【００１６】次に、第１シリンダーＣ１を作動させて、
ズレ止め部材５の底面が奥側荷物Ｗ２の上面と当接する
までズレ止め部材５を下降させる。そして、ズレ止め部
材５の下降量と荷物データとから実際の荷物の高さを求
めて、摺動ユニット８を介して上部アーム１に取り付け
られる傾動アーム１０のグリップ部１０ａの位置が手前
側荷物Ｗ１の側面上部と対向する位置まで、上部アーム
を昇降させる。Next, the first cylinder C1 is operated,
The deviation preventing member 5 is lowered until the bottom surface of the deviation preventing member 5 comes into contact with the upper surface of the back side luggage W2. The actual height of the baggage is obtained from the amount of lowering of the deviation preventing member 5 and the baggage data, and the position of the grip portion 10a of the tilting arm 10 attached to the upper arm 1 via the sliding unit 8 is determined as the front baggage. The upper arm is moved up and down to a position facing the upper side of W1.
【００１７】ズレ止め部材５の動作が終了すると、荷物
データに基づいて、傾動アーム１０のグリップ部１０ａ
が荷物Ｗ１の前側面上部と対向する位置に達するまで、
第４シリンダーＣ４が昇降する。その後、傾動アーム１
０と手前側荷物Ｗ１の前側面とが近接する位置まで、摺
動ユニット８が、荷物載置部１７側に摺動する。摺動ユ
ニット８の摺動停止後、第３シリンダーＣ３を作動させ
て傾動アーム１０を手前側荷物Ｗ１の方に進出させる
（図２（ｃ）参照）。傾動アーム１０には、グリップ部
１０ａと手前側荷物Ｗ１との接触押圧を検出するセンサ
ー（図示せず）が備えられている。When the operation of the displacement preventing member 5 is completed, the grip portion 10a of the tilt arm 10 is
Until it reaches the position facing the upper front side of the load W1
The fourth cylinder C4 moves up and down. Then, tilting arm 1
The sliding unit 8 slides toward the luggage placing portion 17 to a position where 0 and the front side surface of the front luggage W1 are close to each other. After the sliding of the sliding unit 8 is stopped, the third cylinder C3 is operated to advance the tilting arm 10 toward the front load W1 (see FIG. 2C). The tilting arm 10 is provided with a sensor (not shown) for detecting the contact pressure between the grip portion 10a and the front side load W1.
【００１８】そして、第３シリンダーＣ３の動作開始か
ら所定時間経過するまでの間にグリップ部１０ａと手前
側荷物Ｗ１の前側面との接触押圧を検出すると、第３シ
リンダーＣ３の動作を停止させる。このときのグリップ
部１０ａによる手前側荷物Ｗ１の前側面の押圧力も又、
上記動作制御部に荷物データとして入力されるものであ
る。第３シリンダーＣ３停止後、傾動アーム１０の移動
量と荷物データとから、実際の手前側荷物Ｗ１の前側面
の位置を測定する。When the contact pressure between the grip portion 10a and the front side surface of the front baggage W1 is detected during a period from the start of the operation of the third cylinder C3 to the elapse of a predetermined time, the operation of the third cylinder C3 is stopped. At this time, the pressing force on the front side surface of the front luggage W1 by the grip portion 10a is also:
The data is input to the operation control unit as luggage data. After the third cylinder C3 stops, the actual position of the front side of the front side load W1 is measured from the movement amount of the tilt arm 10 and the load data.
【００１９】尚、第３シリンダーＣ３の動作開始から所
定時間経過するまでの間にグリップ部１０ａと手前側荷
物Ｗ１の前側面との接触を検出しなかった場合は、一旦
傾動アーム１０を元の位置まで後退させた後、摺動ユニ
ット８を更に所定量だけ移動させ、再度傾動アーム１０
を手前側荷物Ｗ１の方に進出させる。以下、上記センサ
ーがグリップ部１０ａと手前側荷物Ｗ１の前側面との接
触押圧を検出するまで、同様の動作を数回繰り返す。If contact between the grip portion 10a and the front side surface of the front side load W1 is not detected until a predetermined time elapses from the start of the operation of the third cylinder C3, the tilt arm 10 is temporarily moved back to the original position. After retreating to the position, the sliding unit 8 is further moved by a predetermined amount, and
To the front luggage W1. Hereinafter, the same operation is repeated several times until the sensor detects the contact pressure between the grip portion 10a and the front side surface of the front side luggage W1.
【００２０】傾動アーム１０の図示されないセンサーが
グリップ部１０ａと手前側荷物Ｗ１の前側面との接触押
圧を検出すると、傾動アーム１０が上部アーム１に近接
する方向に上昇し、手前側荷物Ｗ１が傾動させられ（図
３（ａ）参照）、手前側荷物Ｗ１の下面と荷物載置部１
７との間に隙間が生じる。尚、傾動アーム１０が上昇し
た状態で、傾動アーム１０の図示されないセンサーが、
グリップ部１０ａと手前側荷物Ｗ１の前側面との接触押
圧を検出しなくなると、グリップ部１０ａから手前側荷
物Ｗ１が脱落したと上記動作制御装置が判別し、ピッキ
ング装置Ｐの各種動作を一時停止する。When a sensor (not shown) of the tilt arm 10 detects a contact pressure between the grip portion 10a and the front side surface of the front luggage W1, the tilt arm 10 rises in a direction approaching the upper arm 1, and the front luggage W1 is moved. It is tilted (see FIG. 3A), and the lower surface of the front side package W1 and the package placing section 1
7, a gap is generated. In the state where the tilt arm 10 is raised, a sensor (not shown) of the tilt arm 10
When the contact pressure between the grip portion 10a and the front side surface of the front luggage W1 is no longer detected, the operation control device determines that the front luggage W1 has dropped from the grip portion 10a, and temporarily suspends various operations of the picking device P. I do.
【００２１】手前側荷物Ｗ１が傾いた状態で、下部アー
ム２の先端に取り付けられる掬い部材１２の先端部分
が、上記測定された実際の手前側荷物Ｗ１の前側面の位
置のデータに基づいて、手前側荷物Ｗ１の下に押し込ま
れる（図３（ｂ）参照）。掬い部材１２が押し込まれる
と、傾動アーム１０が後退して、グリップ部１０ａと手
前側荷物Ｗ１の前側面との接触押圧が解消される。In a state where the front luggage W1 is tilted, the tip of the scooping member 12 attached to the front end of the lower arm 2 is set on the basis of the measured data of the position of the front side of the actual front luggage W1. It is pushed under the front-side luggage W1 (see FIG. 3B). When the scooping member 12 is pushed in, the tilting arm 10 retreats, and the contact pressure between the grip portion 10a and the front side surface of the front side load W1 is released.
【００２２】尚、掬い部材１２の先端側上面には、掬い
部材１２上の荷物の有無を検出するセンサー（図示せ
ず）が設けられている。そして、上記のように傾動アー
ム１０が後退した状態で、該センサーが荷物無しを検出
した場合は、手前側荷物Ｗ１を掬い部材１２で掬い取れ
なかったと上記動作制御装置が判別し、ピッキング装置
Ｐの各種動作を一時停止する。A sensor (not shown) for detecting the presence or absence of a load on the scooping member 12 is provided on the upper surface of the tip of the scooping member 12. When the sensor detects that there is no luggage in the state where the tilting arm 10 is retracted as described above, the operation control device determines that the front luggage W1 has not been scooped by the scooping member 12, and the picking device P Pauses various operations of.
【００２３】上記のように掬い部材１２の先端部分が手
前側荷物Ｗ１の下に押し込まれた状態で、傾動アーム１
０が後退すると、保持部材９が手前側荷物Ｗ１の上面と
当接するまで、第４シリンダーＣ４が作動する（図３
（ｃ）参照）。そして、掬い部材１２全体が手前側荷物
Ｗ１の下に完全に押し込まれるまで、下部アーム２が手
前側荷物Ｗ１側に進出する（図４（ａ）参照）。With the tip of the scooping member 12 pushed under the luggage W1 as described above, the tilt arm 1
When 0 is retracted, the fourth cylinder C4 operates until the holding member 9 comes into contact with the upper surface of the front side load W1 (FIG. 3).
(C)). Then, the lower arm 2 advances toward the near-side luggage W1 until the entire scooping member 12 is completely pushed under the near-side luggage W1 (see FIG. 4A).
【００２４】手前側荷物Ｗ１が掬い部材２に完全に掬い
取られた状態で、手前側荷物Ｗ１の上面が保持部材９に
よって押圧されると、摺動ユニット８の後退と掬い部材
１２の後退とが同時に行われる。このとき、掬い部材１
２の第２コンベア１４が駆動して、掬い部材１２上の手
前側荷物Ｗ１は、第１コンベア１３側に搬送される（図
４（ｂ）参照）。摺動ユニット８の後退及び掬い部材１
２の後退と、第２コンベア１４による手前側荷物Ｗ１の
第１コンベア１３側への搬送とが完了すると、ズレ止め
部材５と保持部材９とが元の位置まで上昇する（図４
（ｃ）参照）。When the upper surface of the front luggage W1 is pressed by the holding member 9 in a state where the front luggage W1 is completely scooped by the scooping member 2, the sliding unit 8 retreats and the scooping member 12 retreats. Are performed simultaneously. At this time, the scooping member 1
The second conveyor 14 is driven, and the front-side luggage W1 on the scooping member 12 is transported to the first conveyor 13 (see FIG. 4B). Retreating and scooping member 1 of sliding unit 8
2 is completed, and the conveyance of the front-side luggage W1 to the first conveyor 13 side by the second conveyor 14 is completed, the shift preventing member 5 and the holding member 9 are raised to the original positions (FIG. 4).
(C)).
【００２５】その後、上部アーム１は、後述のように奥
側荷物Ｗ２を掬い取るために更に所定量だけ進出し、掬
い部材１２から第１コンベア１３に移載された手前側荷
物Ｗ１は、第１コンベア１３と搬送ライン１５との合流
部まで搬送される。そして該合流部において、プッシャ
ー１６によって第１コンベア１３から搬送ライン１５側
に払いだされる。Thereafter, the upper arm 1 advances by a predetermined amount in order to scoop the rear baggage W2 as described later, and the front baggage W1 transferred from the scooping member 12 to the first conveyor 13 is It is transported to the junction of one conveyor 13 and transport line 15. Then, at the merging section, the material is discharged from the first conveyor 13 to the transport line 15 by the pusher 16.
【００２６】次に、奥側荷物Ｗ２を掬い取る場合のピッ
キング装置Ｐの動作について説明する。奥側荷物Ｗ２を
掬い取る場合は、ズレ止め部材５の代わりにストッパー
部材６を使用する。最初に、ピッキング装置Ｐの図示さ
れない動作制御部に予め入力された荷物データに基づい
て、上部アーム１を所定位置まで上昇させる。そして、
荷物データに基づいて、ストッパー部材６のズレ止め面
６ａが奥側荷物Ｗ２の後側面を越える位置まで、上部ア
ーム１が進出する（図５（ａ）参照）。Next, the operation of the picking device P when scooping the back luggage W2 will be described. When scooping the back side luggage W2, a stopper member 6 is used instead of the deviation preventing member 5. First, the upper arm 1 is raised to a predetermined position based on luggage data previously input to an operation control unit (not shown) of the picking device P. And
Based on the luggage data, the upper arm 1 advances to a position where the deviation preventing surface 6a of the stopper member 6 exceeds the rear side surface of the back luggage W2 (see FIG. 5A).
【００２７】次に、図示されない駆動源を駆動させて、
ストッパー部材６のズレ止め面６ａと奥側荷物Ｗ２の後
側面とがオーバーラップする位置までストッパー部材６
を下降させる。ストッパー部材６の下降以後の動作手順
は、上記手前側荷物Ｗ１の場合と同様の手順である。Next, by driving a drive source (not shown),
The stopper member 6 is moved to a position where the deviation preventing surface 6a of the stopper member 6 and the rear side surface of the back side luggage W2 overlap.
Is lowered. The operation procedure after the lowering of the stopper member 6 is the same procedure as in the case of the above-mentioned front side luggage W1.
【００２８】図６は、本発明の第２の実施の形態のピッ
キング装置の構成を示す斜視図である。図６に示される
ピッキング装置Ｐ２は、図１のピッキング装置Ｐを複数
台並設したものであり、各部の構成は図１のピッキング
装置Ｐと同様である。又、各ピッキング装置Ｐａ〜Ｐｃ
は、各々独立して作動できるようになっている。本実施
の形態のようにピッキング装置Ｐａ〜Ｐｃを複数台並設
することで、荷物載置部１７に複数列・複数段に積まれ
た荷物Ｗを複数個一括して掬い出すことができる。更
に、荷物載置部１７に載置された荷物Ｗの幅が掬い部材
１２の幅よりも大きい場合であっても、ピッキング装置
Ｐａ〜Ｐｃのいずれかを選択的に作動させて荷物Ｗを掬
い出すことで、ピッキング装置Ｐ２から荷物Ｗが脱落す
ることが防止される。FIG. 6 is a perspective view showing the structure of a picking device according to a second embodiment of the present invention. The picking device P2 shown in FIG. 6 includes a plurality of the picking devices P of FIG. 1 arranged side by side, and the configuration of each unit is the same as that of the picking device P of FIG. Also, each picking device Pa ~ Pc
Can operate independently of each other. By arranging a plurality of picking devices Pa to Pc side by side as in the present embodiment, a plurality of packages W stacked in a plurality of rows and a plurality of stages on the package placing portion 17 can be collectively scooped out. Furthermore, even when the width of the luggage W placed on the luggage placing portion 17 is larger than the width of the scooping member 12, one of the picking devices Pa to Pc is selectively operated to scoop the luggage W. By taking out, the load W is prevented from dropping from the picking device P2.
【００２９】[0029]
【発明の効果】以上のように本発明によれば、複数列・
複数段に積まれた荷物を１個ずつ掬い部材で掬い取る際
に、掬い部材に掬われる荷物の背後に位置する荷物上面
を押圧するズレ止め部材と、掬い部材に掬われる荷物の
上面を押圧保持する保持部材とが、掬い部材の進退方向
に沿って各々別個に移動できるようにピッキング装置に
設けられているので、保持部材による掬い部材に掬われ
た荷物の上面の押圧と、ズレ止め部材による掬い部材に
掬われた荷物の背後に位置する荷物の上面の押圧とを各
々独立して行うことができる。そのため、掬い部材上の
荷物の上面を押圧して該荷物を掬い取る動作と、掬い部
材に掬われた荷物の背後に位置する荷物を掬い取るため
にズレ止め部材を次の押圧位置まで移動させる動作とを
同時行うことができ、ピッキング装置自体の動作の手順
が簡略化され、掬い部材で荷物を掬い取るのに必要な時
間が短縮される。As described above, according to the present invention, a plurality of rows
When scooping the luggage stacked in multiple stages one by one with the scooping member, a shift stopper that presses the upper surface of the luggage that is located behind the luggage that is scooped by the scooping member, and presses the upper surface of the luggage that is scooped by the scooping member Since the holding member to be held is provided in the picking device so as to be able to move separately along the moving direction of the scooping member, the holding member presses the upper surface of the luggage scooped by the scooping member, and the shift preventing member And the pressing of the upper surface of the load located behind the load scooped by the scooping member can be performed independently of each other. Therefore, the operation of pressing the upper surface of the luggage on the scooping member to scoop the luggage, and moving the slip stopper to the next pressing position to scoop the luggage located behind the luggage scooped by the scooping member The operation can be performed simultaneously, the procedure of the operation of the picking device itself is simplified, and the time required to scoop the load with the scooping member is reduced.
【００３０】又、ズレ止め部材が取着される上部アーム
に、保持部材が設けられる摺動ユニットが設けられ、摺
動ユニットを上部アームの長手方向に沿って摺動自在と
することで、ズレ止め部材と保持部材とを共通の上部ア
ーム部材で掬い部材の進退方向に移動自在に支持するこ
とができる。そのため、ズレ止め部材と保持部材とを各
々別個に掬い部材の進退方向に沿う方向に移動させるた
めの装置の構造が簡略化される。Further, a sliding unit provided with a holding member is provided on the upper arm to which the displacement preventing member is attached, and the sliding unit is slidable along the longitudinal direction of the upper arm, thereby providing a displacement. The stop member and the holding member can be movably supported by the common upper arm member in the direction in which the scooping member advances and retreats. Therefore, the structure of the device for separately moving the displacement preventing member and the holding member in the direction along the advancing and retreating direction of the scooping member is simplified.
【００３１】更に、摺動ユニットに、複数列・複数段に
積まれた荷物側に進出し、掬い部材に掬われる荷物の掬
い部材側の側面上部を押圧して荷物を傾動させる傾動ア
ームを取り付けることで、荷物を掬い部材で掬い取る際
に、摺動ユニットを上部アームに沿って荷物側に摺動さ
せてから傾動アームで掬い部材に掬われる荷物の側面上
部を押圧することができるので、傾動アームの進出スト
ロークが短縮され、傾動アームによって荷物の掬い部材
側の側面上部を確実に押圧できる。Further, the sliding unit is provided with a tilting arm which advances to the side of the luggage stacked in a plurality of rows and a plurality of stages and inclines the luggage by pressing the upper side of the side of the scooping member side of the luggage to be scooped by the scooping member. By doing so, when scooping the luggage with the scooping member, the sliding unit can be slid to the luggage side along the upper arm and then the upper side of the luggage scooped by the scooping member with the tilting arm can be pressed. The advance stroke of the tilting arm is shortened, and the upper part of the side surface of the baggage member side of the load can be reliably pressed by the tilting arm.
【図１】本発明の実施の形態のピッキング装置の構成を
示す斜視図である。FIG. 1 is a perspective view showing a configuration of a picking device according to an embodiment of the present invention.
【図２】手前側の荷物を掬い取る場合において、手前側
荷物の前側面に傾動アームを当接するまでの手順を示す
概略図である。FIG. 2 is a schematic diagram showing a procedure in which a tilting arm comes into contact with a front side surface of a near-side luggage when scooping up a near-side luggage.
【図３】手前側の荷物を掬い取る場合において、掬い部
材に掬われた手前側荷物の上面を保持部材で押圧保持す
るまでの手順を示す概略図である。FIG. 3 is a schematic diagram showing a procedure for pressing and holding the upper surface of the front luggage scooped by the scooping member with a holding member when the front luggage is scooped.
【図４】手前側の荷物を掬い取る場合において、掬い部
材によって手前側荷物を掬い取るまでの手順を示す概略
図である。FIG. 4 is a schematic diagram showing a procedure for scooping a near-side luggage by a scooping member when scooping a near-side luggage.
【図５】奥側荷物を掬い取る場合の上部アームとストッ
パー部材との動作を示す概略図である。FIG. 5 is a schematic view showing the operation of an upper arm and a stopper member when scooping back-side luggage.
【図６】本発明の第２の実施の形態のピッキング装置の
構成を示す斜視図である。FIG. 6 is a perspective view illustrating a configuration of a picking device according to a second embodiment of the present invention.
１ 上部アーム ５ ズレ止め部材 ８ 摺動ユニット ９ 保持部材 １０ 傾動アーム １２ 掬い部材 Ｐ ピッキング装置 Ｗ１、Ｗ２ 荷物 DESCRIPTION OF SYMBOLS 1 Upper arm 5 Misalignment member 8 Sliding unit 9 Holding member 10 Tilt arm 12 Scooping member P Picking device W1, W2 Luggage
Claims (3)
取り出すピッキング装置であって、荷物の下に進入して
物品を掬う掬い部材と、掬い部材に掬われる荷物の背後
に位置する荷物上面を押圧するズレ止め部材と、掬い部
材に掬われた荷物の上面を押圧保持する保持部材とが備
えられており、ズレ止め部材と保持部材とは、掬い部材
の進退方向に沿って各々別個に移動することを特徴とす
るピッキング装置。1. A picking device for picking up one by one a plurality of packages stacked in a plurality of rows and a plurality of stages, a scooping member which enters under the baggage and scoops up an article, and is located behind the baggage to be scooped by the scooping member. A shift preventing member that presses the upper surface of the load to be performed, and a holding member that presses and holds the upper surface of the load scooped by the scooping member are provided, and the shift preventing member and the holding member are arranged along the moving direction of the scooping member. Picking devices characterized in that they move individually.
う方向に移動自在な上部アームに取着され、保持部材
は、上部アームの長手方向に沿って摺動自在に上部アー
ムに取り付けられる摺動ユニットに設けられることを特
徴とする請求項１記載のピッキング装置。And a holding member attached to the upper arm so as to be slidable along a longitudinal direction of the upper arm. The picking device according to claim 1, wherein the picking device is provided on a sliding unit.
れた荷物側に進出し、掬い部材に掬われる荷物の掬い部
材側の側面上部を押圧して荷物を傾動させる傾動アーム
が取り付けられることを特徴とする請求項２記載のピッ
キング装置。3. The sliding unit includes a tilting arm which advances toward the luggage side stacked in a plurality of rows and a plurality of stages, and presses the upper side of the side of the scooping member side of the luggage to be scooped by the scooping member to tilt the luggage. 3. The picking device according to claim 2, wherein the picking device is attached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21349696A JPH1053334A (en) | 1996-08-13 | 1996-08-13 | Picking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21349696A JPH1053334A (en) | 1996-08-13 | 1996-08-13 | Picking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH1053334A true JPH1053334A (en) | 1998-02-24 |
Family
ID=16640167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21349696A Withdrawn JPH1053334A (en) | 1996-08-13 | 1996-08-13 | Picking system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH1053334A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021079940A1 (en) * | 2019-10-25 | 2021-04-29 | 株式会社 東芝 | Unloading apparatus and unloading method |
-
1996
- 1996-08-13 JP JP21349696A patent/JPH1053334A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021079940A1 (en) * | 2019-10-25 | 2021-04-29 | 株式会社 東芝 | Unloading apparatus and unloading method |
| US12037208B2 (en) | 2019-10-25 | 2024-07-16 | Kabushiki Kaisha Toshiba | Unloading apparatus and unloading method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A761 | Written withdrawal of application |
Free format text: JAPANESE INTERMEDIATE CODE: A761 Effective date: 20040119 |