JPH072533B2 - Automatic picking system - Google Patents

Description

The present invention relates to an automatic picking system, and more particularly to an automatic picking system, in which a transfer device is provided in a warehouse, and a case of a single product loaded on a single product loading pallet is loaded into an empty pallet. Transferred to one of the other pallets mounted on the equipment, pallets loaded with multi-product cases (hereinafter referred to as multi-product loading pallets) and pallets with different lot units by sorting the number of single-product cases The present invention relates to an automatic picking system capable of forming (hereinafter, referred to as a lot number changing pallet) and delivering the pallet by pallet.

[Conventional technology]

An example of a conventional automatic picking system will be described with reference to FIG.

As shown in the figure, in the conventional automated warehouse, storage shelves 40, 40, 60, 60 for storing pallets loaded with single-product cases are provided facing each other with predetermined spaces S, S, respectively. Each of the spaces S and S is provided with stacker cranes 4 and 5 for carrying each pallet out of the storage.

Conventionally, in order to sort a large number of types of single-product cases stored in such an automatic warehouse into a predetermined number, the following work has been required.

That is, using the stacker cranes 4 and 5, for example, the storage shelves 4
The pallets of the single product case stored in 0, 40 are carried in to the loading / unloading station E outside the storage in pallet units for each product, and then each single product pallet is moved to a predetermined position by using a forklift or the like. Different types of cases are loaded on the pallets (P ₁ , P ₂ , P ₃ , P ₄ , P ₅ , P ₆ , P ₇ , P ₈ , P ₉ , P _10). Has been).

Thereafter, the sorting while picking only the number required for the empty pallet P _0, loading pallet P _C the sorting work has been completed
Are carried out to the next process or re-stored in the storage rack 60 in the warehouse as shown in the figure.

On the other hand, the pallets P ₁ , P ₂ , P ₃ , P ₄ ,
_{P 5, P 6, P 7} , P 8, P 9, P 10 is re receipts again with stacker crane 4 and 5, the position of each original storage shelves.

[Problems to be Solved by the Invention]

However, the above-described conventional automatic picking system requires a large space for appropriately arranging various kinds of single-product pallets discharged from the automatic three-dimensional warehouse. Further, after the pallet is unloaded from the stacker crane, it takes time and man-hours to move the pallet to a predetermined position using a forklift or the like. Further, in the above-mentioned automatic picking system, when pallets are unloaded from the automated multi-storey warehouse, the stacker crane is inevitably run to the loading / unloading station outside the automated multi-storey area outside the warehouse, and the pallet is unloaded here again. Since it is necessary to return to the warehouse and continue the delivery work, there is a problem that the traveling time of the stacker crane to and fro is wasted.

The present invention was devised in view of the above-mentioned circumstances, and the purpose thereof is to change a multi-product loading pallet or a single-product lot number in the warehouse without moving the stacker crane to the loading / unloading station outside the automatic multi-level warehouse area. It is an object of the present invention to provide an automatic picking system that can sort pallets and deliver them in units of pallets.

[Means for Solving the Problems]

In order to achieve the above-mentioned problems, the present invention provides a storage shelf for storing a single-product loading pallet loaded with a single-product case only, and a single-product loading pallet taken out from this storage shelf at one operating position of the transfer device. A single-product loading pallet loading device for loading, an empty pallet loading device for loading an empty pallet to the other operating position of the transfer device, and a predetermined number of each single product from the single-product loading pallet at the one operating position. A transfer device for removing the case and transferring it to an empty pallet at the other operating position to form a transfer case loading pallet with the transfer case loaded, and a transfer case loading pallet for which the transfer operation has been completed. And a unloading case loading pallet unloading device.

[Action]

According to the present invention, by the above means, a single-product loading pallet loaded with only a single-product case is sequentially loaded into one operating position of the transfer device, and an empty pallet is loaded into the other operating position of the transfer device. By the transfer device, a predetermined number of individual product cases are picked up from the single product loading pallet at one operating position and transferred to an empty pallet at the other operating position to form a multiple product loading pallet. Or, you can sort them from one type of single-product loading pallet to form pallets with different lot numbers, and these pallets can be delivered from storage shelves stored in pallet units. it can.

Therefore, according to the present invention, it is not necessary to carry out the single-item loading pallet once to move it out of the storage as in the conventional case, and the transfer work using a predetermined system can be performed in the storage, thus reducing the installation space. In addition, the work efficiency can be further improved because there is no loss time of reciprocating the single-item loading pallet between the inside and outside of the store using a stacker crane as in the conventional case.

〔Example〕

An embodiment of an automatic picking system according to the present invention will be described below with reference to FIGS. 1 to 17.

FIG. 1 is a plan view showing an automatic picking system, and FIG. 2 is a three-dimensional view thereof. In the example shown in the figure, the automatic picking system 1 is a multi-tier storage rack 2, 3 provided in two rows. , The stacker cranes 4 and 5 capable of traveling along the frontages 2a and 3a of the storage shelves 2 and 3, respectively, and the storage shelf 2 is loaded with a single-product case 6 only. _A plurality of products are stored in the single-item storage shelf for storing _A , the storage shelf 3 is a storage shelf for the shipping case loading pallet P _C , and the shipping case loading pallet P _C loads the multi-product case 6 It is a multi-product loading pallet or a lot number changing pallet in which the number of lots of a single product is changed.

There is a picking area 7 between the stacker cranes 4 and 5.
There are formed, separately species pallet conveyor 8 for conveying a single cultivar loading pallet P _A in this picking area 7
And a picking pallet conveyor 9 that conveys the empty pallet P _B and the shipping case loading pallet P _C , and a transfer device 10 is installed between the two conveyors 8 and 9.

The single-item pallet conveyer 8 is one mode of the single-item loading pallet loading device, which is a pallet loading position 8a.
The single product loading pallet P _A at the operating position 8b of the transfer device 10.
And a transfer conveyor for transferring to the pallet payout position 8c.

On the other hand, the picking pallet conveyor 9 is one mode of the empty pallet loading device, and this is the empty pallet loading position.
A transport conveyor configured to transport the empty pallet P _B in 9a to the operating position 9b of the transfer device 10 and the delivery case stacking pallet P _C formed in the operating position 9b of the transfer device 10 to the pallet payout position 9c To do.

Next, the stacker cranes 4, 5 and the transfer device 10 will be described with reference to FIG.

Since the stacker cranes 4 and 5 have the same structure, only the stacker crane 4 is shown in FIG. 3, and the stacker crane 4 is provided with an elevating unit 12 capable of ascending and descending along the main masts 11 and 11 in FIG. Lifting unit 12
Is provided with a fork table 13 with a lifter. The lifter-equipped fork table 13 is a single piece in which a large number of cases 6 are loaded between the storage shelf 2 and the stacker crane 4 and between the stacker crane 4 and the single-product pallet conveyor 8 by means of a slide fork f that advances and retracts from the front side of the shelf to the depth side. It is designed to transfer the seed loading pallet P _A.

The transfer device 10 may be a fully automated robot or a semi-automatic transfer device that is semi-automated and normally requires one operator.

When the transfer device 10 is a robot as shown in FIG. 3, the transfer robot includes a robot main body 14, an arm 15 provided on the robot main body 14, and a picking head provided at the tip of the arm 15. 16 and the picking head 16 holds the case 6 on the single-item loading pallet P _A , and then the arm 15 is swung to transfer the cases 6 on the empty pallet P _B in order and the unloading case loading pallet is loaded. It is designed to form P _C.

On the other hand, when the transfer device 10 is a semi-automatic transfer device, for example, a device as shown in FIG. 4 is used.

That is, the semi-automatic transfer device includes the device main body 20 and the main body.
Main swivel 21 that is erected on 20 and can rotate about a vertical axis
A first arm 22 which is connected to the swivel base 21 and is rotatable in the vertical direction about the connecting portion, and the first arm 22.
Shaft connected via a connecting shaft 23 which is connected to
The second arm 24 rotatable about 23 and the second arm 24
Third arm 25 that is rotatable with respect to a vertical axis that is connected to the arm 24, a picking head 27 that can be replaced with one touch provided at the tip of the arm 25, and a manual provided on the side surface of the arm 25. The operation panel 26 is provided, and the picking head 27 has a vacuum pad 27a for gripping the case 6.
Is attached, and vacuum suction is performed by a vacuum hose 28 and a vacuum pump 29 which communicate with each other.

At the time of picking, the operator operates the manual operation panel 26 to grip the case 6 by the picking head 27, and then the operator rotates a predetermined arm to place the case on an empty pallet P _B (not shown). 6 are sequentially transferred to form a shipping case loading pallet P _C. In the illustrated example, the picking head 27 uses a vacuum pad 27a and directly picks up the upper surface of the case 6 (particularly when this is a carton case) to pick, but the case 6 is made of plastic. In the case of a case, it is also possible to replace the picking head type with a picking head with a protruding hook, and hook the hook on the window of the handle provided on the plastic case to perform picking. Various types of picking heads are used.

As another semi-automatic transfer device, a so-called balance arm that lifts the transfer case 6 by using air pressure can be used.

The unloading case loading pallet P _C on which a predetermined case is loaded by the transfer device 10 can be immediately put out of the storage as it is, or can be stored in the storage rack 3 by the scatter crane 5. In the present specification, a pallet P is a pallet at the stage of case loading before forming the shipping case loading pallet P _C from the empty pallet P _B.

On the other hand, a large number of empty pallets P _B are stored in the empty pallet carry-in position 9a shown in FIG. 1 so that the empty pallets P _B can be supplied to the picking pallet conveyor 9 without interruption. Has become.

Further, a transfer conveyor 18 is installed between the single-item pallet conveyor 8 and the picking pallet conveyor 9, and the single-item loading pallet P _{A is set} by the picking work.
When the upper case 6 has been consumed up to become an empty pallet P _B , the transfer conveyor 18 transfers the empty pallet P _B from the single-product pallet conveyor 8 to the picking pallet conveyor 9 for further picking. The pallet conveyor 9 returns the pallet to the empty pallet loading position 9a or uses it as an empty pallet P _B.

Next, the operation of the automatic picking system according to the present invention configured as described above will be described with reference to FIGS. 5 to 16.

First, a case is described in which the goods issue case stacking pallet P _C and various kinds loading pallets. The multi-product loading pallet refers to a product in which an arbitrary number of cases are selected from the multi-product single-product loading pallet and transferred onto an empty pallet, and the multi-product loading case is mixed.

1- (1) Preparation process The single-product loading pallet P _A loaded with the products A, B, and C stored in the storage shelf 2 is sequentially loaded into the pallet loading position 8a by the stacker crane 4, and the single-product pallet conveyor 8 is also installed. By driving, as shown in FIG. 5, the single product loading pallets P _A are arranged in the order of A product, B product, and C product. At this time, the single-product pallet conveyor 8 is driven until the single-product loading pallet P _{A of} the A product is located at the operating position 8b of the transfer device 10.

On the other hand, on the picking pallet conveyor 9, the empty pallet P _{B at the} empty pallet carry-in position 9a is conveyed. At this time, the picking pallet conveyor 9 is driven until the empty pallet P _B is located at the operating position 9b of the transfer device 10.

The state of the single-item loading pallet P _A loaded with the A product at the operating position 8b of the transfer device 10 and the empty pallet P _B at the operating position 9b of the transfer device 10 is shown in FIG. 6 (a) and This is shown in FIG. 6 (b).

1- (2) Transfer of A product type As shown in FIG. 7, 20 kinds of A product product type loading pallets P _A on the product product pallet conveyor 8 are emptied on the picking pallet conveyor 9 Reprinted to _B. In this case, as shown in FIGS. 8 (a) to 8 (c), the transfer device 10 is operated to transfer from the A ₁ case to the A ₂₀ case.

1- (3) Transfer of B product type As shown in FIG.
The pitch is moved to position the single product loading pallet P _A of the B product at the operating position 8b of the transfer device 10. Then, the eight cases of the single-product loading pallet P _A of the B product on the single-product pallet conveyor 8 are placed on the pallet P loaded with the 20 products of the A product at the operation position 9b of the transfer device 10 on the picking pallet conveyor 9. Reprinted to. In this case, Figs. 10 (a) to 10
As shown in FIG. 7C, the transfer device 10 is operated to transfer the B ₁ case to the B ₈ case on the A case.

1- (4) to move further one pitch of single varieties pallet conveyor 8 as shown in the transfer FIG. 11 C-varieties, to position the single item type loading pallet P _A of C varieties operational position 8b of the transfer device 10 . Then, a single product loading pallet of C product on the single product pallet conveyor 8
The three cases of P _A are transferred onto the pallet P on which the A and B types are loaded on the picking pallet conveyor 9. In this case, as shown in FIGS. 12 (a) to 12 (c), the transfer device 10 is operated to transfer from the C ₁ case to the C ₃ case on the B case, and the multi-product loading is performed. Form the pallet P _C to complete the picking process.

The transfer of the three kinds of cases A, B, and C has been described above, but the present invention is not limited to this, and more kinds of cases can be transferred by the same picking method.

Further, continuously performs transfer case high-mix, in order to form several shipping case stacking pallet P _C is empty pallet loading position 9a in the picking pallet conveyor 9
If the empty pallets P _{B in the above} are sequentially transported and three or more types of A, B, C are required, after the above-mentioned C type single type loading pallet, the required type of single type The loaded pallets must be sequentially transported by using the single-product pallet conveyor 8.

While picking operation is performed by the above process, shipping case loading pallet picking is completed (wide variety stacking pallet) P _C is stored in the storage shelf 3 by the stacker crane 5 from the pallet dispensing position 9c, a predetermined number as described above The single-item loading pallets P _A of the A, B, and C varieties in which the cases are picked are stored in the storage rack 2 by the stacker crane 4 from the pallet payout position 8c.

On the other hand, when the single-product loading pallet P _A on the single-product pallet conveyor 8 becomes an empty pallet P _B due to picking, this empty pallet P _B reverses the transfer conveyor 18 and the picking pallet conveyor 9 that conveys in the opposite direction. Then, it is returned to the empty pallet loading position 9a and stored, or used as an empty pallet P _B.

Next, a case will be described in which an arbitrary number of cases are selected from one type of single-product loading pallet P _A and transferred onto an empty pallet P _B to form a lot number changing pallet in which the number of single product lots is changed. .

2- (1) Preparation Step As shown in FIG. 13, the single product loading pallet P _A loaded with the product A stored in the storage rack 2 is loaded into the pallet loading position 8a by the stacker crane 4 and the single product pallet is loaded. The conveyor 8 is driven to drive the single product pallet conveyor 8 until the single product loading pallet P A of the product _A is located at the operating position 8b of the transfer device 10.

On the other hand, the picking pallet conveyor 9 conveys the empty pallet P _B to the operating position 9 b of the transfer device 10 until it is conveyed.

It should be noted that the state of the single-item loading pallet P _A loaded with the A product at the operating position 8b of the transfer device 10 and the empty pallet P _B at the operating position 9b of the transfer device 10 is as shown in FIG. This is shown in FIG. 14 (b).

2- (2) Transfer of A product type As shown in FIG. 15, 40 cases of A product product loading pallet P _A on the product product pallet conveyor 8 are placed on the pallet conveyor 9 for picking. Reprinted to _B.

In this case, the transfer device 10 is moved to transfer from the A ₁ case to the A ₄₀ case as shown in FIGS. 16 (a) to 16 (c).

The shipping case loading pallet P _C in which the number of lots of a single product is changed in this way is stored in the storage shelf 3 in the same manner as that in which the above-mentioned multiple products are loaded, while a single product of the A product in which a predetermined number of cases are picked. The seed loading pallet P _A is normally stored in the storage rack 2 by the stacker crane 4 from the pallet payout position 8c. As shown in Fig. 16 (a), the number of remaining aces (40 cases from A ₄₁ cases to A ₈₀ cases) loaded on the single-product loading pallet P _A of _A type is 40. When the number of cases is the same as the number of cases, the pallet P _A is usually handled in the same manner as the shipping case loading pallet P _C, and is stored in the storage shelf 3 via the transfer conveyor 18, the picking pallet conveyor 9 and the stacker crane 5. It

Since such transfer work is normally performed continuously, the empty pallet P _B located at the empty pallet carry-in position 9a is sequentially conveyed on the picking pallet conveyor 9.
In accordance with this, a method is adopted in which the single-item loading pallets are sequentially conveyed to the single-item pallet conveyor 8.

〔The invention's effect〕

As described above, according to the present invention, as is apparent from the description of the embodiments, the transfer device is provided in the automatic multi-storey warehouse, and an arbitrary number of cases are selected from multiple types of single-product loading pallets in the automatic multi-storey warehouse. It is possible to transfer onto an empty pallet to form a multi-product loading pallet, or to sort one type of single-product loading pallet to form a pallet with a different lot number. Can be delivered from the storage shelves stored in pallet units.

Therefore, according to the present invention, unlike the conventional case, it is not necessary to carry out the single-item laminated pallet once out of the automatic three-dimensional storage to perform the moving work, and the picking work using the predetermined system can be performed inside the storage. Since the space can be reduced and the loss time of reciprocating the single-product loading pallet between the inside and the outside of the warehouse using a stacker crane as in the conventional case is eliminated, the work efficiency is remarkably improved.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of an automatic picking system according to the present invention, FIG. 2 is an elevational view thereof, FIG. 3 is a perspective view of essential parts of the same embodiment, and FIG. 4 is a schematic of a transfer device. A perspective view, FIGS. 5 to 16 are explanatory views of the operation of the same embodiment, and FIG. 17 is a plan view showing a conventional automatic picking system. 1 ... Automatic warehouse, 2,3 ... Storage shelves, 4,5 ... Stacker crane, 6 ... Single product case, 7 ... Picking area, 8 ... Single product pallet conveyor, 9 ... Picking pallet Conveyor, 10 ... Transfer device, 11 ... Main mast, 12 ... Lifting unit, 13 ... Fork table with lifter, 14 ... Robot body, 15 ... Arm, 16 ...
Picking head, 18 …… Transfer conveyor, P _A …… Single product loading pallet, P _B …… Empty pallet, P _C …… Outgoing case loading pallet, 8a …… Pallet loading position, 8b …… Transfer device operating position, 8c: Pallet delivery position, 9a: Empty pallet loading position, 9b: Transfer device operating position, 9c: Pallet delivery position.

Continuation of the front page (56) Reference JP-A-1-275309 (JP, A) JP-A-1-275310 (JP, A) JP-A-61-140417 (JP, A) JP-A-62-255320 (JP , A) JP 61-295901 (JP, A) JP 59-217502 (JP, A) JP 60-228303 (JP, A) JP 58-501417 (JP, A)

Claims (1)

[Claims] 1. A storage shelf for storing a single-product loading pallet loaded with only a single-product case, and a single-product loading pallet for loading the single-product loading pallet taken out from this storage shelf into one operating position of a transfer device. A loading device, an empty pallet loading device that loads an empty pallet to the other operating position of the transfer device, and a predetermined number of individual product cases from the single product loading pallet at one of the above operating positions, and the other A transfer device for forming a transfer case loading pallet that is transferred onto an empty pallet in an operating position and loaded with a transfer case, and a transfer case loading for carrying out the transfer case loading pallet for which the transfer work has been completed An automatic picking system comprising a pallet unloading device.