JPH0480105A - Cargo arrangement method - Google Patents

Abstract

PURPOSE:To arrange cargo with a high degree of efficiency by shifting goods which have a high frequency of delivery or which are not frequently changed in their arrangement or the like, and goods other than the former goods, respectively in first and second goods delivery places having first goods storage sections and second goods storage sections which are arranged at intervals greater than the storage intervals thereof. CONSTITUTION:The order for goods B is frequently raised, and accordingly, the size of goods to be mass-delivered is not frequently changed. Accordingly, the goods B are shifted into a first goods storage section where goods are stored at predetermined intervals in a container G. The next goods B whose orders are greater than that of the previous goods B have characteristics such that the size of the goods, the number of goods stored in a container, the design thereof and the like are frequently changed in strategic point of view. Thus, the goods B which are stored in the container G at predetermined intervals are shifted into the second goods storage section in which goods are stored at intervals greater than intervals for goods arrangement. Further, the corresponding container F which have been conveyed is charged with the goods B by a charge device 62, and is delivered through a sorting process after the goods B in the container F are put in order.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a method for sorting out articles stored in containers such as cardboard boxes and plastic containers after transferring them to an article storage section and then taking them out and sorting them out. It is something.

[Prior art] As a conventional technology related to a cargo sorting method, there is
153017, Japanese Utility Model Application Publication No. 63-175622, and Japanese Unexamined Patent Publication No. 1-192603 are known.

However, to explain the conventional technology described in the publication, JP-A-62-153017 describes an arrangement and take-out device for bottles that takes out articles conveyed on a line in an arranged state. .

In addition, the product cutting device described in Japanese Utility Model Application Publication No. 63-175622 has a foot plate through which products are fed in a plurality of rows, a cutting opening for cutting out the product provided on the feed plate, and a cutting opening. It is equipped with a gate plate that opens and closes, and an actuator that opens and closes the gate plate, and controls the opening and closing of the gate plate to open the cutting opening to a size corresponding to the required number of products. A desired number of products can be cut out by opening the cutting port to a size corresponding to the desired number of products based on the cutting instruction from the products that are arranged in a plurality of rows and supplied to the spout.

Furthermore, Japanese Patent Application Laid-Open No. 1-192603 discloses that after gripping all the articles from a container containing a plurality of articles and taking them out of the container, releasing the grip on some or all of the articles, An article handling method and apparatus for picking a desired quantity of articles is described.

[Problems to be Solved by the Invention] However, the above-mentioned conventional techniques had the following problems.

That is, the apparatus for arranging and taking out bottles described in JP-A No. 62-153017 divides a predetermined number of bottles conveyed in a vertically and horizontally aligned state using partition members while maintaining the aligned state, and divides the predetermined number of bottles into partitions. Although it is possible to take out the containers in a lined-up state, such as bottles, it is possible to take out the items in a container at predetermined intervals. , there is no mention of taking out the goods, or of taking out the goods stored in the container at predetermined intervals after transferring them to a second goods storage compartment partitioned at intervals wider than the intervals. , there is no suggestion whatsoever.

In addition, the product cutting device described in Japanese Utility Model Application Publication No. 63-175622 can cut out the required quantity of products that are arranged and supplied in multiple rows, but the size of the cutting opening of the feed plate and the gate plate are limited. is the size of the product,
Since the product is formed to a fixed size according to the shape, etc., the size and shape of the cut product will depend on the size of the feed plate's cutting opening and the gate plate, and the size and shape of the product will vary. However, in order to be able to handle a wide variety of products, it is necessary to use a feed plate that has a cutting opening suitable for the size and shape of each product, and a feed plate that has a cutting opening suitable for the size and shape of each product. There was a problem in that a plurality of corresponding gate plates had to be prepared and the feed plate and gate plate had to be replaced each time the size of the product changed. Further, there is no description or suggestion of forming a plurality of article storage sections using partitions or arranging the article storage sections at a distance greater than the article arrangement interval of the articles stored in the container.

Furthermore, the article handling method and apparatus described in Japanese Patent Application Laid-Open No. 192603 handles articles stored in a container arranged at predetermined intervals into a plurality of articles arranged at predetermined intervals. Although there is a description of picking (retrieving) the desired quantity of items after taking them out using a multihandle consisting of a gripping head, it is possible to pick (take out) the desired quantity of items after taking them out using a multi-hand that consists of a gripping head. There is no description or suggestion of taking out the article after transferring it to the article storage section partitioned by.

Therefore, it is an object of the present invention to determine whether frequently occurring articles (for example, a plurality of top articles accounting for 80% of the total shipment amount) or the size of the articles and the size of the containers, depending on the shape characteristics and shipping characteristics of the articles. Articles whose arrangement, etc., do not change frequently can be efficiently transferred to a first article retrieval device having a first article storage section partitioned according to the intervals when stored in containers. After that, items other than the above-mentioned items that frequently appear, or items whose dimensions and arrangement in the container change frequently due to model changes, etc., should be removed at intervals wider than when they are stored in the container. It is an object of the present invention to provide a method for efficiently sorting articles by transferring the articles to a second article take-out device having a partitioned second article storage section and then taking them out.

[Means for resolving the order of assignments] The present invention is characterized in that articles stored in a container arranged at predetermined intervals are transferred to a first article storage section partitioned according to the above-mentioned intervals. Thereafter, a first article retrieval step of taking out the articles transferred to the first article storage section, and partitioning the articles stored in the container at predetermined intervals at intervals wider than the above-mentioned intervals. To provide a method for sorting goods, comprising: transferring the goods to a second goods storage part, and then taking out the goods transferred to the second goods storage part. By doing so, the above objectives were achieved.

Note that it is preferable that the method further includes a step of storing the article taken out in the second article taking out step in the transport container that has stored the article taken out in the first article taking out step.

Preferably, the method further includes a step of storing the article taken out in the first article taking out step in a transport container that has stored the article taken out in the second article taking out step.

Further, a step of storing the article taken out in advance in the third article taking out step in a transport container that has stored the article taken out in the first article taking out step and the article taken out in the second article taking out step. It is preferable to have.

[Operations] According to the assortment method of the present invention, frequently appearing articles (for example, a plurality of high-ranking articles accounting for 80% of the total shipment amount) or articles whose dimensions and arrangement do not change frequently are placed in containers. After being efficiently transferred to a first article retrieval device having a first article storage section partitioned in accordance with the intervals when the articles are stored in a Transfer articles, etc. whose dimensions and arrangement frequently change due to changes, etc., to a second article retrieval device having a second article storage section partitioned at intervals wider than the intervals when stored in containers. By taking out the items after replacing them, you can efficiently arrange the items.

[Example] [Outline of picking system] A picking system showing an example in which the assortment method of the present invention is applied is a picking system that collects items in units of quantity (individual items stored in containers such as cardboard boxes and plastic containers) that come from a store. This is a system in which orders for items (in units of goods) are taken out from each store and arranged in containers (transportation containers).

Explanation of Figure 1 Figure 1 is a flowchart of articles in a picking system showing one embodiment to which the assortment method of the present invention is applied, and Figure 2 is a schematic plan view of the picking system.

"Explanation of the flow of goods arrangement (step S1)" (line L1 in Figure 2) (1) Storage of multiple containers F, which are folded and stored on pallets, in an automated warehouse, etc. The container is unloaded from the facility, and the container
are assembled and supplied to the container transport line L1 (step 8l-1), and the container F supplied to the container transport line L1 is transported to the picking equipment.

(2) The container F transported by the container transport line L1 is transported by the fully automatic picking device 200.
Article B (taken out by the first article takeout device)
(article) is thrown in (step 5l-2). Then, the container F is transported to the next process.

The specific configuration of the fully automatic picking device 200 will be described later.

Note that the item B handled in the above (2) is a product that is frequently ordered from a store, is shipped in large quantities, and the dimensions of the item B do not change frequently (there is a point in automating it).

Therefore, the articles B stored in the container G arranged at predetermined intervals can be transferred to the first article storage section (article storage section 285 of the article cutting tool 280) arranged at the article arrangement interval. And so.

(3) Next, the semi-automatic picking device 400
The second article retrieval device places an article B (article) different from the article B handled in (2) above into the container F (step S1-3).

The specific configuration of the semi-automatic picking device 400 will be described later.

Item B, which is handled in (3) above, is ordered by stores the second most frequently after item B, which is handled in (2) above, and its dimensions, number of people in the container, design, etc. have characteristics that change. Therefore, it is decided that the articles B stored in the container G in a predetermined arrangement are transferred to the second article storage section (the storage space 474 of the cutting device 417) which is arranged at the article arrangement interval or more, and the articles B We have made it possible to respond flexibly to changes.

(4) Next, from the manual picking device 600, an article B different from the article B handled in (2) and (3) above is manually taken out (step S1-4-1).
, Since the process from step S 1-1 to this point is long, the picking operation is performed in advance and the articles B collected in each round are stored on the storage conveyor 61 (step S 1-4-2 ), (The order in which the containers F are transported is notified in advance by the computer.) Then, when the corresponding container F is transported, it is loaded by the loading device 62.

The specific configuration of the manual picking device W600 will be described later.

Note that the goods B handled in the above (4) are goods B that are only occasionally ordered (approximately 1 to 5 times a month) and include a wide variety of products.

(5) In step S1-5, after sorting out the articles B in the container F that have gone through the above steps, the sorting is done in step S1-5.
(not shown) before being shipped.

In addition, the goods are sorted using a semi-automatic picking device 40.
0→Fully automatic picking device 200→Manual picking device 600 etc. may be performed in the order,
They may be combined in an appropriate order.

In addition, in each of the above-mentioned steps, the full automatic picking device 200 and the semi-automatic picking device 400,
Alternatively, the articles B taken out by the manual picking device 600 are not necessarily all sorted into the same container F.

"Description of the flow of article supply (step S2)" (line L2 part in FIG. 2) (1) Step S2 is a container G in which article B is stored in the above-mentioned fully automatic picking device 200 and semi-automatic picking device 400. This is the process of supplying.

(2) First, fully automatic picking device 200
and container G to semi-automatic picking device 400
The process of supplying is explained below.

A container G that stores articles B that have been picked by the fully automatic picking device 200 and the semi-automatic picking device 400 and need to be supplied or produced to the fully automatic picking device 200 and the semi-automatic picking device 400 is:
The container G is unloaded from the automated warehouse 1 (step S2-1), and sent via the unloading conveyor IB and the traverser IC to the area-by-area picking device 21 (which picks up multiple containers G stacked on a pallet, one by one (area)). The surface unit picking device 21 depalletizes the container G by one stage and transports it to the next process (step S2-2).
Note that the pallet on which the remaining depalletized containers G are carried is carried out from the surface unit picking device j121 and transferred to the automated warehouse 1 via the traverser IC1 warehousing conveyor ID.
will be stocked at.

(3) The containers G that have been depalletized for one stage are arranged as follows: stage → row →
After the container G is separated into one piece and the longitudinal direction of the container G is aligned with the transport direction by the turning device 22, the top surface of the container G is transported so that the article B can be transferred to a fully automatic picking device t200, which will be described later. is cut and removed (step 82-3). First, the upper edges of both sides in the longitudinal direction of the container G are automatically cut by the longitudinal direction automatic top cutting machine 23, and the transport direction of the container G is changed by 90 degrees and transported. After the width direction automatic top cutting machine 24 automatically cuts both upper edges of the container G in the middle direction and removes the top surface, the container G is returned to the longitudinal direction and transported to the next process. .

(4) The container G, which has been cut and whose top surface has been removed, is automatically supplied to the flow shelf 28. That is, the feeder 412 (step S2-4) causes the fully automatic picking device [
The container G containing the article B to be handled at 200 is supplied to a predetermined opening of the flow 41I128 in units of one depalletized stage (step 52-5-1). Transfer the article B in the container G using an article transfer device (article transfer device A) to be described later (step S2-5-
2).

(5) Also, a semi-automatic picking device 400
When supplying containers G to
The container G for 00 is supplied to a predetermined opening of the fluidized shelf 413 in units of one depalletized stage (step 5).
2-6-1) If necessary, the article B in the container G is manually transferred to the semi-automatic picking device 400 (step S2-6-2).

In this embodiment, a fully automatic picking device 200 and a semi-automatic picking device 140 are used.
Although the step of supplying the picks 0 (steps S2-1 to S2-4) is performed in common, it may be performed independently for each picking device.

Moreover, instead of the surface unit picking device 21, a robot depalletizer or the like may be used to depalletize an arbitrary quantity and supply an arbitrary quantity of articles B.

"Explanation of the flow of article supply (step S3)" (line L3 in Figure 2) (1) Step S3 is the manual picking device W described above.
This is a step of supplying the container G containing the article B to the container 600.

(2) Container G containing articles B that need to be or will be supplied to the manual picking device j600 is
The product is picked from storage equipment such as an automated warehouse or a liquid shelf and transported to the next process (step S3-1).

(3) The article B that has been picked and transported in step 53-1 is manually cut and removed from the top of the container G (step 33-2), and then manually transported via the feeder 36. Supplied to the picking device 600 (
Step S3-3).

Next, the specific configurations of the fully automatic picking device 200, the semi-automatic picking device 400, and the manual picking device 600 will be explained.

"Description of Fully Automatic Picking Device F200" FIG. 3 is a perspective view showing an embodiment of a transfer device that transfers articles (containers) from a flow shelf to a fully automatic picking device, and FIG. 4 is a device for transferring articles. FIG. 5 is a side view of FIG. 3, and FIG.
7 is a perspective view showing a container in which the articles are stored, and FIG. 8 is a perspective view showing the article extractor shown in FIG. 6 and the article extractor shown in FIG. 7. FIG. 9 is a side view of FIG. 8, and FIG. 10 shows a container containing an article of a different shape than the article shown in FIG. 7, and article removal. FIG. 11 is a schematic plan view thereof, an explanatory diagram showing the moving state of the opening body, and FIG. 12 is a perspective view of the article transfer device. FIG. 13 is a perspective view showing a container containing articles, and FIG. 14 is a perspective view showing a second embodiment of the article retrieval tool.
15 is a side view of FIG. 14, and FIG. 16 is a guide member shown in FIG. 12. FIG. 17 is a perspective view showing an enlarged view of the article, and FIG. 17 is a view showing an article takeout tool of the third embodiment, which is an article takeout tool for taking out the same article as the article shown in FIG. 10 from a container;
FIG. 18 is a perspective view showing a state in which this article extraction tool is superimposed on the article cutting tool, and FIG. 18 shows a state in which the container containing the article and the article extraction tool of the fourth embodiment are inverted and superimposed on the article cutting tool. FIG. 19 is an enlarged perspective view showing the article retrieval tool and the first gripping hand shown in FIG. 18 in normal rotation, and FIG. 2
Figure 1 is a perspective view showing an embodiment of the bottle picking device, Figure 22 is a perspective view with the casing omitted to facilitate understanding of the structure in Figure 21, and Figure 23 is the same as Figure 21. An explanatory diagram (schematic plan view) showing the moving state of the first opening/closing body and the second opening/closing body shown, FIG. 24 is a perspective view showing a modification of the article transfer device, and FIG. 25 is FIG. FIG. 26 is a perspective view showing a state in which an article is inverted by the inverting device. FIG. 26 is a perspective view showing the inverting device.

Fully automatic picking system 21 of this embodiment
0 is the container supply line 2 as shown in FIGS. 2 and 3.
70 (part related to the fully automatic picking system 210 of line L2 in FIG. 2), the feeder 412, the flow shelf 28, the article transfer device A, the fully automatic picking device 200. It is configured with a container conveyance line 310 (the part related to the fully automatic picking system 210 of line L1 in FIG. 2).

The fully automatic picking device 200 is
As shown in FIGS. 3 and 5, the device includes an article cutting tool 280, a chute 291, and a spiral chute 290.

Below, first of all, full automatic picking equipment fi20
An example of an article transfer device that transfers article B (container G) from the fluidic shelf 28 to the container 0 will be described. In this embodiment, an article B having a bottle shape or the like is taken out from a container G having an opening, and the taken out article B is placed in a container F (
It is suitable for supplying and arranging goods into transport containers (transport containers).

3 and 4 are perspective views showing one embodiment of the article transfer device, FIG. 3 is an overall view of the article transfer device, and FIG. 4 is an inversion of the article transfer device. 5 is a side view of FIG. 3; FIG.

The article transfer device (article transfer device) A of this embodiment is as follows:
As shown in FIGS. 3 and 5, article B stored in container G
The container G is taken out from the fluidized shelf 28 where the products are stored, and only the articles B in the container G are transferred to the fully automatic picking device 200 via the reversing device 240. It is located and arranged. -Also, all of the articles B stored in the containers G are once transferred to the full automatic picking device 200, and then a desired quantity of articles B are transferred to the full automatic picking device 200.
The container F is configured to be taken out by the container F and supplied to the container F.

Therefore, as shown in FIGS. 6 and 7, the article transfer device A handles the article B one by one in response to the arrangement of the plurality of articles B stored at predetermined intervals in the container G. Object removal tool 22 equipped with partitions 221 formed to partition each item
0, as shown in FIGS. 3 and 5, a container take-out device 230 that takes out containers G from the flow shelf 28, and an article take-out tool 22.
A reversing device 240 having a superimposing device 241 for superimposing containers G and G, and a device for removing these containers 230,
Lifting platform (carriage) 250 loaded with reversing equipment N240
and a traveling body (stacker crane) 260 that supports the carriage 250 so as to be movable up and down.

Next, each of the above components will be explained in detail in turn.

First, the article pick-up tool 220 that constitutes the article transfer device fA
, the container takeout device 230, the reversing device 240, etc. will be explained based on FIGS. 3 and 4.

As shown in FIG.
1. It is configured as a portable housing 223 equipped with a shutter 222 and the like, and the tip of the partition 221
It is formed to protrude outward from a base 224 along the open end of the portable casing 223 of 0. Then, when the protruding tip portion of the partition 221 is turned over to the opening 211 side of the container G as shown in FIGS. The tip is formed so as to reach below the shoulder of the article B. In the stacked state, the partition 221 serves as an article storage section 226 that stores the articles B one by one according to the arrangement (4 rows x 3 columns) of the articles B stored in the container G, as shown in FIG. A chamfer 221a is formed on the outer end thereof, so that the article removal tool 220 can be easily introduced into the opening 211 of the container G.

Further, the shutter 222 is made of one plate, and allows all the articles B to be picked up almost simultaneously by the fully automatic picking device 2.
It is attached to the base end side of the partition 221 of the article pick-up tool 220 so as to be openable and closable so that it can be transferred to the article cut-out tool 280 of the fully automatic picking device W2O0 from the article pick-up tool 220.
After the articles B are transferred to the container 80, the article B is supplied to the container F for sorting through the chute 291 and the spiral chute 290 in accordance with the picking command.

As shown in FIG. 5, the container unloading device 230 includes a pantograph-type lifting device (not shown) provided on the carriage 250 of the stacker crane 260, a fixed conveyor 231 placed on the lifting device, and a pivot. At the fulcrum 232, the container take-out side can swing up and down, and the flow
l! A traveling conveyor 233 that runs so as to advance to 28
It is composed of:

Further, the reversing device 240 includes a traveling platform 242 that runs on a carriage 250 of the stacker crane 260 in the flow direction of the containers G stored in the fluidization shelf 28, that is, in the front-rear direction with respect to the fluidization shelf 28; A frame 243 erected on the traveling base 242, a rotating shaft 244 supported near the upper end of the frame 243, and an axial direction (
(hereinafter referred to as "left and right direction"), the article retrieval tool 2
A first gripping hand 245 that grips the container G, a guide member 246 hanging down near the rotation axis 44 side of the first gripping hand 245, and a first gripping hand 245 that moves up and down while gripping the container G along the guide member 246. It is configured to include a second gripping hand 247 for overlapping the container G on the article removal tool 220 gripped by the hand 245, and the like. Among these, the first and second gripping hands 245 and 247 and the guide member 24
6 constitutes a stacking device 241, and a reversing bag j
The i240 is configured to integrally rotate the overlapping device 241 about a rotating shaft 244 as a supporting shaft. still,
The first gripping hand 245 is connected to a screw shaft 248 supported by the frame 243 parallel to the rotation shaft 244, that is,
It is configured to open and close by driving a screw shaft 248 which is symmetrically formed with a right-hand thread on one side and a left-hand thread on the other from the center of the shaft. In addition, the first gripping hand 24
5 is provided with engaging protrusions (not shown) that engage with engaging recesses 225 (see FIG. 6) formed in the vicinity of the base 224 on both sides of the open end of the article retrieval tool 220. The first grasping hand 245 is configured to be able to securely grasp the article retrieval tool 220, and the object retrieval tool 2 is
20 is constructed to prevent it from falling. The second gripping hand 247 is configured by a parallelogram-shaped link mechanism (not shown) having one side of a gripping hand base that moves up and down along the guide member 246, and moves in the left-right direction to a desired gripping interval. It is configured to grip the container G with the handle. Further, a screw shaft (not shown) is provided inside the guide member 246, and by driving the screw shaft, the second gripping hand 247
I'm trying to move it up and down.

Further, the stacker crane 260 is configured to run on a traveling rail 261 disposed along the take-out frontage 271 of each fluidization shelf 28 with a space therebetween, and
50 and the reversing bag W24
0 and can be raised and lowered.

Next, the fluidic shelf 28 and the article cutting tool 280 and the chute 29 that constitute the fully automatic picking device 200 are
1. The spiral chute 290 will be explained.

The fluidization shelf 28 consists of multiple rows and multiple stages of inclined roller conveyors continuously formed along the traveling rail 261.
A take-out opening 271 is formed at the front end of the inclined roller conveyor, and a stopper 272 is provided at the front end of the inclined roller conveyor so that the supplied container G slides down the inclined roller conveyor due to its own weight and is stopped by the stopper 272. It is configured. The take-out opening 271 is connected to an article cutting tool 28 of a fully automatic picking device 200, which will be described later.
0 and the running rail 261 between them (see FIG. 5).

Further, the article cutting tool 280 of the fully automatic picking device 200 is continuously arranged along the traveling rail 261, and the article cutting tool 280 is connected to the fluidic shelf 28.
It is placed facing the. Then, the article cutting tool 28
0 corresponds to the casing 281 configured to store the article B transferred from the article takeout tool 220 and cut out the article one by one, and the partition 221 of the article takeout tool 220. A partition 282 that divides each item according to the interval within the container G, an article storage section 285 (first article storage section) defined by this partition 282, and an article B stored in this article storage section 285. A shutter 283 (10th
(see figure), and is fixedly installed on the upper part of the chute 291 as shown in FIG. Further, a guide plate 284 is provided at the upper end of the article cutting tool 280 for guiding the container G containing the article B to be smoothly stacked and placed on the article cutting tool 280 via the article picking tool 220. .

Further, the spiral chute 290 is configured to convey and supply the article B cut out from each article cutting tool 280 to a desired container F via a plurality of chutes 291 in the step direction, that is, in the vertical direction. has been done. Note that the chute 291 has four article cutting tools 2 arranged in a horizontal direction.
The article B cut out from the spiral chute 290
The width of the chute is gradually decreased from the article cutting tool 280 to the spiral chute 290 so as to guide the article to the spiral chute 290.

In addition, a spiral chute 290 and an article cutting tool 280
In the space formed between the container A combined empty container discharge conveyor 300 is disposed, and the empty container G is transferred to the second gripping hand 247.
The empty container G is transferred to the empty container discharge conveyor 300 and discharged out of the system.

Further, a container transport conveyor 310 is arranged to connect the vicinity of the downstream ends of the plurality of sets of spiral chutes 290, and transports the container F to a desired spiral chute 29.
It is configured to transport the paper to the vicinity of the downstream end of the paper.

However, the article B shown in FIGS. 7 to 9 is a product in which liquid etc. is stored in a plastic bottle, and 12 articles B arranged in 4 rows and 3 columns are stored in a container G. . It should be noted that the plurality of articles B stored in the container G have a certain amount of clearance at their upper parts, and if the container G is rolled over, etc., the arrangement is likely to be disturbed, and therefore the partition of the article retrieval tool 220 221 is formed to protrude from the base 224.

Further, as shown in FIG. 7, the container G has an opening 2 on the top surface.
In the case of a cardboard box, plastic container, etc. having
When the container G is packaged in a cardboard box or the like, the opening 211 is formed by cutting the top surface in advance, as described above, and then the container G is supplied to the flow shelf 28.

Next, a mode of transfer using the article transfer bag WA will be explained.

When the article B stored in the article extractor 220 is transferred to the article extractor 280, the reversing device 240 is moved to face the empty article extractor 220 by the movement of the stacker crane 260 and the raising and lowering of the carriage 250. the empty container G with the second gripping hand 2.
The tip of the container 47 projects into the empty container discharge conveyor 300.

That is, with the interval between the second gripping hands 247 made slightly smaller than the width of the container G, the carriage 242 is moved in the direction of the empty container discharge conveyor 300, that is, if the flow shelf 28 is used as a reference, by moving backward, the empty container is removed. The empty container G is transferred to the empty container discharge conveyor 300. Also, empty container G
When the object is transferred, the first gripping hand 245 is located outside the engagement recess 225 of the article retrieval tool 220, so the first gripping hand 245 is closed and the object retrieval tool 220 is gripped. When the first gripping hand 245 grips the article retrieval tool 220, the first gripping hand 245 rotates approximately 10 degrees counterclockwise in the side view shown in FIG.
42 moves forward in the direction of the fluidization shelf 28 to the position shown by the solid line in the figure, and the first gripping hand 245 further rotates approximately 170 degrees counterclockwise in this state, and the first gripping hand 24
5 is in the state shown by the solid line in FIG.

At this time, the carriage 25 of the stacker crane 260
0 is the take-out opening 271 in which the article B to be replenished is stored.
Since the container is also opposite to the container, the container take-out device 230 takes out the container G containing the article B stored in the take-out opening 271. That is, the carriage 2 of the stacker crane 260 remains in the position where the empty container G is being discharged.
50, the traveling conveyor 233 moves forward toward the take-out opening 271, and by swinging the container take-out side upward about the pivot point 232, the container G containing the article B is removed. After taking out the container G, the traveling conveyor 233 moves backward and carries the container G to a predetermined position on the fixed conveyor 231.

After that, when the stationary conveyor 231 and the traveling conveyor 233 move up to the centering position via a pantograph type lifting device (not shown), the second gripping hunt 247 supports the bottom surface of the container G taken out and holds it. Side grip and center link. After centering, the second gripping hand 247 moves up along the guide member 246 to lift the gripped container G to the vicinity of the base 224 of the article takeout tool 220, and as shown in FIGS. 8 and 9, The partition 221 protruding downward from the container G
, and then stop. Incidentally, even if the arrangement of the articles B is disturbed due to the gap at the top of the container G, the partitions 221 are inserted into this gap and the articles are individually partitioned to ensure the original arrangement of the articles. Furthermore, when the article removal tool 220 and the container G are stacked on top of each other, if a gap δ of approximately 5 mm is provided as shown in FIG.
The article can be smoothly transferred from the article to the article takeout tool 220.

As described above, when the base 224 of the article removal device 220 and the opening 211 of the container G are overlapped, the reversing device 2
40 is driven to move the article removal tool 220 and the container G into the fourth position.
Invert as shown. That is, the first and second gripping hands 245, 247 and the guide member 246 are reversed clockwise in FIG. 5 using the rotating shaft 244 as a support axis. To explain this reversing operation in more detail, first, the first gripping hand 245
After rotating approximately 170° clockwise, the traveling table 242 moves backward to position the article extractor 220, which is in the process of being reversed, on the road of the article extractor 280, and then the first gripping hand 245 rotates clockwise. The article cutting tool 2 is rotated approximately 10″ to
The article removal tool 220 and the container G are placed on top of the container G. This reversal action causes the article B stored in container G to
is separated one by one by the partition 221,
The article is transferred to the article retrieval tool 220.

When the article extraction tool 220 and the container G overlap on the article cutting tool 280, the first gripping hand 245 opens to release the article extraction tool 220, and the second gripping hand 24
7 is also opened to release the container G, the carriage 242 moves forward and waits in preparation for transferring the next article B.

The articles B transferred to the article storage sections 285 (see FIG. 10) defined in a matrix of 4 rows and 2 columns in the article cutting tool 280 are opened and closed at the openings of the article storage sections 285. When the opening/closing body 283 moves in the opening direction, the articles B are cut out and dropped into the chute 291, and all the articles B are sequentially cut out from the article cutting tool 280. All the articles B stored in the article extractor 220 opened in the direction of the arrow in the figure are automatically transferred to the article extractor 280 closed by the opening/closing body 283.

After the article B is placed on the article cutting tool 280 via the article picking tool 220 as described above, the article cutting tool 2
For example, as shown in FIG. 10, the article B transferred to the shutter 2 is moved to
83 is opened and the articles B are taken out one by one, and the taken out articles B are conveyed to a desired container F via the chute 291 and the spiral chute 290. As described above, the chute 291 that guides the article B cut out from the four article cutting tools 280 arranged horizontally to the spiral chute 290 is replaced by one spiral chute 290.
Since they are connected to each other at different heights, it is possible to automatically arrange different types of articles B from a plurality of article cutters 280 into one container F at substantially the same time.

However, in this embodiment, the article B is cut out by the article cutting tool 2.
When automatically taking out the article B from the article 80, the cumulative quantity of the article B transferred to the article cutting tool 280 is converted from a decimal number to a quaternary number according to the desired quantity based on the picking command. After that, the opening/closing body 283 is moved in the row direction (in the direction of the arrow) as shown in FIG. Quantities of articles B are sequentially taken out. That is, when taking out one item B,
As shown in the machine 1 and FIG. 11 described later, the article cutting tool 280
If one article B is first taken out and then five more items are taken out, a total of six items will be taken out. In each case, the cumulative extraction quantity is 1 (in decimal).
Since it is 1 in quaternary and 6 in decimal (12 in quaternary), first move the opening/closing body 283 of No. 1 in the first row in the row direction (
(hereinafter also referred to as the "X direction") by one row, and
Take out one piece, then put No. 1 opening/closing body 283 into
In addition to moving one row in the direction (opening two rows),
Move the opening/closing body 283 of No. 2 in the second row two columns in the X direction, and then move No. 3, No. 4 in the third and fourth rows.
The opening/closing body 283 is sequentially moved one row at a time in the X direction to take out five articles B. In other words, the upper digit of the quaternary value is "0" when the article is stored in the second column. This indicates that all the openings of the section 285 are opened, and the "number" in the lower digit represents the number of openings in the article storage section 285 in the first row that are opened when the upper digit is rOJ. , the top digit is “1”
'' indicates the number of openings of the article storage section 285 in the second column to be opened, so which opening/closing body 283 should be selected based on the cumulative quantity of articles B to be taken out expressed in quaternary number. It is possible to easily judge by the number of each digit whether the object B should be moved, and by moving the opening/closing body 283 according to the judgment, it is possible to sequentially take out a desired quantity of articles B.

The article B taken out from the article cutting tool 280 is supplied to a desired container F by an article supply device.

As shown in FIGS. 12 to 16, the article retrieval tool 220 is configured as a portable housing 223 that includes partitions 221 arranged in an intersecting manner, a guide member 227 having a conical upper part, a shutter 222, and the like. Similarly to the embodiment shown in FIGS. 6 to 9, the partition 221 protrudes outward from a base 224 along the open end of the portable casing 223 of the article retrieval tool 220, and its tip is It is formed in a serrated shape. Furthermore, a guide member 227 is provided to protrude from the tip of the intersecting portion of the partition 221. Then, the protruding tip portion of the partition 221 and the guide member 227 are turned over to the opening 211 side of the container G as shown in FIGS. 14 and 15.
When trying to put the article takeout tool 220 over the container G, first the guide member 22 of the article takeout tool 220
7 enters the gap 212 formed by four articles B, and then the tip of the partition 221 separates article B and other articles B.
(See Fig. 14). Therefore, even if the container G and the article ejector 220 are slightly miscentered, the article B can be inserted into the partition 221 while being corrected to the position of the partition 221. As shown in FIG. 12, the partition 221 divides the articles B into one according to the arrangement (4 rows x 3 columns) of the articles B stored in the container G.
It is configured to be partitioned into an article storage section 226 in which each item is stored. Further, the shutter 222 is shown in FIGS. 6 to 9.
Like the embodiment shown in the figure, it is made of one plate, and all articles B can be picked up almost simultaneously by the fully automatic picking device.
The article B was attached to the proximal end of the partition 221 of the article extractor 220 so as to be openable and closable so that the article B could be transferred to the article extractor 280 of the article extractor 280 from the article extractor 220. After that, the article B is cut into the spiral chute 290 via the chute 291 and arranged in accordance with the picking command as in the previous embodiment.

Therefore, according to the article extractor 220 of this embodiment, the guide member 227 is first inserted into the gap 212 formed by four articles B among the articles B arranged in a matrix in the container G, and then, Since the tips of the seven partitions 221 are inserted, even if the articles B stored in the container G have a substantially prismatic shape as shown in FIG. 13, each article B can be reliably separated individually. Moreover, when the article removal tool 220 and the container G are overlapped, as shown in FIG.
By creating a gap δ, it is possible to smoothly transfer the article B from the container G to the article removal tool 220.

FIG. 17 shows a third embodiment of the article retrieval tool 220, in which a cap is attached to the head of an article B having a different shape from the article B shown in FIG. 13, that is, a flat plastic bottle. FIG. 3 is a perspective view schematically showing a state in which an article extracting tool 220 and an article cutting tool 280 for transferring the screwed article B are superimposed, and shows a state when the article B is cut out. Note that there is a certain amount of clearance 212 at the top (cap side) of the articles B arranged in 4 rows x 2 columns and stored in the container G, and if the container G is overturned, etc., the arrangement is likely to be disturbed. The partition 221 of the article retrieval tool 220 protrudes from the base 224, and the partition 221 of the article retrieval tool 220
When the article B is stacked on the container G, the tip of the partition 221 and the guide member 227 are formed to reach below the shoulder of the article B. Therefore, even if the arrangement of the articles B in the container G is slightly disordered due to the gaps 212 between the articles stored in the container G, when taking out the articles B,
When the container G is stacked on the article removal tool 220, the guide member 227 is first inserted into the gap 212, and then the tip of the partition 221 is inserted, and the partition 221 continues while the articles B are corrected to the original arrangement state. Therefore, the articles B stored in the container G can be reliably partitioned into individual pieces and taken out into the portable casing 223 of the article takeout tool 220.

Note that the guide member 2 used in the second and third embodiments above
27 may have a lower cylindrical portion extended to the vicinity of the shutter 222, and the shape of the upper portion of the guide member 227 may be
It may also be pyramid-shaped, soot-shaped, cannonball-shaped, hemispherical, etc. Also,
The material of the guide member 227 is not particularly limited;
It is preferable to use a material such as plastic that does not damage the guide member 227. When the guide member 227 is made of plastic and shaped like a bullet, as shown in FIG. A groove 227a corresponding to each partition 221 is provided, and the groove 227a allows the partition 2
The guide member 227 may be fixed to the partition 221 by sandwiching the notch edge 221a of the guide member 221.

Further, the opening 211 of the container G may be provided on the side surface of the container G, and the articles B may be stored in the container G in multiple stages. The articles B may be divided into two or more pieces.

In addition, the article retrieval tool 220 may be one in which the transportable housing 223 in each of the above-described embodiments is omitted, as shown in FIGS. , a guide member 227 whose upper part is formed into a conical shape.
An article takeout device body 220a and a shutter 222, which are equipped with
The partition 221 protrudes from a base 224 along the opening of the article takeout device main body 220a, and has a chevron-shaped tip. Further, a guide member 227 is provided at the intersection of the partitions 221 so as to protrude from the tip of the partitions 221. In addition, the article removal tool main body 2
20a is formed by a frame 220b having a U-shape in plan view and including the partition 221, a guide member 227, etc., and a groove 228 is formed inside the frame 220b (see FIG. 19), and A notch 229 through which the first engaging convex portion 245a of the first gripping hand 245 passes and a first gripping hand 2 are formed on a pair of opposing side surfaces of the article extractor main body 220a.
The engagement recess 225 that engages with the second engagement protrusion 245b of No. 45
are provided for each. Further, the shutter 222 is made of one plate as in each of the above embodiments, and all articles B can be picked up almost simultaneously by the fully automatic picking device N20.
The opening of the article extractor 220 is opened by sliding along the groove 228 of the article extractor body 220a so that the article extractor 280 can be transferred to the article extractor 280 of No. 0. Further, on both opposing sides of the shutter 222, there is provided an article retrieval tool main body 220a in a closed state of the shutter 222.
An engagement recess 222a is provided at a position that corresponds to the notch 229, and the first engagement protrusion 245a of the first gripping hand 245 and the engagement recess 222a are configured to engage with each other. Then, after overlapping the container G on the article take-out tool 220, when the article take-out tool 220 and the container G are turned over as shown in FIG.
The articles are placed on the shutter 222 and taken out by the article extractor 220 in the same arrangement as they are stored in the container G, and wait to be transferred to the article extractor 280.

However, when a transfer command is given to the article cutting tool 280, the shutter 222 is opened, and after the article B stored in the container G is transferred to the article cutting tool 280, the article B is moved according to the picking command. It is configured so that the products are cut into a spiral chute 290 via a chute 291 and arranged.

In relation to the article retrieval tool 220, the first gripping hand 245 used in this embodiment also differs from the above embodiments in the structure of its engaging convex portion. That is, the first gripping hand 245 of this embodiment has a first gripper that penetrates through the notch 229 of the article extractor main body 220a and engages with the engagement recess 222a on the side surface of the shutter 222, as shown in FIGS. 19 and 20. The first gripping hand 245 is provided with a first engaging convex portion 245a and a second engaging convex portion 245b that engages with the engaging recess 225 provided on the side surface of the article retrieval tool main body 220a.
can grip the article takeout tool body 220a and the shutter 222 simultaneously and reliably, so that the article takeout tool main body 220a does not fall during reversal, and the shutter 22
It is configured so that 2 will not be left out. Further, the first gripping hand 245 is attached to the article retrieval tool body 22.
0a and the shutter 222 through the notch 223 of the article retrieval tool main body 220a and perform a reversal operation, the shutter 222 is held by the first gripping hand 245.
Since the shutter 222 is held by the protrusion 245a, the shutter 222 will not fall off.

Note that the engagement recess 225 of the article extractor main body 220a and the second engagement protrusion 245b of the first gripping hand 245 may be omitted, and the first engagement protrusion 245a of the first gripping hand 245 may be omitted. may be provided only on one of the first gripping hands 245, or the tip of the first engagement protrusion 245a may be flat and the engagement recess 222a may not be provided on the shutter 222.

In addition, a separate actual flow side of the article cutting tool 280 constituting the fully automatic picking device 200 is connected to the article cutting tool 38.
0, and will be explained with reference to FIGS. 21 and 22. FIG. 21 is a perspective view showing the article cutting tool 380;
FIG. 2 is a perspective view with the casing 381 omitted to facilitate understanding of the structure of FIG.
As shown in FIG. 21, the article B is stored in the article B transferred from the article extractor 220 (not shown) and is configured to be cut out one by one.
It is fixedly installed on the upper part of the chute 291 for guiding the guide to the chute 90.

The partitions 221 of the article take-out tool 220 (corresponding to the partitions 382 that separate the articles B one by one) are arranged in a matrix (4 rows x 6 columns) partitioned by the partitions 382. Multiple article storage sections (first article storage section) 38
5, a first opening/closing body (plate shutter) 383a and a second opening/closing body (individual shutter) 383b that open and close the article storage section 385, a first drive mechanism 387 that drives the plate shutter 383a, and A second drive mechanism 388 that drives the individual shutter 383b is provided. 383b is a plate having approximately one row of convergence, and is provided with four individual shutters 383b corresponding to each of the article storage sections 385 in the column direction (X direction in FIG. 21).
It is configured to move in the X direction every 3b. Further, a guide plate 284 (see FIG. 5) is provided at the upper end of the article cutting tool 380 to guide the article picking tool 220 so as to be smoothly stacked on the article cutting tool 280.

The housing 381 is straddled over a rail frame 286 formed in a rectangular shape, and the lower surface of the housing 381 has an opening formed in the lower surface of the housing 381 through a plate shutter 383a and an individual shutter 383b. It is arranged to be closed. The plate shutter 383a and the individual shutter 383b are each configured to be movable integrally and relative to each other by approximately one row in the X direction. However, the plate shutter 383a is attached to the housing 38 as described above.
The servo motor 387C is configured to slide in the X direction by receiving the driving force of a servo motor 387C through a pinion 387b that meshes with a rack 387a disposed along one side of a rail frame 386 fixed to the rail frame 386. By pulse-controlling the motor 387C, the stop position of the plate shutter 383a is determined in correspondence with the position of one row of openings of the article storage section 385.

On the other hand, the individual shutter 383b is a plate shutter 383.
It is configured to be able to move forward and backward by approximately one row in the X direction from one side edge of a. That is, a channel-shaped guide frame 38 is provided on the back surface of the plate shutter 383a.
8a is arranged in the X direction, an air cylinder 388b is attached perpendicularly to the inner side surface of the guide frame 388a, and the individual shutter 383b is attached to the rod tip of the air cylinder 388b. and,
The rod moves forward and backward by the operation of the air cylinder 388b, and the individual shutter 38 is formed on the outer side surface of the guide frame 388a and passes through the guide hole 388C.
3b are configured to move forward and backward individually.

Therefore, the article storage sections 385 are arranged in a matrix of 4 rows and 6 columns in the article cutting tool 380 of this embodiment.
(See Figure 21) The articles B transferred to
The plate shutter 383a and individual shutter 383b that open and close the opening of the article storage section 385 are arranged in the row direction (X direction).
When all the articles B have been sequentially cut out from the article cutter 280, the shutter 222 of the article extractor 220 is opened. All the articles B stored in the article extractor 220 or the article extractor 3
80 automatically.

In this embodiment, when automatically taking out the article B from the article cutting tool 380, the article B transferred to the article cutting tool 380 is adjusted according to the desired quantity based on the picking command. After converting the cumulative quantity from a decimal number to a quaternary number, based on the converted quaternary number, more specifically, based on the value of each digit of the quaternary number, the plate shutter 383a and the individual shutters are set as shown in FIG. 383b is moved in the row direction (X direction) to sequentially take out a desired number of articles B.

FIG. 23 is a schematic plan view of FIG. 21, showing the article cutting tool 3.
This figure shows to which position the plate shutter 383a and the individual shutter 383b are moved when the cumulative number of articles B taken out from the article 80 is six. In order to completely close the opening of the article storage section 385, when all four individual shutters 383b are in the position where the article storage section 385 is closed (the position where all the individual shutters 383b protrude), Individual shutter 3
The positional coordinates of the opening/closing body 383 consisting of the plate shutter 383a and the individual shutter 383b when the right end of the plate 83b is located at the outer corner of the housing 381 are set as the origin O, and the coordinates of the opening and closing body 383 consisting of the plate shutter 383a and the individual shutter 383b are If the row direction (X direction) of movement is defined as the X axis, and the direction perpendicular thereto, that is, the column direction (X direction) is defined as the y axis, FIG. 23 shows the plate shutter 383a and the individual shutter 3.
The case where 83b is the coordinate value (1, 2) of the position to be moved is shown.

That is, as shown in Table 2 below, the opening/closing body 383 was fully closed (
Is the opening/closing body 383 at the origin 0? & (0,0)) When taking out six items B, the plate shutter 38
3a in the X-axis direction by one row, and at the same time move the -Koseki individual shutter 383b and the next individual shutter 383b to open the two individual shutters 383b (retract the individual shutter 383b). By doing so, the plate shutter 383a and the two articles B are removed so as to take out a total of six articles B, including four articles B corresponding to one row and two articles B in the next row. The individual shutters 383b move in the X direction. That is, the third and fourth individual shutters 383b from the right are in a protruding state.
The opening/closing body 383 moves to a position where the position coordinate values of the right tip of the plate of the individual shutter 383b located on the rightmost side are (1, 2). In this case, the numerical value 12 when converting the cumulative takeout quantity of the six articles B in decimal notation into a quaternary number corresponding to the number of rows 4 in this example matches the position coordinate values (1, 2). .

That is, the X coordinate value of the position coordinate value matches the numerical value of the upper digit of the quaternary number, and the y coordinate value of the position coordinate value matches the numerical value of the lower digit of the quaternary number.

When taking out three more items B, that is, the total number of items taken out is 9.
In the case of individual shutters 38, first, the second individual shutter 38 from the right
3b is protruded and the corresponding article storage section 385 is closed, and then the plate shutter 383a is further moved by one column, thereby the three articles B are taken out. In this case, the position coordinate value of the right tip of the plate of the individual shutter 383b is (
2, 1), and each coordinate value is the quaternary value 21 (
Matches 9) in decimal.

That is, assuming that the total number of rows in the y-axis direction of the article storage section 385 in the housing 381 is n, the cumulative number of articles B to be taken out is converted from a decimal number to an n-ary number corresponding to the value of the total number of rows n. y-coordinate indicating the position of the right tip of the plate of the rightmost individual shutter 383b among the individual shutters 383b in which the lower digit of the converted n-ary number is projected;
Using the upper digit as its X coordinate, it is possible to easily calculate the position to which the opening/closing body 383 consisting of the plate shutter 383a and the individual shutter 383b should move according to the cumulative amount taken out, and the numerical value of each digit of the calculated result. The plate shutter 383a and the individual shutter 383b are moved accordingly.

Furthermore, the pulse value corresponding to the size of the article B is set by the servo motor 3.
87C and guide frame 388a.
By adjusting the position, one type of plate shutter 383a and individual shutter 383b can be used for articles B of all sizes without replacing the plate shutter 283a and individual shutter 383b or changing their arrangement. You can take it out.

Therefore, by controlling the movement of the plate shutter 383a and the individual shutters 383b according to the total number of articles B to be taken out which has been converted from a decimal number to an n-ary number, as in each of the above embodiments, a desired quantity of articles B can be accurately and It can be taken out reliably.

In the embodiment shown in FIGS. 21 to 23 described above, the fourth individual shutter 383 from the right (leftmost)
Instead of providing b, a fixed plate may be provided. That is, the number of individual shutters (second 1 m closed body) 383b may be one less than the number of rows of the article storage section 385. In this case, for example, when taking out one item B stored in the fourth row from the right (the leftmost (llII) row), the individual shutters 383b on the right to the third individual shutter 383b from the right are protruded. Even if one article B is taken out from the corresponding article storage section 385 by closing the corresponding article storage section 385 and then moving the plate shutter 383a by one column, that is, opening it by one column. good.

Incidentally, the plate shutter 383a shown in FIG. 22 may be driven by a chain.

In each of the embodiments described above, it goes without saying that in the matrix arrangement of the article storage sections 385, any direction may be treated as a row or a column.

In addition, the article transfer device A of each of the above embodiments is shown in FIGS. 24 to 2.
6 By configuring as shown in Figure 6, the article B in the container G
It is possible to reliably transfer items without disturbing the storage condition.

That is, as shown in FIG. 24, the article transfer device A of this embodiment takes out the container G from the flow [28] in which the article B stored in the container G is stored, and transfers the article. A device that transfers only the article B in the container G to the cutting tool 280, a fluidizing shelf 28 and a fully automatic picking device 20
It is located between 0 and 0.

Therefore, the reversing device 240 is a stacker crane 260.
Flowing on the carriage 250 4! A running platform 242 that runs along the flow direction of containers G stored in I28, that is, in the front-rear direction with respect to the flow shelf 28, a frame 243 erected on the running platform 242, and an upper end of the frame 243. A rotating shaft 244 supported nearby, a first gripping hunt 245 that opens and closes in the axial direction of the rotational shaft 244 (hereinafter referred to as the left-right direction) and grips the article retrieval tool 220, and a base end of the first gripping hunt 245. A guide member 246 hangs clockwise in a direction approximately 90' with respect to the hanging direction of the first gripping hand 245 centering on the axis of the rotating shaft 244 from a position slightly offset toward the tip side from the guide member 246; The first gripping hand 2 lifts and lowers the container G while gripping it along the
45 is configured to include a second gripping hand 247 for overlapping the container G on the gripped article removal tool 220, and the like.

Of these, the first and second gripping hands 245, 247 and the guide member 246 constitute the overlapping device N241, and the reversing device 240 rotates the overlapping device 241 together with the rotating shaft 244 as a fulcrum. It is configured. Further, the first gripping hunt 245.245 is configured to be attached perpendicularly to the rotation shaft 244 via the arms 243a, 243a so as to be able to rotate together with the rotation shaft 244. In addition, a pair of arms 243a, 24
3a is a screw shaft 24 parallel to the rotating shaft 244.
8, that is, a screw shaft 248 having a right-hand thread on one side and a left-hand thread on the other is installed from the center of the shaft, and by driving the screw shaft 248, a pair of arms 243a, 243a are formed.
a pair of first gripping hunts 245.24 by expanding and contracting the interval between them.
5 can be opened and closed. Further, on the inside of the first gripping hunt 245, an engagement protrusion 245c is provided which engages with an engagement recess 225 formed near the base 224 on both sides of the open end of the article retrieval tool 220. The gripping hunt 245 is configured to be able to reliably grasp the article retrieval tool 220, and also to prevent the article retrieval tool 220 from falling during reversal. In addition, the second gripping hand 247 has a container support stand 247a, which is a perforated plate that supports the bottom surface of the container G in a substantially planar shape, and a pair of grip plates 247b that move in the left-right direction above the container support stand 247a. , 247b, and a screw shaft 247c for opening and closing the gripping plates 247b, 247b, that is, a screw shaft 247c having a right-hand thread on one side and a left-hand thread on the other from the center of the shaft.
47b in the left-right direction to the desired gripping distance, expand or contract the distance between them, and grip the container G! There is nothing like that. Further, the container receiver is configured such that when the platform 247a is located at the lower end, the wheels of the wheel conveyor 236 fit into the hole of the platform 247a and protrude from the hole. Further, the guide member 246 is provided with a screw shaft 246a along the guide member 246, and by driving the screw shaft 246a, the second gripping hand 247 is raised and lowered along the guide member 246, and thereby the container G is superimposed on the article takeout tool 220.

Therefore, according to this embodiment, the stacker crane 260
The reversing device F
240 moves to the desired position, and the container removal device M
230 takes out the container G stored in the desired removal opening 271. That is, when the carriage 250 of the stacker crane 260 stops at a desired position, the carriage 242 moves forward toward the take-out opening 271, and the swing conveyor 23
5 swings the container take-out side upward about the pivot point 232 to take out one container G, and then carries the container G into a predetermined position on the wheel conveyor 236. At this time, since the stand 247a of the container receiver is previously positioned at the lowering end, the stand 247a of the container receiver is positioned below the container G that has been carried in.

After that, when the second gripping hand 247 moves along the guide member 246 to the centering position, that is, to a position where the upper surface of the container holder 247a is higher than the upper surface formed by the wheel conveyor 236, the container holder 247a moves upward. While supporting the removed container G in a substantially planar bottom surface, the gripping plates 247b1247b close to a desired distance by driving the screw shaft 247c, thereby gripping the container G from the side and centering it. After centering, the second gripping hand 247 moves up along the guide member 246 and lifts the gripped container G to the vicinity of the base 224 of the article takeout tool 220, as shown in FIGS. 14 and 15. The distal end of the partition 221 protruding downward from the container G and the guide member 227 are inserted into the container G, and then the container G is stopped. Therefore, since the base 247a of the container holder supports the bottom surface of the container G in a substantially planar manner, the partition 221 can be moved toward the opening 211 of the container G without disturbing the storage state of the articles B stored in the container G. It can be inserted smoothly.

Note that the container holder may have a comb-shaped platform 247a so that it faces the comb-shaped gaps of a plurality of chain conveyors instead of the wheel conveyor 236.

Alternatively, the container takeout device 230 may be provided independently on the carriage 250 instead of on the carriage 242 so that it runs independently of the carriage 242.

"Description of the semi-automatic picking system N400" Fig. 27 (A) is a plan view showing the semi-automatic picking system, Fig. 27 (B) is a plan view of the main parts showing the container conveyance line, and Fig. 28 is a plan view showing the container feeding device. 29 is a front view of FIG. 28, FIG. 30 is a view along the line IV-IV in FIG. 29, FIG. 31 is a plan view showing the main parts of FIG. 27, and FIG. The figure is a side view of figure 31, figure 33
The figure is a perspective view showing a semi-automatic picking device.
Fig. 34 is a perspective view showing the reserve tank and cutting device of the semi-automatic picking device, Fig. 35 is a sectional view showing the reserve tank and cutting device of the semi-automatic picking device, and Fig. 36 (A) is the x of Fig. 35.
- Cross-sectional view along the X-ray, Figure 36 (B) is Figure 36 (A)
Fig. 37 is a perspective view showing the front side reserve tank, Fig. 38 is a perspective view showing the near side cutting device, Fig. 39 (A) is a perspective view showing the back side reserve tank,
Figure 9 (B) is the free roller arrangement diagram of Figure 39 (A),
Figure 40 is a perspective view showing the back side cutting device, Figure 41 (A
) is a perspective view showing an integrated shutter used for the reserve tank, FIG. 41(B) is an enlarged sectional view of section B in FIG. 41(A),
FIG. 42(A) is a perspective view showing a modification of the integrated shutter;
Figure 42 (B) is an enlarged view of part C in Figure 42 (A),
44(A) and 44(B) are perspective views showing a shutter driving device used in a cutting device, FIG. 44(A) is a perspective view showing a modified example of the shutter driving device, and FIG. A)
FIG. 45 is a perspective view showing another modification of the shutter drive device, and FIGS. 46(A) and (B) show the shutter of FIG. 45. FIG. 47 is a schematic diagram showing a cutting device using a drive device; FIG. 47 is a perspective view showing still another modification of the shutter drive device;
Fig. 8 is a perspective view showing a cutting device using the shutter drive device shown in Fig. 47, Fig. 49 is a perspective view showing a modified example of the reserve tank, and Figs. 50 (A) and (B) show a drawer reserve tank. Schematic diagram: Figure 51 is an enlarged view of part D in Figure 50 (B), Figure 52 is a schematic diagram showing a modification of the drawer reserve tank, and Figure 53 (A) is for explaining the frame structure of the picking device. A perspective view showing a modification example, FIG. 53 (B
) is a view taken in the direction of arrow E in Fig. 53 (A), Fig. 54 is a perspective view showing the three-stage semi-automatic picking device, and Figs. 55 (A) and (B) are the drawer reserve tank drawn out state in Fig. 54. 55(A) is a plan view thereof, FIG. 55(B) is a sectional view taken along the Y-Y line in FIG. 55(A), and FIGS. 56(A) and (B) are schematic diagrams showing the same. 55(A) and 55(B) are enlarged views of main parts, FIG. 57 is a plan view showing a picking system according to another embodiment of the present invention, and FIG. 58 is an article in a picking system to which the present invention is applied. FIG. 59 is a flow chart showing the control procedure in the picking system to which the present invention is applied; FIG. 60 (A) shows a state in which an article with a spray cap is stored in a container. A plan view, FIG. 60 (B) is a front view,
Figure 61 (A) is a plan view showing the state in which the articles shown in Figure 60 have been transferred to the reserve tank, and Figure 61 (B) is the
1(A) is a plan view showing the state in which the article shown in FIG. 60 has been transferred to another reserve tank with a partition provided in a different position from that shown in FIG. 61(A). FIG. 62 (A) is a front view corresponding to the plan view shown in FIG. 61 (A) and FIG. 61 (B). 62(B) is a front view thereof, FIG. 62(C) is a side view thereof, and FIG. 63(A) is a plan view showing the state in which the article shown in FIG. FIG. 63 (B) is a plan view showing the state stored in the container, and FIG. 64 (B) is a front view thereof.
A) is a plan view showing the state in which the articles shown in Fig. 63 have been transferred to the reserve tank, Fig. 64 (B) is a front view thereof, and Fig. 65 (A) shows the state in which the articles inserted in the tray are stored in the container. 65(B) is a front view thereof, FIG. 66(A) is a plan view showing the state in which the article shown in FIG. 65 has been transferred to the reserve tank, and FIG. B) is a front view thereof, FIG. 67(A) is a plan view showing a state in which the articles stored in the inner box are stored in the container, FIG. 67(B) is a front view thereof, and FIG. 68(B) is a front view thereof. A) is a plan view showing the state in which the articles shown in FIG. 67 have been transferred to the reserve tank;
FIG. 68(B) is a front view thereof.

The semi-automatic picking system 410
As shown in FIG. 7, a container supply line 411 (semi-automatic picking system 410 of line L2 in FIG. 2)
), feeding machine 412 (container supply bag W), flow shelf 413 (storage device), semi-automatic picking device 400, container transport line 415 (semi-automatic picking system 410 of line L1 in FIG. 2),
).

The semi-automatic picking device 400 is
As shown in FIGS. 31 to 33, the reserve tank 416
(article take-out device), a cut-out device 417 (article cut-out device), a collection conveyor 418, and an input conveyor 419.

And semi-automatic picking system 410
In this case, the above-mentioned elements are used to flow the articles B as shown in FIG. 58, and the articles B are picked and arranged as shown in (1) to (2) below.

(2) In response to a replenishment request to the flow shelf 413, a container G (container) containing the article B for which replenishment is requested is supplied to the container supply line 411.

(2) The container supply device f412 supplies the containers G supplied to the container supply line 411 to a predetermined position on the fluidization shelf 413.

■In response to a request for transfer of the semi-automatic picking device 400 to the reserve tank 416, the liquid shelf 413
Inside, the article B is taken out from the container G in which the article B for which the transfer request was made is stored, and all the articles B in the container G are transferred to the reserve tank 416.

(2) The designated number of articles B corresponding to the currently input container F on the container transport line 415 are supplied from the cut-out device 417 to the collection conveyor 418 and received.

■The article B received by the collection conveyor 418 in the above step (■) is collected by the input conveyor 419.

■When the current input container F on the container transport line 415 arrives at the outlet (loading section) of the input conveyor 419, the articles B collected on the input conveyor 419 are loaded into the container F.

In addition, the above semi-automatic picking system 41
0, semi-automatic picking device 400
is constructed as one unit, which is equipped with a single collection conveyor 418 and input conveyor 419, and 20 sets of reserve tanks 416 and cut-out devices 417 corresponding to, for example, 20 types of articles B. The semi-automatic picking system 410 is, for example, a semi-automatic picking system of five units, first to fifth.
400 are arranged in series in the transport direction of the container transport line 415. Therefore, each time the container F transported by the container transport line 415 reaches each of the first to fifth semi-automatic picking devices 400, the container F selected from 20 types is transferred to each of the semi-automatic picking devices 400. The first to fifth semi-automatic picking devices 400 are supplied from the cutting device 417 via the collection conveyor 418 and the input conveyor 419.
When the item B passes through, item B selected from 100 types is thrown in and the picking ends. The fluid shelf 413 is a storage tank for all 100 reserve tanks 41 included in the first to fifth semi-automatic picking devices 400.
6, in order to be able to replenish all 100 types of goods B,
A total of 100 frontages will be arranged in parallel.

Each element of the semi-automatic picking system 410 will be described in detail below.

(A) Container supply line (see FIG. 27) The container supply line 411 is composed of a container supply conveyor 431.

The container supply conveyor 431 is loaded with containers from storage equipment such as an automatic warehouse in which all 100 types of containers G containing each of the 100 types of articles B handled by this semi-automatic picking system 410 are stored in pallets. , in response to a replenishment request to the flow shelf 413, and as described above, is depalletized by a surface-based picking device or the like, and for example, one surface (one of the plurality of articles B stacked on a pallet).
A container G containing desired articles B in layer units is carried in.

(B) Container supply bag N (see FIGS. 27 to 30) The container supply device 412 is composed of a stacker crane 441.

The stacker crane 441 mainly includes a crane main body 443 that is supported by upper and lower rails 442 and runs left and right along the entrance of the warehouse 61413, and a cart 445 that follows this via a container transfer conveyor 444. , containers G on the container supply conveyor 431 can be supplied to any opening of the fluidization shelf 413 by a container storage device 447 provided on a container transfer conveyor 444 and an elevating section 446 of the crane main body 443.

To explain the stacker crane 441 in more detail, the lifting section drive unit W448 in the crane main body 443
On the elevating part 446 that can be raised and lowered by
47, from the container transfer conveyor 444 to the container storage device 4
Three roller conveyors 449 to transfer container G to 47
are arranged in series. As the container storage device 447,
A feeding device consisting of a roller conveyor with a centering guide 450 is used. The rollers of the container storage device 447 are arranged diagonally, and the centering guide 450 moves the containers G to be fed to the fluidized shelf 413 according to their sizes by computer-controlled power cylinders (not shown). The container storage device 447 is centered at the center of the roller conveyor. Three roller conveyors 449 for transferring containers G from the container transfer conveyor 444 to the container storage device 447 are provided perpendicularly to the container storage device 447, and the roller conveyor 449 in the center , a conveyor 451 for guiding the containers G supplied from the container transfer conveyor 444 is attached. In addition, the crane main body 443 is equipped with a travel drive device 452 for making the crane main body 443 self-propelled, a crane control device 454 for controlling the travel drive device 452, the lifting section drive device 448, and the like.

Moreover, the truck 44 in the stacker crane 441
5, a curved conveyor 456 and a conveyor 457 for transferring the containers G from the container supply conveyor 431 to the container transfer conveyor 444 are positioned at the same height as the container supply conveyor 431. They will be installed sequentially. The tip of the conveyor 456 is positioned close to the side edge of the upper surface of the container supply conveyor 431, and one side of the tip is provided so that the containers G can be smoothly transferred to the conveyor 4.
A guide conveyor 458 introduced into the container supply line 4
It is provided so as to protrude above 31.

Furthermore, the container transfer conveyor 444 in the stacker crane 441 has one end attached to the elevating section 4 of the crane main body 443 so as to connect the roller conveyor 449 of the crane main body 443 and the conveyor 457 of the truck 445.
46, and the other end is located at the same height as the container supply conveyor 431, and is rotatably supported on a fulcrum 455A of the platform 455 of the cart 445.

(C) Fluid shelf (see Figures 27, 31, and 32) The fluid shelf 413 stores containers G (containers such as cardboard boxes and plastic containers in which article B is stored and whose top surface is usually cut off). multiple rows (for example, 2 rows up and down, 5 rows left and right)
Roughly, for each frontage, there is provided a free conveyor 461 that slopes forward and downward so that the stored container G can be moved forward by its own weight, and this free conveyor A container receiving stand 462 is disposed at the end (front end) of the container 461. The free conveyor 461 at each frontage is composed of a pair of roller conveyors, and the container receiving stands 462 are horizontally continuous along the frontage surface of a plurality of rows, and the container receiving stands 462 are horizontally continuous along the frontage surface of each stage. A plurality of stages (for example, two stages) are provided in the vertical direction to correspond to the above. Furthermore, a take-out surface 463 for containers G is formed on the front surface of the fluidizing shelf 413, and this take-out surface 463 corresponds to each unit of the semi-automatic picking device 400, which has a total of five units, the first to fifth units. It is divided into five zones. In this example, each zone has 2 rows stored in 10 rows x 2 rows = 20 frontages.
It is set to be in charge of taking out each container G containing 0 types of articles B.

The articles B in the containers G stored in each opening of the fluidization shelf 413 are transferred to the respective reserve tanks 416 of the corresponding semi-automatic picking device ff400 in the horizontal and vertical directions. That is, each frontage of the fluidizing shelf 413 and each reserve tank 41 of the semi-automatic picking device 400 correspond to each other in the horizontal and vertical directions.
6 is set to handle the same article B.

In addition, as a structure of the free conveyor 461, wheels may be used instead of rollers.

Therefore, a stopper 464 is provided between the free conveyor 461 and the container receiving stand 462 at each frontage of the fluidizing shelf 413, and the containers G stopped by the stopper 464 are moved toward the container receiving stand 462. A container take-out device 465 for taking out the container is provided, and the container take-out device 4
65 is a lifting platform 467 that is raised and lowered by an air cylinder 466.
By projecting upward from the stopper 464, the containers G are taken out one by one. Further, 468 is a container takeout operation button for operating the air cylinder 466, and is provided on the surface of each frontage so as to be aligned with a transfer article display 469, which will be described later.

In addition, a transfer item display 469 is arranged at an easily visible position in front of each frontage of the flow shelf 413.

That is, in the semi-automatic picking system 410, when it becomes necessary to transfer the article B in the container G in the fluidized shelf 413 to any of the reserve tanks 416 of the semi-automatic picking device 400, (a) A transfer request indicator 470 (described later) provided on the front of the tank 416 is made to blink, and (b
) A transfer article indicator provided at the frontage of the fluidization shelf 413 facing the reserve tank 416, that is, the frontage of the fluidization shelf 413 storing the container G containing the article B to be transferred to the reserve tank 416. 469 flashes to notify the worker of this.

Note that when a request for transfer to the reserve tank 416 occurs simultaneously in a plurality of reserve tanks 416, (1) If the width of one unit of the semi-automatic picking device 400 is small, the transfer item indicator 469 and the transfer request indicator 470 is made to blink one set at a time, and one unit width of the semi-automatic picking device F400 is large and 2
If more than one worker is assigned to each unit, a plurality of sets of transfer article display 469 and transfer request display 470 are flashed simultaneously. Transfer item display 46
9. The transfer request display 470 can also be configured with an illuminated push button that can be turned off by the operator after the operator has completed the transfer.

(D) Semi-automatic picking device (Fig. 27,
(See FIGS. 31 to 53) As described above, the semi-automatic picking device j400 includes a single collection conveyor 418 and a single input conveyor 419.
On the other hand, a plurality of sets (for example, 20 sets) of reserve tanks 416 corresponding to a plurality of types (for example, 20 types) of each article B,
The unit equipped with the cutting device 417 is constructed as one unit, which facilitates handling of the device (see FIGS. 31 to 34).

However, the semi-automatic picking device 400
The article retrieval positions 26OA for taking out the article B stored in each reserve tank 416 are set in two stages at positions facing the fluidized shelves 413, and the reserve tank 416 is placed above each article retrieval position 26OA. The reserve tank 416 is placed forward above the article take-out position 26OA,
That is, it is configured so that it can be moved to the fluidized shelf 413 side. That is, the semi-automatic picking system 410
, the worker moves the reserve tank 41 of the semi-automatic picking device 400 to place the articles B in the containers G stored in each opening of the fluidizing shelf 413 as described above.
When transferring to 6, empty reserve tank 416
After pulling out the article B from the article take-out position 26OA to the fluidization shelf 413 side and transferring the article B to the reserve tank 416 located on the fluidization shelf 413 side, the reserve tank 416 into which the article B was transferred is transferred to the article take-out position 260A. It will be pushed back up.

The semi-automatic picking device 400 is equipped with a transfer request indicator 470 on the front of each reserve tank 416 as described above, and when the reserve tank 416 is empty, the transfer request indicator 470 blinks. This will be made known to the workers. At this time, the liquid shelf 413
Transfer goods indicator 469 provided in the corresponding frontage of
As mentioned above, the light also blinks. Incidentally, since the reserve tank 416 on the near side does not move, each indicator 470 is attached to an indicator mounting member 470A, which is a common passage member for all the reserve tanks 416 adjacent to the left and right. On the other hand, the display 470 of the reserve tank 416 on the back side is attached to an independent display mounting member 470B for each reserve tank 416.

And, the semi-automatic picking device 400 is
Article removal position 26 where reserve tank 416 is set
A cutting device 417 is placed below 0A. That is, in the semi-automatic picking system 410, the semi-automatic picking device 400 has a reserve tank 416 and a cutting device 417 stacked one on top of the other, and all of the articles B transferred to the reserve tank 416 are stored in the reserve tank 416. Shutter device 47
1 is opened and transferred to the lower cutting device 417, the shutter W472 of the cutting device 417 is opened, and an arbitrary number of the articles B are cut out from the cutting device 417 to the collection conveyor 418. Something will happen.

At this time, in the semi-automatic picking device 400, the reserve tank 416 and the cutting device W417 each have a plurality of storage spaces 473, 4 arranged in 2 columns x n rows.
74 (article storage section) is set up, and the articles B stored in each container G stored in each frontage of the flow shelf 413 in a random or predetermined arrangement are manually transferred to the reserve tank 416 by an operator. The articles B transferred to the storage tanks 416 are transferred to the storage spaces 473 of
The articles B transferred to each of the storage spaces 474 of 7, and further transferred to this cutting device 417, are cut out in units of storage spaces 474 by controlling the opening of each of the shutter devices W472 described above. Incidentally, the integrated shutter device 471 and the shutter device 472 are the semi-automatic picking device 4.
It is controlled by a picking control device (not shown) included in 00.

However, the above-mentioned reserve tank 416 and cutting device 41
Each of the storage spaces 473 and 474 in 7 has vertical and horizontal partitions 490 and partitions, which will be described later, so that the articles B, which are arranged and stored at predetermined intervals in the container G, can be stored within an interval wider than the above-mentioned interval. Frame 490A, partition wall 490B
, and a partition plate 490D.

And, the semi-automatic picking device 400 is
In order to arrange the articles B cut out as described above from the plurality of cutting devices 417 (for example, 20 pieces) constituting one unit and supply them to the container F on the container transport line 415, the following sorting is carried out. It has equipment.

In other words, the sorting device includes a semi-automatic picking device and 400 total cutting devices 417 that constitute one unit.
a chute 480 disposed below the cutting device 417 along the
The aforementioned collection conveyor 418 disposed along 17;
The loading conveyor 419 is disposed downstream of the collection conveyor 418 and collects the articles B cut from each cutting device 417 to the collection conveyor 418. In the goods sorting device, the goods collection conveyor 41
8 and the collection and transportation speed of the input conveyor 419 are configured to be approximately proportional to the long collection and transportation distance of the collection conveyor 418 and the narrow collection and transportation distance of the input conveyor 419. As a result, the articles B cut out from each cutter W417 along the longitudinal direction of the collection conveyor 418 so as to be scattered on the collection conveyor 418 are longer on the high-speed side due to the difference in conveyance speed between the collection conveyor 418 and the input conveyor 419. The articles B are transferred from the collection conveyor 418 onto the input conveyor 419, which is shorter and slower, and as a result, the articles B are tightly collected on the input conveyor 419 without being damaged.

Note that the input conveyor 419 is equipped with a conveyance speed change device (not shown). The conveyance speed changing device is controlled by the picking control device, and changes the unloading conveyance speed of the input conveyor 419 (the speed of unloading the article B to the container G on the container conveyance line 415) to the collection conveyance speed of the input conveyor 419 (the speed of the pickup conveyor 418). The speed is changed so that the speed is faster than the speed at which the machine receives the item B delivered by the machine. As a result, article B
When the items are first received by the input conveyor 419, they are immediately collected in a dense manner to complete the assortment, and in the next step, the group of articles for which the assortment has been completed is loaded into the container G. The reserve tank 416 and cutting device 417 will be described in more detail below. As shown in FIGS. 35 and 36, the reserve tank 416 has a storage mass assembly 492 that can be attached to and detached from the reserve tank body 491.
The peripheral flange portion 492A of the storage mass assembly 492 is supported by the opening support edge portion 491A of the reserve tank body 491. As described above, the storage mass assembly 492 forms a plurality of storage mass 473 arranged in 2 columns x n rows by vertical and horizontal partitions 490, and one or more predetermined articles can be stored in each storage mass 473. B can be stored.

In addition, the reserve tank 416 is a reserve tank main body 4.
At the bottom of 91, the above-mentioned partial shutter device 471 is provided. As shown in FIG. 35, FIG. 36 (A), (B), and FIG. 41 (A), (B), the integrated shirt stand M471 is
A chain 494 is wound around four wheels 493 disposed on both inner walls of the reserve tank body 491, and a chain 494 is wrapped around a part of the left and right chains 494 in the longitudinal direction and corresponds to the bottom of the reserve tank body 491. Attach the attachment 495, pass the slats 496 between the left and right opposing attachments 95, and then
A partial shutter 497 made of a continuous thin and slippery sheet is attached to the upper surface of the shutter. Then, the integrated shutter device 471 rotates the wheel 493 and the chain 494 forward and backward by a motor 498 controlled by the picking control device, and partially opens the bottom opening of the reserve tank body 491 using the shutter 497 . As a result, in the reserve tank 416, as described above, the body shutter device M471 is closed to store and hold the articles B in each of the storage spaces 473, and the integrated shutter device 471 is opened to store and hold all the articles B at the same time. It is possible to transfer it to each storage space 474 of the lower cutting device 417.

The integrated shutter device 471 is shown in FIGS. 42(A) and 42(B).
), in a part of the chain 494 in the longitudinal direction and corresponding to the bottom of the reserve tank body 491,
The support shaft 4 is passed between the opposing chains 494 on the left and right sides.
95A may be provided, and a partial shutter 497 made of a continuous thin and slippery sheet may be attached to the upper surface of the entire support shaft 495A.

Further, as shown in FIG. 51, the storage mass assembly 492 of the reserve tank 416 includes a partition frame 490A and a partition frame 49.
A central partition wall 490B fixed at the center of the interior of 0A, and a slit 4 provided in the partition frame 490A1 central partition wall 490B.
It may be composed of a partition plate 490D that is detachably inserted into the 90C. In this case, the partition plate 490D
are inserted into all or part of the slits 490C to form the required 2 columns x n rows of storage spaces 4 in the storage space assembly 492.
73 can be formed. Therefore, a certain reserve tank 4
Even if the type (size, number of required storage spaces 473) of the article B to be stored in the storage space 16 changes, it can be easily handled by replacing the partition plate 490D with another slit 490C. In addition, the number and size of the storage spaces 473 are determined so as to be able to accommodate all the articles B handled by the above-mentioned semi-automatic picking system 410,
The slits 490C are provided in the number of slits 490C and at respective intervals.

The cutting device 417, as shown in FIGS. 35 and 36,
The storage mass assembly 501 is provided with vertical and horizontal partitions 502, and as described above, the storage mass 47 of the upper reserve tank 416 is provided with vertical and horizontal partitions 502.
A plurality of storage spaces 474 arranged in 2 columns x n rows corresponding to 3.
The above-mentioned reserve tank 4 is formed in each storage space 474.
One or more articles B supplied from 16 storage spaces 473 can be stored therein. In addition, the cutting device 41
In the storage mass assembly 501 of No. 7, the partition 502 may be configured to be detachable, like the storage mass assembly 492 of the reserve tank 416 described using FIG. 49.

Further, the cutout device 417 includes the above-described shutter device 472 at the bottom of each storage space 474 of the storage space assembly 501. The shutter device f472 is shown in Figs. 35 and 36.
As shown in FIGS. 43(A), 43(B), and 43(A), (B), a shutter corresponding to each storage mass 474 is attached to a rotation shaft 503 provided near the lower end of both side walls of the storage mass assembly 501. 50
4 is attached, and drive devices 505 for driving the shutter 504 to open and close are disposed on both outer walls of the storage mass assembly 501. At this time, the drive device 505 and the shutter 504
The operating range is within the outer dimensions of the upper reserve tank 416, making it more compact.

A drive device 505 for the shutter 504 is connected to the storage mass assembly 5
01, a cylinder 507 that is fixed to the guide housing 506, and a roller support 508 that is moved up and down by the cylinder 507.
and a shutter 504 supported by the roller support 50.
Pushing roller 50 that presses down the upper edge type bent portion 504A
9, and two guide rollers 510 supported on both sides of the roller support body 508 and guided by both inner surfaces of the guide housing 506 to back up the reaction force exerted by the shutter 504 on the push roller 509. configured. As a result, the cutting device 417 drives the required shutter device N472 by the picking control device, and the current shutter device 472 is driven as shown in FIG.
By extending the cylinder 507, the shutter 504 is pushed and closed via the pushing roller 509, and the article B is stored and held in the storage mass 474, as shown in FIG. 43(A).
As shown in FIG. 3, by contracting the cylinder 507 of the shutter device 472, the pressing of the shutter 504 by the push roller 509 is released, the shutter 504 is opened by its own weight, and the article B can be cut out below the storage mass 474.

In the semi-automatic picking device 400 shown in FIG. 36(A), a driving device 505 disposed on the outer wall of the left-hand picking device 417 and a right-side picking device The driving device 505 disposed on the outer wall of 417 was arranged back to back. However, when implementing this device, please refer to Fig. 44 (A>
, as shown in (B), the drive device 505 and the right side cutting device 417 disposed on the outer wall of the left side cutting device 417 described above.
The cutting devices 505 disposed on the outer wall of the semi-automatic picking device J1400 may be arranged alternately in one row. Accordingly, the space between the adjacent cutting devices 417 can be further reduced, and the entire semi-automatic picking device J1400 can be Dimensions can be made more compact.

Further, the drive device 1505 of the shutter device W472 is the fourth
Drive device 511 as shown in FIG. 5, FIG. 46 (A), and (B)
It can also be configured by The drive device t511 supports the rotating shaft 103 of the shutter 504 on a support plate 512 fixed to the lower end of the front and rear outer walls of the storage mass assembly 501 and a support piece 513 attached to the storage mass assembly 501v, and A guide housing 514 is fixed to the plate 512. At this time, the rotation shaft 503 and the guide housing 5
14 is provided as a common passage for all the storage spaces 474. The support piece 513 may be attached to the guide housing 514. This drive device 511 fixes a cylinder mounting bracket 515 to the outer wall of the storage mass assembly 501, fixes a cylinder 516 to the bracket 515,
A push roller 518 is supported on a roller support 517 that is moved up and down by a cylinder 516, and a single guide roller 519 is supported on the roller support 517 above the push roller 518. There is. According to this, since the guide roller 519 is unified, the size is compact, and since the rotating shaft 503 that supports the shutter 504 and the guide housing 514 are used as threads, the structure is simplified.

Further, the drive unit W505 of the shutter device 472 is the 47th drive unit W505.
It can also be configured by a driving device 521 as shown in FIGS. The drive unit w521 is the storage mass assembly 501
The shutter 5 is attached to a mounting bracket 522 fixed to the outer wall of the
In addition to supporting the rotating shaft 503 of 04, the cylinder 523 is supported by a trunnion on the mounting bracket 522.

- Two links 524 and 525 forming a toggle mechanism are passed between the mounting bracket 522 and the shutter 504, and the link 525 can be driven by the cylinder 523.

Note that the storage mass assembly 501 of the cutting device 417 is
As shown in FIG. 8, partitions 9526 may be provided on the left, right, and center sides of the storage mass assembly 501, and partition plates 528 may be removably inserted into slits 527 provided in each partition wall 526. At this time, the partition plate 528 is inserted into the slit 527 in its entirety or in the negative part, and the storage mass assembly 5
Storage spaces 474 having the required 2 columns x n rows can be freely formed in 01. In FIG. 48, since the size of the shutter 504 is equal to the pitch of the slit 527, two adjacent driving devices 521 must be operated to open the storage mass 474 for two pitches. At this time, the size of the shutter 500 may be changed to one for two pitches, and the shutter 500 may be operated by one driving device 521.

Next, a configuration for pulling out and moving the reserve tank 416 on the back side of the semi-automatic picking device 400 to the fluidization shelf 413 side will be explained (Figs. 37 to 37).
(See FIG. 40, FIG. 50 (A), (B), and FIG. 51).

Both side peripheral flange portions 492A of the reserve tank main body 491 that constitute the reserve tank 416 on the front side and the storage mass assembly 501 that constitutes the cutting device 417 on the back side
Continuous front and rear guide rails 53 are provided at the upper ends of both sides of the
1,532 have been extended. And the reserve tank body 491 that constitutes the reserve tank 416 on the back side
Two free rollers 533, front and rear, are rotatably supported at the lower ends of the inner walls on both sides, and these free rollers 533 are mounted on the above-mentioned guide rails 531 and 532.

At this time, as shown in FIG. 39(B), the left and right front free rollers 533 are shifted from each other by an amount P in their mounting positions in the front-rear direction, and the left and right rear free rollers 533 are shifted in their mounting positions from each other by an amount P in the front-rear direction. ing. This P is set larger than the joint eyesight between the front and rear guide rails 531 and 532, so that the free roller 533 can smoothly move between the guide rails 531 and 532.

Note that a rail-side stopper 534 is provided at the front end of the guide rail 531 provided on the reserve tank 416 on the near side, and a reserve tank-side stopper 535 is provided on the front portion of the front free roller 533 of the reserve tank 416 on the back side.
are provided, and the draw-out limit position of the rear reserve tank 416 moving on the guide rails 531 and 532 is regulated by engagement of these stoppers 534 and 535.

Further, at the front end of the guide rail 531 provided on the reserve tank 416 on the front side, there is a front free four-rail 53 of the reserve tank 416 on the back side that is stopped at the above-mentioned drawer limit position.
A pull-out limit position holding stopper 136 is provided which can be climbed over at 3 and engages with the rear surface of the free roller 533.

In addition, the guide rail 5 provided on the cutting device M417 on the back side
32 is provided with an original position holding stopper 537 which is able to be overcome by a rear free roller 533 of the rear reserve tank 416 that is stopped at the original position and which engages with both the front and rear surfaces of the free roller 533 so as to sandwich the same. It is being

In addition, there is a handle 538 on the front of the reserve tank 416 on the back side.
is provided. As a result, the reserve tank 416 on the back side is moved by the operating force that the worker applies to the handle 538.
The free roller 533 is moved along the guide rails 531 and 532 between the original position and the draw-out limit position, and is stopped at any of these true positions.

In addition, in the semi-automatic picking device 400 shown in FIG. 50(A), the reserve tank 4 on the front side
A certain gap is provided between the rear end surface of the cutter 16 and the front end surface of the cutting device 417 on the back side. However, in carrying out the present invention, the above-mentioned gap may be eliminated as shown in FIG. 52.

Further, as shown in FIGS. 53(A) and 53(B), the semi-automatic picking device 400 includes a frame material 541 made of H-shaped steel and groove-shaped steel, and a reserve tank 416,
The cutting device 417 may be suspended and supported.
That is, in the reserve tank 416, both side flange portions 542 provided on the upper end surface of the reserve tank main body 491 are supported by the lower flange portion of the frame member 541, and the cutout device 4
17, both side flange portions 543 provided on the upper end surface of the storage mass assembly 501 are supported by the lower flange portion of the frame member 541.

In addition, in this Fig. 53 (A), the reserve tank 4 on the back side
Similar to the indicator mounting member 470A to which the transfer request indicator 470 of the reserve tank 416 on the front side is attached, the indicator mounting member 470C to which the 16 transfer request indicator 470 is attached is attached to all the reserve tanks adjacent to the left and right. 416, and the reserve tank 416 on the back side is pulled out by passing under the display mounting member 470C.

In addition, in Fig. 53 (A), the reserve tank 4 on the near side
Stepped portions 544 functioning as guide rails are provided on the upper surfaces of both side flange portions 542 of No. 16 and on the upper surfaces of both side flange portions 543 of the rear side cutting device 1417, respectively, and are provided on the rear side reserve tank 416. The aforementioned free roller 533 is mounted on this stepped portion 544.

In addition, in FIG. 53(A), a stopper 545 is provided at the front end of the upper surface of the upper flange portion of the frame member 541, and a pull-out prevention pin 5 is provided at the front end of the outer wall of the reserve tank 416 on the back side.
46 is provided, and the draw-out limit position of the rear reserve tank 416 that moves on the stepped portion 544 is regulated by the engagement of the stopper 545 and the pin 546.

Further, at the front end of the upper surface of both side flange portions 542 of the reserve tank 416 on the near side, there is a front free reeler 53 of the reserve tank 416 on the back side that is stopped at the above-mentioned drawer limit position.
A car stop recess 547 into which the wheel 3 falls is provided.

Also, both side flange portions 54 of the cutting device y1417 on the back side
3 is provided with a car stop recess (not shown) into which the rear free roller 533 of the rear reserve tank 416 that remains at the original position falls.

In addition, a floating prevention pin 549 is provided at the lower end of the outer wall of the reserve tank 416 on the back side, and this floating prevention pin 549 engages with the lower surface of the upper flange of the frame member 541 to prevent the moving reserve tank 416 from moving. Prevent floating.

(E) Container conveyance line The container conveyance line 415 is used to pick the article B from the semi-automatic picking device 400 into the article input section by the input conveyor 419 of each semi-automatic picking device 400 that is unitized as described above. In order to stop container F, the procedure shown in Fig. 27 (
As shown in B), a barcode reader 551 and a stopper 552 are provided. That is, the container conveyance line 415
The container F transported by the transport conveyor 553 has a barcode label affixed to the side of the container F read by the barcode reader 551, and the conveyor control device 554 reads the barcode label attached to the side surface of the container F based on the reading result of the barcode reader 551. It is determined whether there is a need to input articles into the container F or its input section. Conveyor control bag M554 is
When charging is necessary, the stopper 552 is projected to stop the container F, and the articles B collected on the charging conveyor 419 as described above are loaded into the container F. During this loading, the succeeding container F, as shown in FIG. 27(B),
It catches up with the leading container F and is stored. and,
When charging is not necessary, the stopper 552 is held in the lowered position and allows the container F to pass through. Upon completion of loading, the conveyor control device 554 lowers the stopper 552 and starts the container F. The following Conte F will also be launched. Then, the container F is accelerated by a high-speed separation conveyor 555 and separated from the following container F.

This separation creates a gap between the two containers,
Before the succeeding container F reaches the stopper 552, the stopper 552 can be projected to stop the succeeding container F, if necessary. When the container F is transferred from the separation conveyor 555 to the transfer conveyor 553, it is decelerated and sent to the next input section. The container conveyance line 415 has a plurality of drive conveyors (not shown) arranged in series that can convey one container F independently, and checks whether the container F on the drive shaft conveyor can be carried to the downstream drive conveyor. It may be controlled and conveyed.

Next, the semi-automatic picking system 41
0 operation, (1) picking operation, (2) collection/loading operation, (3) transfer operation to reserve tank, (4)
The feeding operation to the fluidizing machine will be explained (see Figure 59).
.

(1) Picking operation (step 5401) - When the order (picking data for each container F) enters the picking control device, the picking control device operates the cutting device W41.
Issue a picking command to 7 (step 8401-1)
.

(2) The cutting device 417 opens the shutter device 472 in units of the storage spaces 474 in accordance with the picking instruction, and cuts out (picks) the article B stored in the storage spaces 474 (step 5401-2).

■ The picking device 417 repeats the operation in step 2 above, and when all the storage spaces 474 are empty of articles B, the picking control device confirms that the shutter device 472 of the cutting device 417 is closed and issues a replenishment command to the reserve tank 416. (Step 8401-3).

■The reserve tank 416 opens the integrated shutter device 471 and replenishes the article B stored in the storage space 473 into the storage space 474 of the cutting device 417 (step S4).
01-4).

■When the replenishment is completed (the integrated shutter device 471 of the reserve tank 416 closes), the cutting device 417
Continue picking (step 8401-5)
.

(2) Collection/loading operation (step 8402) ■ Article B cut out from the cutting device 417 is received by the collection conveyor 412 and collected by the input conveyor 419 (steps 8402-1, S402-2) .

■When the container F into which the article B collected on the input conveyor 419 needs to be input reaches the input section of the input conveyor 419 on the antenna conveyance line 415, the conveyor control device 554 reads the barcode reader 551. Based on the result, the stopper 552 is protruded and the container F
are stopped at the loading section, and the articles B are loaded into the stopped container F (step S402-3.840).
2-4.8402-5).

(2) Upon completion of loading the article B, the conveyor control device 554 starts the container F. Container F is the first
- All the articles B to be loaded are sequentially passed through the loading section of each of the semi-automatic picking devices 400 constituting the 5th unit.

(3) Transfer operation to reserve tank (step 8)
403) ■When there is no article B in the storage space 473 of the reserve tank 416 due to (1)■ above, the picking control device informs the worker of the instruction to transfer the article from the flow machine 413 to the reserve tank 416, so tank 4
The transfer request display 470 and the transfer article display 469 provided at the frontage of 16 and the flow shelf 413 are made to blink (steps 8403-1, S403-2).

Incidentally, since the openings of the reserve tank 416 and fluidizer 413 face each other, the transfer request indicator 470,
It is not essential that the transfer article display 469 be provided on both of them.

■The worker presses the container removal operation button 468 to remove the container G from the opening of the flow machine 413 according to the flashing transfer item display 469 and transfer request display 470.
After taking out the article B to the container receiving stand 462, the article B in the container G
(take out the article B) and transfer the article B to the storage space 473 of the corresponding reserve tank 416 (step S403-
3, S 403-4).

Note that the article B is stored in one storage space 4 of the reserve tank 416.
The unit to be stored in the container G is the minimum picking unit (minimum transaction unit), and is set so that an integral multiple of the storage mass 473 used this time is equal to the number of articles B in the container G. Therefore, the article B is stored in each storage space 47 in units of containers G.
The same number will be added to 3. When all the articles B for one container are completely stored in some of the storage spaces 473 in the reserve tank 416, the remaining storage spaces 473 in the reserve tank 416 become unused. In addition, reserve tank 41
6 may be attached with a sticker or the like indicating the number of articles to be put into the single storage space 473.

■When transferring to the reserve tank 416 on the back side,
By pulling and operating the handle 538 of the reserve tank 416, the reserve tank 416 is pulled out and placed on the fluid shelf 4.
13 side, so that the transfer operation from the fluidized shelf 413 can be carried out without difficulty.

(2) When the transfer to the reserve tank 416 is completed, the worker presses the transfer request indicator (illuminated push button) 470 of the reserve tank 416 to notify the picking control device that the transfer is complete. The transfer item display 469 and the transfer request display 470 also turn off.

In addition, the completion of the transfer to the reserve tank 416 on the back side is as follows.
It may be automatically detected by using a detector or the like to detect that the reserve tank 416 has been pushed back to its original position above the cutting device 417 on the back side (step 5403-5).

(4)? iE! Supply operation to it (step 54 (1)
4) The picking control device or the upper control CPU (not shown) knows the storage amount of containers G for each opening of the flow 41I3413, and stores the article B in the reserve tank 416.
Each time the transfer is completed, the storage amount of container G is subtracted. When the picking control device or the upper control CPU confirms that there is an empty space on the free conveyor 461 that can store, for example, one side of the container G, the container G (article B) corresponding to the frontage of the flow shelf 413 is A replenishment request is sent to a container supply control device (not shown) (step S4).
04-1%54Q4-2).

■In response to a replenishment request to the flow shelf 413, the container supply control device takes out the corresponding container G from storage equipment such as an automated warehouse where it is stored in pallets, depallets it by a surface unit picking device, etc., and depallets it to one surface. Supply the containers G for the amount to the container supply line 411 (Step S 404-3)
.

■The containers G supplied to the container supply line 411 are supplied to the corresponding openings of the fluidized shelves 413 by the stacker crane 441 of the container supply device 412 and stored (steps S404-4, S4114-5, S404) -6
).

Next, the semi-automatic picking system 41
The effect of 0 will be explained.

■The articles B cut out from the cutting unit W417 are received in a dispersed manner by the collection conveyor 418, and the collection conveyor 41
Since the articles B cut out so as to be scattered in 8 can be arranged in advance so as to be collected on the input conveyor 419, the articles can be arranged efficiently.

Moreover, the article B cut out from each of the plurality of cutting devices 417
is supplied to the collection conveyor 418 in a dispersed manner, and is further controlled by the delivery conveyance speed of the collection conveyor 418 and the input conveyor 41.
According to the difference between the collection and conveyance speed of No. 9, the dispersed articles B are collected densely.

Therefore, the articles B scattered on the collection conveyor 418 can be collected on the input conveyor 419 without damaging them.

(2) By transferring the article B stored on the fluidized shelf 413 to the reserve tank 416 moved to the fluidized shelf 413 side, the task of transferring the article B can be easily performed.

That is, (a) the fluidic shelf 4 facing the reserve tank 416;
Since the article B is stored in the frontage of No. 13, the worker does not need to search for an opening to take out the article B to be refilled this time. (b) Pull out the reserve tank 416 on the back side to the fluid tank 413 side. Accordingly, the article B can be transferred over a short moving distance. (C) Since the upper and lower reserve tanks 416 are arranged in a stepped manner facing the fluidized tank 413, it is possible to transfer the article B from one side of the fluidized tank 413. The operating range can be reduced. (d) The worker can transfer the article B according to the instructions on the transfer article display 469 and the transfer request display 470, and no skill is required. Can be arranged in stages to save space.

■ A plurality of articles B stored in a container G such as a cardboard box or a plastic container in a random or predetermined arrangement are stored in a reserve tank 416 having a plurality of storage spaces 473 arranged in 2 columns x n rows. Item B is also 2
After transferring to the cutting device W417 which has a plurality of storage spaces 474 arranged in columns xn rows corresponding to the storage spaces 473 of the reserve tank 416, a shutter at4 provided along the side surface of the cutting device 417 is moved. .72, the shutter 504 of each storage space 474 is opened and closed, and the article B transferred to the storage space 474 is cut out in units of storage space 474.

Therefore, the plurality of articles B stored in the container G are stored in the reserve tank 416, each storage space 473 of the cutting device 417,
By storing the articles B in the storage space 474, a desired quantity of the articles B can be taken out by automatic picking simply by storing the articles B in the storage spaces 473 and 474, regardless of the arrangement of the articles in the container G. To elaborate further,
The articles B shown in FIGS. 60 to 68 are difficult to automatically take out from the container G using a handling device, but can be easily taken out from the container G manually. Therefore, if the article B is manually transferred to the reserve tank 416, the storage space 473 of the reserve tank 416
A desired quantity of each article B is automatically picked by the cutting device 417 and arranged in the container F. That is, FIG. 60(A),
In the case of article B having a cap with a sprayer as shown in (B), sprayer B1 is connected to adjacent sprayer B1.
Therefore, it is difficult to automatically take out the desired quantity from container G.

By simply manually transferring it to the reserve tank 416 as shown in FIGS. 61(A) and 61(B), the desired quantity can be automatically picked. FIG. 61(A) shows a state in which one article B is stored in each storage space 473, and FIG. 61(B) shows a state in which two articles B are stored in each storage space. In this way, it is preferable to separate and store the minimum quantity to be picked at one time (minimum sales unit).
FIG. 1(C) is a front view corresponding to FIGS. 61(A) and 61(B), respectively. Alternatively, as shown in Fig. 62, the sixth
Reserve tank 4 shown in Figure 1 (A) and Figure 61 (B)
In this case, the cutting device may be a plate similar to the article cutting tool 380 shown in FIGS. 21 and 22 described above. Shutter 383a.

Another article cutting tool 380 with individual shutter 383b
By using , it is possible to automatically pick desired quantities. In addition, Fig. 62(B) is similar to Fig. 62(B).
A) is a front view, and FIG. 62(C) is a side view thereof. In addition, in the case of article B having the bonus product B2 shown in FIGS.

The arrangement of ・ is easily disordered, and if the arrangement is disordered, it is difficult to take it out automatically.
Just by transferring as shown in (B), the desired quantity can be automatically picked.

Similarly, as shown in FIGS. 65(A) and (B), tray B3
In the case of the article B inserted into the inner box B4, or the article B stored in the inner box B4 as shown in FIGS. 67(A) and (B), it is difficult to automatically take out the article A desired quantity can be automatically picked by simply transferring the items as shown in (A), (B) or Fig. 68 (A), (B).

In addition, when transferring article B to the reserve tank 416,
It is also possible to carry out distribution processing operations such as packaging bonus products as a set, adding a pamphlet, and putting three products together in a bag, for example.

Furthermore, it goes without saying that the items that can be handled by the semi-automatic picking device 200 are not limited to the above-mentioned items that cannot be automatically taken out.

Further, the drive unit W505 constituting the shutter device 472 of the cutting device 417 can be compactly attached to both side walls of the storage mass assembly 501 of the cutting device 417,
The structure can be simplified. Therefore, a plurality of reserve tanks 416 and cutting devices 417 can be arranged in a row in a narrow space, and the space of the picking device 414 can be saved. Note that the storage spaces 473 and 474 of the reserve tank 416 and the cutting device 417 may be arranged in a 1 column×n row configuration.

FIGS. 54 to 56 show embodiments of a three-stage semi-automatic picking device 560, including front, middle,
A reserve tank 416 and a cutting device 417 are stacked one above the other at each of the three article take-out positions 560 in the back. and can be moved back and forth along guide rails 562 and 563 provided on both upper surfaces of the front reserve tank 416,
b) The free roller 564 provided on the reserve tank 416 on the back side is connected to the guide rails 165 provided on both upper surfaces of the cutting device 417 on the back side, and the intermediate reserve tank 41
It is possible to move back and forth along a sliding guide rail 566 built into the top surface of the device.

The sliding guide rail 566 is shown in FIG.
As shown in B), the slide portion 568 of the slider frame 567 is connected to the support roller 56 provided at the upper end of the front inner surface of the reserve tank body 491 of the intermediate reserve tank 416.
Upper and lower free rollers 571 and 57 are supported on the slider frame 567 in a rolling contact state and are provided vertically at the rear end of the slider frame 567.
2 are supported in rolling contact with upper and lower guide rails 573 and 574 extending in the front-rear direction at the upper end of the reserve tank body 491. And reserve tank 4 on the back side
The front and rear free rollers 564 of 16 are the cutting equipment on the back side.
! , 417, and the guide rail portion 5 provided on the upper surface of the sliding guide rail 566.
75 can be moved, and a stopper 576 on the reserve tank 416 side and a stopper 577 on the slider frame 567 are provided at the front end of the front free roller 564 of the reserve tank 416 on the back side and the front end of the slider frame 567, respectively. When the rear reserve tank 416 that has been pulled out from above the cutting device N417 toward the sliding guide rail 566 is further pulled out, the reserve tank 416 is moved between the sliding guide rail 566 and the pulling direction by the engagement of both stoppers 576 and 577. The sliding guide rail 566 can be pulled out along the above-mentioned upper and lower guide rail sections 573 and 574 provided on the reserve tank body 491 of the intermediate reserve tank 416 (see FIG. 55(A)). At this time, the sliding guide rail 566 is attached to the reserve tank body 491 of the intermediate reserve tank 416 due to the engagement between the free rollers 571 and 572 and the guide rail parts 573 and 574, and the engagement between the slide part 568 and the support roller 569. It is cantilevered and pulled out together with the reserve tank 416 on the back side.

A stopper 578 on the slider frame 567 side is provided at the rear end of the slider frame 567, and a stopper 578 on the side of the slider frame 567 is provided at the front end of an upper guide rail portion 573 provided on the reserve tank body 491 of the intermediate reserve tank 416. A stopper 579 is provided, and when the slide-type guide rail 566 is pulled out, the stopper 578 engages with the stopper 579, so that the slide-type guide rail 566 is pulled out.
The maximum withdrawal position of 66 is regulated. Also,
Intermediate reserve tank 416 reserve tank body 49
A reserve tank 416% stopper 580 is vertically installed at the rear end of the upper guide rail section 573 provided in the upper guide rail section 573, and when the slide type guide rail 566 is pushed back, the slider frame 5
The upper free roller 571 provided at 67 abuts against the stopper 580, thereby regulating the push-back limit position of the sliding guide rail 566.

In addition, a lower guide rail portion 574 provided on the reserve tank body 491 of the intermediate reserve tank 416 has a lower free roller 5 provided on the rear end portion of the slider frame 567.
An original position holding stopper 581 into which 72 falls is provided. In addition, the guide rail part 575 provided on the sliding guide rail 566 has a reserve tank 416 on the back side.
A drawer position holding stopper 582 is provided, which the front free roller 564 rides over to maintain the drawer position.

In addition, the above-mentioned three-stage semi-automatic picking device 56
0, the worker should remove the reserve tank 41 on the back side.
If you cannot reach the handle 538 of the reserve tank 41, use a drive unit (not shown) such as a motor or cylinder to
At this time, in order to move the reserve tank 416 on the back side, it is necessary to move the tank drawer 583 provided on the display mounting member 470A for the reserve tank 416 on the front side, and to request transfer. By pressing down the display 470, the driving section is driven.
In other words, the reserve tank 416 moves forward while the tank drawer 583 is pressed, and stops when the drawer 583 is released.

When the article B is transferred from the flow shelf 413 to the reserve tank 416 and the transfer request display 470 is pressed, the reserve tank 416 returns to its original position.

FIG. 57 shows the fluidized shelf 413 in the semi-automatic picking system 410 of FIG. 27 replaced by a rotary shelf 590.
This is an embodiment in which the semi-automatic picking device 400 and the container transport line 415 have the same configuration as in the semi-automatic picking system 410.

In rotation 11590, the containers G supplied to the container supply line 591 are supplied by the container supply bag N592. The container supply device 592 includes a container turning device W593 that turns the containers G supplied to the container supply line 591, and a container turning device W593 that turns the containers G that have been turned by the container turning device 593. An elevator 594 that raises and lowers the rotating shelf 590 to match the required replenishment frontage level.
and a pushing device 596 for pushing the containers G raised and lowered by the elevator 594 into the tray 595 located at the replenishment request opening of the rotating shelf 590. The rotating shelf 590 is provided with two bushers 597 corresponding to each unit of the semi-automatic picking device 400, which is divided into five units as described above. As a result, the carousel 590, through the operation of each pusher 597, transfers the container G storing the requested article to the semi-automatic pickup device 314 for which the transfer request was made.
0 to be extrudable to container delivery 0598 opposite to 00
The worker moves the zero-turn shelf 59 to transfer the article B in the container G pushed out to the container outlet 598 to the reserve tank 416 of the semi-automatic picking device 400.
From now on, the article B transferred from 0 to the reserve tank 416 of the semi-automatic picking device E400 is
It is picked in the same manner as in the semi-automatic picking system 410 shown in FIG.

Note that the present invention is not limited to the above embodiment, and the articles B may be transferred to the reserve tank 416 in units of a plurality of containers G.

Alternatively, store article B in units of less than container G in reserve tank 4.
You may move it to 16.

Also, the reserve tank 416 is omitted and the cutting device 4
Article B may be directly transferred to No. 17.

“Description of manual picking device W600” Fig. 69,
70 and 71 are a plan view, a front view and a side view schematically showing an embodiment of the manual picking device, respectively. 74 are an enlarged front view and an enlarged side sectional view showing the outline of the article retrieval work section, respectively, FIG. 75 is an enlarged front view showing the outline of the monitor display, and FIG. 76 is the transfer display. Enlarged front view of No. 7
FIG. 7 is a flowchart illustrating the delivery procedure of an embodiment of the manual picking device.

69 to 71 are a plan view, a front view, and a side view, respectively, schematically showing an embodiment of a manual picking device 600, and in these drawings, 601 rotates along a horizontal circulation path. A rotating shelf (horizontal rotating shelf) formed by stacking a plurality of rotating shelves (5 stages) at appropriate intervals, with the topmost rotating shelf serving as a supplying rotating shelf 611b constituting a supply means, and the other stages The (lower 4th stage) carousel unit is a storage carousel unit 611a that constitutes the manual picking device N600. A single storage rotating shelf 611a constituting the manual picking device 600
includes a plurality of (60) article storage units (trays) 6 for storing articles B stored in containers G to be sorted.
12a, and the supply carousel 611b constituting the supply means is equipped with a supply carousel 611b for storing articles B to be removed and transferred to the empty article storage section 612a.
A plurality of (45) article transport sections (trays) 612b are provided for supplying the article B to the vicinity of the article storage section 612a from which the article B needs to be replenished. Furthermore, these article storage section 612a and article conveyance section 612
b is supported in each rotary shelf so that it can run on an elliptical running rail, and is attached to a drive chain suspended along the running rail between a drive gear wheel and an idler gear wheel. They are fixed at equal intervals, and can be rotated independently of the other stage rotary shelves by driving the drive gears with a motor.

Reference numeral 613 denotes an article retrieval work section, which is provided opposite to the linear movement path of the single storage rotary shelf 611a in the rotary shelf 601. This article retrieval work section 613 has a total of 40 article storage sections 61 consisting of 10 article storage sections 612a for each storage carousel 611a.
It has 40 frontages located corresponding to 2a,
As shown in FIGS. 73 and 74, each frontage is equipped with an article takeout indicator 605 as a replenishment request display means and a frontage gate 615 which doubles as a takeout apron and is opened and closed by an air cylinder 616. It is. The article takeout display 605 includes a number display lamp 65 that digitally displays the number of articles to be taken out (sorted).
1. A completion button 652 that clears the display, and an extraction indicator lamp 6 that notifies the worker that there is a picking command.
53. Furthermore, when there is an opening in which the article B should be replenished, an appropriate lamp may be provided to display the opening, but in the case of the embodiment, rOJ is displayed on the number display lamp 651, indicating that replenishment is required. There is no frontage so that it can be displayed. In addition, each frontage gate 615 is used when the article B is to be taken out from the article storage section 612a of each frontage, and when the article B is to be taken out from the article storage section 612a of each frontage, so as to avoid a take-out error or a replenishment error.
It is empty so that it is opened only when replenishing article B to 12a. Incidentally, instead of the frontage gate 615, for example, a roll-up type opening/closing gate or the like may be arranged in front of each frontage to prevent mistakes in taking out and refilling, but the frontage gate 615 Alternatively, instead of the completion button 652, the display on the number display lamp 651 may be cleared by the worker closing the frontage gate 615.

Further, 614 is an article transfer work section provided above the article take-out work section 613 so as to face the linear movement path of the single supply carousel 611b in the rotary shelf 601. This article transfer work section 614 has seven openings corresponding to the seven article conveyance sections 612b, and for each opening, as shown in FIG. It is equipped with a transfer indicator 606 consisting of an illuminated push button 661 having an arrow, a transfer button 662 as shown in FIG. 72, and a fixed apron 663. Each opening in the article transfer work section 614 is blank so as to function as a transfer position where the article B to be transferred is supplied to the article storage section 612a from which the article has been taken out.

Note that the article transfer work section 614 includes a transfer button 6
62 without the transfer indicator 606, or only the transfer indicator 606 without the transfer button 662.

Reference numeral 802 denotes a pushing device, which constitutes the feeding machine 36 shown in FIG. A pushing button 621 consisting of a push plate and an air cylinder for reciprocating movement is provided, and the pushing button 621 is used to supply the article B to the supply rotary machine unit 611b. Note that this pushing device 602 can also be provided opposite to the linear movement path of the supply rotary machine unit 611b.

Further, 603 is a carry-in conveyor for conveying the article B carried into the single supply rotary machine 611b, and a roller conveyor 63
1, a roller conveyor 632, and a push button 633 for pushing into the push device 602.

Further, 604 is a carry-out conveyor for conveying the sorted articles B, and is composed of a belt conveyor. This carry-out conveyor 604 is the storage conveyor 6 shown in FIG.
Continues to 1.

Further, 607 is a monitor display, and as shown in FIG. 75, there are 24 display lamps 671 in total, 6 horizontally and 4 vertically.
It is composed of: This monitor display 607
The six display lamps 671 on the side indicate that each of the storage carousels 611a in each of the four tiers is used for a desired one-time (for example, store-by-store) assortment of articles B. Six sets of article storage sections 612a, which will be described later, of a single rotating shelf 611a
Displays the number of sets from which the goods must be sorted, and displays an indicator lamp 67 each time the goods have been sorted for one set.
When the number 1 is turned off for one item and all the display lamps 671 are turned off, it means that the unloading and sorting of the articles has been completed. The vertical display lamp 671 of the monitor display 607 corresponds to the single storage carousel 611a of the stage to be loaded and unloaded.

Further, 608 is a work step, which includes a fixed step 681,
It is comprised of a moving step stool 682 that is used by a worker to move it to the transfer location when transferring articles.

In addition, each of the above-mentioned parts constituting the manual picking device 600 operates based on a picking (sorting) command, a replenishment command, a carry-in command, etc. from a control device (not shown) including an inventory management CPU, etc., and also operates as necessary. There is no possibility of outputting information (data) to such a control device.

Next, one embodiment of a method for arranging articles using the manual picking device 600 will be described in detail while also explaining the control mode by the control device.

First, before explaining one embodiment of an article sorting method using the manual picking device 600, the prerequisites for the method will be explained. Single storage rotating shelf 611a
For example, the 90 article storage units 612a in
Each set is divided into 9 sets, each set stores one set of articles B by brand, type, etc., and each set stores the stored articles B. are of different types. It is assumed that each article storage section 612a is a fixed location, and the type of article B stored in each article storage section 612a is predetermined. In addition, each stage has a single storage rotating shelf 6
11a is arranged so that one set of articles B (total of 10 pieces) is always located corresponding to the 10 openings of the article retrieval work section 613.
It is assumed that all the articles B are located in the article retrieval work section 613 by repeating rotation and stopping in units of 0 article storage sections 612a and repeating this repetition a maximum of six times.

In addition, the goods are sorted (taken out or picked) so that multiple types of goods B are sorted at the destination side (by delivery destination store), and the data (information) is registered in advance in the control device. It is assumed that It is assumed that a predetermined type of article B is stored in each of the 45 article transport sections 612b of the single supply carousel 611b according to the carry-in command from the control device based on this data.

Note that the details of carrying the article B into the article transport section 612b will be described later.

In addition, six sets of articles B are stored in the single storage rotating tank 611a of each stage as described above, and the warehousing (replenishment) data or the shipping (stock sorting) data for the plurality of storage rotating shelves 611a is stored. By inputting multiple sets of warehousing data or warehousing data as one set, data is registered so that warehousing or warehousing work can be performed for each set of warehousing data or warehousing data, and storage of each stage is performed. Articles B stored in each carousel 611a
There are no particular restrictions on the type of storage, but for example, when picking out articles B from each tier and assembling a total of 4 sets of articles B as a series product, a single storage carousel 6 with multiple tiers may be used.
In order to secure a picking chance from 11a,
Needless to say, it is preferable to control the rotation of the single storage carousel 611a of each stage.

However, prior to the sorting (picking) in one embodiment of the article sorting method using the manual picking device 1F600, the storage carousel unit 611a of each stage is operated based on the picking command from the control device. The article storage section 612a storing the predetermined type of article B to be picked is stopped in correspondence with each opening in the article retrieval work section 613, with or without rotating. When the storage carousel 611a stops, the article retrieval work section 6
13, the takeout display lamp 653 of the goods takeout indicator 605 at the predetermined opening to be picked lights up, and the number display lamp 651 digitally displays the number of goods B to be picked, and the air cylinder 616 operates to pick the goods at the predetermined opening. The frontage gate 615 of the frontage opens. At the same time, the display lamp 671 of the monitor display 607 is also activated based on the picking command from the control device.
lights up as described above, and it is displayed at each stage whether item B should be picked from the credit union. In this case, the display may indicate which group is applicable, including its position.
For example, the three display lamps 671 may be turned on by simply aligning them to the left.

Therefore, shipping (sorting/retrieving or picking) is
The picking operation can be carried out by the worker at the frontage where the pick-up display lamp 653 is lit and the frontage gate 615 is open, and if the goods are arranged in this way, the picking command will follow the destination side data registered in the control device. Therefore, it is possible to reliably arrange the goods according to the data on the destination side without making any mistakes. When the worker presses the completion button 652 every time picking is completed for each frontage, the air cylinder 616 is actuated to close the frontage gate 615 of the predetermined frontage, and the number display lamp 6
51 is cleared, and the ejection indicator lamp 653
is turned off.

As mentioned above, it goes without saying that the frontage gate 615 may be closed by a worker.

Note that the picked article B is placed on the carry-out conveyor 604 and stored on the storage conveyor 61 until the container F to be loaded is conveyed.

In an embodiment of the article sorting method using the manual picking device 600, in principle, every time the article storage section 612a becomes empty by performing the sorting as described above, the empty article storage section 612a is At the same time, the worker replenishes the goods B to prepare for the next assortment. To replenish the article B, a new article B to be replenished from a predetermined opening in the article transfer work section 614 is transferred to the article storage section 6 at a predetermined opening in the article retrieval work section 613 that requires replenishment.
12a, but when such replenishment becomes necessary (when the article storage section 612a is emptied due to picking), a predetermined opening in the article retrieval section 613 is used. The frontage gate 615 does not close even if the completion button 652 is pressed, and when the completion button 652 is pressed, the number display lamp 651 in the frontage changes to "0".
(instead of the completion button 652, the frontage gate 615
If the frontage gate 615 is closed by the worker, the frontage gate will be opened again and the number display lamp g? 5', 1" becomes "0"
''), the number display lamp 651 performs a replenishment request function other than the original takeout request display, and the supply rotary tank unit 611b starts rotating, and the predetermined article transport section 612b moves to the It stops at a predetermined opening (transferring position) in the transfer work section 614, and then the transfer button 662 at the opening operates, and the article B that requires replenishment (transferring) is moved to the fixed apron 663 at the opening. As it is pushed upward, the illuminated push button 661 as the relocation indicator 606 in the frontage lights up. Therefore, when the worker replenishes the article B, the article B is pushed out onto the fixed apron 663 at a predetermined opening where the illuminated push button 661 in the article transfer work section 614 is lit, and when the frontage gate 615 opens and the number of pieces is displayed. lamp 651
It is only necessary to transfer the article B to the article storage section 612a at a predetermined opening in the article retrieval work section 613 where "0" is displayed.If the article B is replenished in this way, the article B can be refilled based on the replenishment command from the control device. Since the article B will be transferred, replenishment errors can be reliably prevented.

Furthermore, when carrying out the article sorting method using the manual picking device 600 described above, FIGS.
It is preferable to control the co-rotating tank shown in FIG. 1 by the control method shown in FIG. 77, and in that case, the unloading (sorting, taking out, or picking) of articles is performed in the following procedure.

FIG. 77 is a flowchart showing the above-mentioned unloading procedure (one stage of carousel).
It is carried out according to the following. That is, picking for the destination (store) starts from step 5601, and in step 5602, it is determined whether or not there is a picking command for the corresponding stage of the single storage carousel 611a, and if there is a picking command, the step 5603 to 5605 indicate the rotation of the storage carousel unit 611a and the article removal indicator 6.
The picking display is controlled by 05, and then the worker performs the unloading operation, in the illustrated example, the picking operation. After the picking operation, in step 8606, it is determined whether there is a picking command for another article storage group unit on the relevant stage of the storage carousel 611a, and if there is a picking command, the rotation control should be performed again. Return to 5603,
The above procedure is repeated until a NO determination result is obtained in step 5606.

If the determination result is NO in step 8606, the process advances to step 5607, where it is determined whether or not the picking of the single storage carousel 611a has been completed, and if it has been completed, in step 8608 all destinations are It is determined whether picking for the destination is completed or not.

If the determination result in step 8608 is YES, it means that all destination picking has been completed, so this shipping process ends; however, when the determination result in step s soa is NO, the next step is In order to proceed to the picking process for the destination, the process returns to step S609 and then returns to step 5602.
The same process is repeated thereafter.

In addition, during the above-mentioned processing, if there is no picking command in step 8602 and if the picking of the murder is not completed in step S 607, the process proceeds to step 5610. In this step 5ale, the corresponding It is determined whether or not there is a next picking command for the stage, and if there is no picking command, the shipping process ends. If there is a picking command, in step S611 rotation control is performed to the corresponding article storage group unit for the next picking, and then the process advances to step S612. In step 5612, it is determined whether or not the picking for the destination that would result in the murder of the single storage carousel 611a is completed, and the state of waiting for the start of picking is maintained until a determination result of YES is obtained, and the state of waiting for the start of picking is maintained until the determination result of YES is obtained.
When a determination result of S is obtained, the process advances to step 5604, and the processing from step 8604 onwards is performed.

Incidentally, when the rotating machine in the sorting device shown in FIGS. 69 to 71 is controlled by the above-mentioned control method, the article conveying section 612b is controlled by the rotation of the single supply rotary shelf 611b.
It is preferable that the stopping position is at the upper part of the opening in the article retrieval work section 613 that requires replenishment. In addition, unlike the above-mentioned control mode, the frontage gate 615 of a predetermined frontage in the article retrieval work section 613 is temporarily closed by pressing the completion button 652, and is opened again, and the number display lamp 651 at the frontage is set to "0" is displayed,
Alternatively, the single supply carousel 611b may start rotating, and the article transport section 612b may be stopped at a predetermined frontage (transfer position).

During the above-mentioned replenishment (warehousing), the worker presses the illuminated push button 66 in order to cause the control device to output information on the completion of replenishment.
Press 1 to turn off the light, and press completion button 652 to close frontage gate 615. by this,
The rOJ display on the number display lamp 651 as a replenishment request display is cleared, but if further picking is required from the same frontage, the pick-up display is cleared again in the same way as in the above case based on the picking command from the control device. vessel 605
The take-out display lamp 653 lights up, the number display lamp 651 digitally displays the number of articles B to be picked, and the air cylinder 616 is operated to open the frontage gate 615 of a predetermined frontage. Therefore, the worker only has to arrange the articles B in the same way as in the case described above.

A single storage rotary machine 61 at a stage that is stopped as described above
When the assortment of articles B (stored in the 10 article storage sections 612a) in a predetermined set (one article storage group unit) for 1a is completed, the display lamp 671 of the corresponding stage of the monitor display 607 lights up. One item is turned off, and this item B
When the sorting and replenishment of the article B is completed, each completed storage carousel 611a starts rotating based on the picking command from the control device, and picks the next type of article to be picked. Article storage section 61 that stores B
2a stops facing a predetermined opening in the article retrieval work section 613. Therefore, the worker only needs to arrange the articles B and replenish the articles B in this opening as described above.

By repeating the above operations, the monitor display 60
The display lamps 671 of No. 7 are turned off one after another, and when all the display lamps 671 are turned off, the assortment of goods B at the destination (store order) is completed.

In this way, when all the unloading from the single storage rotary machine 611a of a certain stage is completed for the destination, the single storage rotary machine 611a of that stage is transferred to the next destination as shown in FIG. On the other hand, the article storage group unit containing the article B to be unloaded is rotated until it is located in the loading/unloading work section 613, and waits until the unloading from the single storage carousel 611a of all stages for the destination is completed. do. When the unloading of the article B for the next destination is completed, a picking command etc. for the next destination is outputted from the control device again,
The takeout indicator lamp 653 of the article takeout indicator 605 lights up. Therefore, by arranging the articles B and replenishing the articles B as described above based on this, it is possible to sequentially arrange the articles B of a predetermined type and number at the destination side.

In addition, a single supply rotary shelf 61 in an embodiment of a method for arranging articles using the manual picking device 600.
The article B is carried into 1b as follows.

In other words, in this picking operation (picking orders for multiple stores at once), manual picking equipment
The articles B that need to be supplied to the manual picking device 600 are calculated in advance by the host computer, and the items B that need to be supplied to the manual picking device 600 are calculated in advance by the host computer, and the items B that need to be supplied to the manual picking device 600 are calculated before the picking operation starts or before the items B that need to be supplied are interrupted by the manual picking device 600. Step 5
As shown in 3-1, the material is picked and conveyed to the feeding device F36 of the manual picking device 600 by a conveyor.

On the other hand, the above-mentioned control device has a supply rotary machine unit 61 in advance.
The receiver receives information on the empty article conveying section 612b in 1b, and based on that information, the supply rotary machine 611
A rotation command is output to the pushbutton 621 of the pushing device 602 to move the empty article conveying section 612b that needs to be newly carried in.
It should be located at the loading position in front of the

When the empty article transport section 612b that needs to be newly carried in stops at the carrying position, and the control device confirms this,
A carry-in command is output from the control device, and the push button 621 is actuated by this command, and the article B in front of it is carried into the empty article conveyance section 612b which is stopped at the above-mentioned conveyance position.

In this embodiment, the article conveying section 612b has no free four cages.

The above-mentioned transport of the article B to the article conveying section 612b is carried out as appropriate even while the articles are being sorted.

It goes without saying that the product sorting device and method using the manual picking device 600 are not limited to the above-mentioned embodiment and implementation W1m. The same number of article storage sections or article conveyance sections (trays) may be installed at the same intervals on a single rotary machine, and the supply means may be a simple conveyor.For example, the supply means may consist of a horizontal rotating shelf. A roller conveyor may be disposed near the article retrieval section of the storage carousel, and a transfer indicator may be provided on the side of the roller conveyor.

Furthermore, it goes without saying that the method of controlling the rotating machine of this embodiment is not limited to the above-mentioned embodiment. You may only perform work or shipping work,
Mr. S, who only performs warehousing work, uses a rotating machine that does not have a single supply carousel, and in this rotating machine, the sorting destination is assigned to each article storage department and the goods are sorted. When storing goods to be stored in the goods storage unit corresponding to the corresponding goods sorting destination, after entering the goods sorting (warehousing) data for multiple goods,
When a single carousel has completed the sorting (warehousing) work for the item, it performs the next set of warehousing data based on the next set of warehousing data before completing the sorting (warehousing) work for all the carousel units. It is also possible to rotate the article storage section where the articles are to be sorted (warehoused) to the warehousing operation section.

Further, the supply means may be a simple conveyor. For example, a roller conveyor may be disposed near the unloading section of the horizontal rotating shelf, and a transfer indicator may be disposed on the side of the roller conveyor.

As mentioned above, in the above-mentioned picking system,
Items that are frequently used (for example, top items that account for 80% of the total volume) or items whose dimensions and arrangement do not change frequently are divided according to the spacing when they are stored in containers. Article cutting devices 280, 380
After being efficiently transferred to the fully automatic picking device 200 (first article retrieval device) having an article storage section 285, 385 (first article storage section), the articles other than the above-mentioned items are taken out. Alternatively, the storage spaces 474 of the cutout device 417 are partitioned with wider intervals than when they are stored in containers, such as articles whose dimensions and arrangement frequently change due to model changes, etc.
By transferring the items to the semi-automatic picking device 400 (second article take-out device) having a second article storage section and then taking them out, the items can be efficiently sorted.

[Effects of the Invention] As described above, according to the present invention, depending on the shape characteristics and shipping characteristics of the article, it is possible to Articles whose dimensions and arrangement stored in the container do not change frequently are stored in a first article retrieval device having a first article storage section partitioned according to the intervals when they are stored in the container. After being efficiently transferred, items other than the above-mentioned frequently appearing items, or items whose size, length, and arrangement within the container change frequently due to model changes, etc.
After being transferred to a second article retrieval device having a second article storage section partitioned at intervals wider than the intervals when stored in the container, the articles can be efficiently sorted by being taken out. can.

[Brief explanation of the drawing]

Fig. 1 is a flowchart of articles in a picking system showing one embodiment to which the goods sorting method of the present invention is applied, Fig. 2 is a schematic plan view of the picking system, and Fig. 3 is a flowchart of articles to a fully automatic picking device. FIG. 4 is a perspective view showing an embodiment of a transfer device for transferring an article (container) from a container, and FIG. FIG. 5 is a side view of FIG. 3, FIG. 6 is a perspective view of an article retrieval device constituting the article transfer device, and FIG. 7 is a perspective view of a container in which articles are stored. 8 is a front view showing a state in which the article removal device shown in FIG. 6 and the container shown in FIG. 7 are superimposed by a superimposing device, FIG. FIG. 11 is a perspective view showing a state in which a container containing an article having a different shape from the article shown in the figure and the article extraction tool are inverted and superimposed on the article extraction tool, and FIG. 11 is a schematic plan view thereof. FIG. 12 is a perspective view showing a second embodiment of the article retrieval tool constituting the article transfer device, FIG. 13 is a perspective view showing a container containing articles, and FIG. 14 is an explanatory diagram showing the state. A front view showing the object removal tool shown in Fig. 12 and the container shown in Fig. 13, which are stacked together by the stacking device, Fig. 15 is a side view of Fig. 14, and Fig. 16 is the guide shown in Fig. 12. FIG. 17 is a perspective view showing an enlarged view of the members, and is a view showing an article takeout tool of the third embodiment, which is an article takeout tool for taking out the same article as the article shown in FIG. 10 from a container, and this article FIG. 18 is a perspective view showing a state in which a take-out tool is superimposed on an article cutting tool, and FIG. 18 shows a state in which a container containing an article and the article removing tool of the fourth embodiment are inverted and superimposed on the article cutting tool. Perspective view,
FIG. 19 is an enlarged perspective view showing the article retrieval tool and the first gripping hand shown in FIG. 18 in a normal rotation state, and FIG.
Fig. 9 is an enlarged plan view of the main parts, Fig. 21 is a perspective view showing an embodiment of the fully automatic picking device, and Fig. 22 is a perspective view of Fig. 21 with the casing omitted to facilitate understanding of the structure. 23 is an explanatory diagram (schematic plan view) showing the moving state of the first opening/closing body and the second opening/closing body shown in FIG. 21, and FIG. 24 shows a modification of the article transfer device. A perspective view, FIG. 25 is a perspective view showing a state in which the article is reversed by the reversing device shown in FIG. 24, FIG. 26 is a perspective view showing the reversing device, and FIG. 27 (A) is a plan view showing the semi-automatic picking system. 27(B) is a plan view of the main part showing the container conveyance line, FIG. 28 is a plan view showing the container feeding device, FIG. 29 is a front view of FIG. 28, and FIG. 30 is a plan view of FIG. 29. The arrow view along the IV-IV line, Fig. 31 is Fig. 27
A plan view showing the main parts of the figure, Figure 32 is a side view of Figure 31,
Fig. 33 is a perspective view showing the semi-automatic picking device, Fig. 34 is a perspective view showing the reserve tank and cutting device of the semi-automatic picking device, and Fig. 35 is a sectional view showing the reserve tank and cutting device of the semi-automatic picking device. , Fig. 36(A) is the 35th
36(B) is an enlarged view of part A in FIG. 36(A), FIG. 37 is a perspective view showing the reserve tank on the near side, and FIG. 38 is a cut-out on the near side. FIG. 39(A) is a perspective view showing the back side reserve tank, FIG. 39(B) is a free roller arrangement diagram of FIG. 39(A), and FIG. 40 shows the back side cutting device. Perspective view shown, No. 41
Figure (A) is a perspective view showing an integral shutter used for the reserve tank, No. 41 Pf! U(B) is an enlarged sectional view of part B in FIG. 41(A), FIG. 42(A) is a perspective view showing a modified example of the integral shutter, and FIG. 42(B) is C in FIG. 42(A). 43(A) and 43(B) are perspective views showing a shutter driving device used in the cutting device; FIG. 44(A) is a perspective view showing a modification of the shutter driving device; FIG. 44(B) is a perspective view showing a modified example of the shutter driving device; ) is a plan view showing the main parts of a cutting device using the shutter drive device of FIG. 44(A), FIG. 45 is a perspective view showing another modification of the shutter drive device, and FIG. 46(A), ( B) is the 45th
FIG. 47 is a schematic diagram showing a cutting device using the shutter driving device shown in the figure, FIG. 47 is a perspective view showing another modification of the shutter driving device, and FIG. FIG. 49 is a perspective view showing a modified example of the reserve tank, FIGS. 50 (A) and (B) are schematic diagrams showing a drawer reserve tank, and FIG.
FIG. 52 is a schematic diagram showing a modified example of the drawer reserve tank; FIG. 53 (A) is a perspective view showing a modified example for explaining the frame structure of the picking device;
Figure 53 (B) is a view in the direction of arrow E in Figure 53 (A), Figure 54 is a perspective view showing a three-stage semi-automatic picking device, and Figures 55 (A) and (B) are in Figure 54. FIG. 55 (A) is a plan view of the drawer reserve tank, and FIG.
The sectional views taken along the line, FIGS. 56(A) and (B), are similar to those shown in FIG.
FIG. 57 is a plan view showing a picking system according to another embodiment of the present invention, and FIG. 58 shows the flow of articles in the picking system to which the present invention is applied. The collapsed diagram, FIG. 59, is a flowchart showing the control procedure in the picking system to which the present invention is applied, and FIG.
Figure 60 (A) is a plan view showing an article with a sprayer type cap stored in a container, Figure 60 (B)
is a front view thereof, FIG. 61(A) is a plan view showing the state in which the article shown in FIG.
Figure (B) is a plan view showing the state in which the articles shown in Figure 60 have been transferred to another reserve tank with a partition provided at a different position than that in Figure 61 (A), and Figure 61 (C) is a Diagram (A
), a front view corresponding to the plan view shown in (B), and FIG.
A) is different from Figure 61 (A) and Figure 61 (B) 3
FIG. 62 is a plan view showing the state in which the articles shown in FIG.
B) is its front view, Fig. 62 (C) is its side view, and Fig. 6
3(A) is a plan view showing a state in which an article with a bonus product is stored in a container, FIG. 63(B) is a front view thereof, and FIG. 64(A) is the article shown in FIG. 63. FIG. 64(B) is a front view thereof, and FIG. 65(A) is a plan view showing a state in which the articles inserted in the tray are stored in the container. Figure 65 (
B) is its front view, FIG. 66(A) is a plan view showing the state in which the article shown in FIG. 65 has been transferred to the reserve tank, FIG. 66(B) is its front view, and FIG. 67<A) 67(B) is a front view of the container, and FIG. 68(A) shows the items shown in FIG. 67 placed in the reserve tank. A plan view showing the transferred state, FIG. 68(B) is a front view thereof, and FIGS. 69, 70, and 71 are a plan view, front view, and 72 is a sectional side view schematically showing the article transfer operation section; FIGS. 73 and 74 are an enlarged front view and an enlarged side sectional view schematically showing the article retrieval operation section; FIG. 75 The figure is an enlarged front view showing the outline of the monitor display, FIG. 76 is an enlarged front view of the transfer display, and FIG.
FIG. 7 is a flowchart illustrating the delivery procedure of an embodiment of the manual picking device. 200...Full automatic picking device 280
．． 380... Article picking device (first article picking device W), 285.385... Article storage section (first article storage section), 400, 560... Semi-automatic picking device, 417...
- Cutting device (second article take-out device W), 474... storage mass (second article storage section).

Claims (2)

[Claims] (1) After transferring the articles stored in the container arranged at predetermined intervals to a first article storage section partitioned according to the above-mentioned intervals, the articles are transferred to the first article storage section. A first article retrieval step for taking out the replaced articles, and transferring the articles stored in the container arranged at predetermined intervals to a second article storage section partitioned at intervals wider than the above-mentioned intervals. and a second article taking out step of taking out the articles transferred to the second article storage section. (2) The method for sorting goods according to claim (1), comprising the step of storing the articles taken out in the second article taking out step in the transport container that has stored the articles taken out in the first article taking out step. . (3) Claim (1) further comprising the step of storing the article taken out in the first article taking out step in a transport container that has stored the article taken out in the second article taking out step.
) The arrangement method described. (4) Storing the article taken out in advance in the third article taking out step in the transport container that has stored the article taken out in the first article taking out step and the article taken out in the second article taking out step. The method for arranging goods according to claim (1), comprising a step.