JPH085523B2 - Automatic picking equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to an automatic picking facility for picking a designated load for each user.

Conventional technology In conventional picking installation, a worker takes out a load from a multi-tiered loading box according to the display on the display device provided on each stage, and the user is transported by a conveyor or an automated guided vehicle to each user. Picking work to put in boxes and baskets is being performed.

However, in the conventional picking installation, since the accuracy and efficiency of the picking work depend on the ability of the worker, the rate of mistakes in the picking work and the work efficiency are different every day.
In addition, there is a problem that the work efficiency must be reduced because the work plan needs to be prepared for the workers with low ability. In addition, since the worker does not perform any work while the boxes and baskets of each user who do not have picking work are being transported, there is a problem such as wasteful staffing.

The present invention is intended to solve the above problems, and an object of the present invention is to provide an automatic picking equipment which makes the picking operation unmanned and improves the work efficiency.

Means for Solving the Problems In order to solve the above problems, the present invention relates to a shelf to which boxes containing different loads are automatically supplied in a plurality of stages and a plurality of rows, and a transporting means for collecting loads picked from the shelf. For each row of the shelves, picking a designated load from a plurality of stages of boxes, transfer means for stocking the plurality of cutouts for each row of the shelves, and stocking the cutouts by driving the cutouts. Driving means for outputting the loaded load to the transporting means, outputting a signal designating a load to be picked to each transfer means for each row of the shelves and a cutout portion for stocking the load, and for each row of the shelves. The control means for outputting a timing signal for driving the cutout portion to each of the driving means and for controlling the traveling of the conveying means to the cutout portion for outputting the load is provided.

Action With the above configuration, the transfer means of each row of the shelf transfers the load specified by the control means from the automatically supplied boxes of a plurality of stages to the cutout part specified by the control means, and the drive means is controlled. The load stocked in the designated cutout portion is output to the conveying means whose traveling is controlled by the control means in response to the cutout portion drive signal of the means.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic perspective view of the automatic picking equipment of the present invention,
FIG. 2 is a schematic diagram for explaining a transfer method of the automatic picking equipment.

It consists of a three-stage real line consisting of a roller conveyor 3 that automatically feeds a box 1 containing a load 6 from a replenishing line 2, and a one-stage empty line consisting of a roller conveyor 5 that sends an empty box to an empty return line 4. Shelf equipment is formed by connecting a plurality of shelves (M rows).

As the piece transfer device 8 for picking up the load 6 from the box 1 supplied by the three-stage real line of each shelf and transferring it to the two-stage cutouts 7A, 7B, as shown in FIG. A pickup device 10 capable of moving the vacuum arm 9 for holding the container in and out in the transport direction H of the box 1 and vertically moving up and down.
And a lifter 12 on the upper surface of which a conveyor 11 that can move up and down on the same center line as the pickup device 10 and that can rotate forward and backward in the H direction, and the loads 6 stocked in the two-stage cutouts 7A and 7B are stored. To a box 14 of an automated guided vehicle (hereinafter abbreviated as STV) 13 that moves under the cutouts 7A and 7B, respectively.
An upper cutting device 15A and a lower cutting device 15B (both not shown) for outputting by tilting A and 7B are provided.

As shown in FIG. 1, a label 16 on which a bar code consisting of a user name is printed is attached to the box 14 of the STV13.
Are aggregated by passing under the cutout portions 7A and 7B of a plurality of shelves.

FIG. 3 shows a control block diagram of the automatic picking equipment of the present invention. Enter the user code from the bar code reader 17 that reads the bar code from the label 16 of the box 14 of the STV 13 that is installed on the upstream side of the shelf equipment along the travel path of the STV13, and moves along the shelf equipment. N units of STV1
3, and pickup device 10, conveyor 11 and lifter 12
And a piece moving device for each M rows, which includes upper and lower cutting devices 15A and 15B, a controller 18 for the roller conveyors 3 and 5, and a piece transfer controller 19 for controlling these devices (hereinafter
A control device 20 that controls the PTI 8) is provided.

 A block diagram of the controller 20 is shown in FIG.

When the control device 20 inputs the user code from the bar code reader 17, the STV number adding section 21 adds the STV number of the user code in order to identify the STV 13 that is transporting the box 14 with the label 16 of the user code attached. To form the data. STV numbers are added in order from 1 and return to 1 when N is reached. The data including the user code and the STV number output from the STV number addition unit 21 is input to the picking content search unit 22. The picking content search unit 22 selects the row and column of the rack equipment to which the picked load 6 is supplied and the load 6 from the list of the picked load 6 for each user stored in advance corresponding to the user code. The quantity is retrieved and output to the control selection unit 23 together with the STV number. The control selection unit 23 has been input
Control unit of STV No.1 to STV No.N corresponding to STV number 24
The picking data including the input row and stage of the rack equipment to be picked and the quantity of the load 6 is output to -1 to 24-N.

Each STV control unit 24 sends and receives a signal to and from one corresponding STV 13 and PT 18 in the M column. The operation of the No. N STV control unit 24-N will be described below with reference to the flowchart of FIG.

First, when picking data is input, it is stored (step J-1), and the picking data is being passed in front of the bar code reader 17.
Output to STV13 using, for example, wirelessly and add STV number N (step J-2), output the starting point address corresponding to the traveling road point of the entrance of the shelf equipment, and drive to STV13 to the starting point address. Command (step J-
3). Subsequently, the transfer data including the number of picked stages and the load 4 and the STV number N retrieved from the picking data for each PT18 in the M column is output (step J-
4).

Next, control using the subroutine SUB1 is performed for each PT18.

First, No. 1 PT18 (hereinafter referred to as PT1-1, the same below)
Check if there is transfer data in (Step J-
5) If it does not exist, proceed to the next PTI-2, and if it does exist, form the data of subroutine SB1. That is, the STV number is set to N, the PTI number is set to 1, and the STV traveling target address AD is set to 1 corresponding to the address of PT1-1 (step J-6).

In SUB1 of step J-7, it is confirmed that the pickup completion signal indicating that the pickup of the load 6 to the cutout portion 7A or 7B according to the transfer data is completed is input from PTI-1 (step K- 1) When the pickup completion signal is input, the target address AD1 is output to STV-N so as to drive in front of PTI-1 (step K-
2). Address signal indicating current position from STV-N and PTI
If it matches with the target address of -1, (step K
-3), output the cutout signal to PTI-1 and send it to the STV-V box 14
The load 6 is carried into the container (step K-4), and the input of the cutting completion signal from the PTI-1 is confirmed (step K-).
5).

When the completion of cutting from PTI-1 is confirmed, the control of PTI-2 is performed similarly, and the same control is sequentially performed up to PTI-M.

In this way, in each STV control unit 24,
The STV number is added and the vehicle is first driven to the starting address, and then the traveling control is performed while checking the pickup status of each PTI8.

Next, the operation of the piece transfer controller 19 of the PT 18 will be described with reference to the flowchart of FIG.

First, the transfer data input from each of the STV control units 24-1 to 24-N of the control device 20 is sequentially stored (step X-1),
The unused transfer data input first is searched (step X-2). Next, using the cutout 7A, the load 6
It is confirmed whether it is in stock with the cutout 7A flag K ₁ in use (step X-3). If it is not in use, set the flag K ₁ to 1 (step X-4). whether cut portion 7B of the lower field is in use to check flag K ₂ of the cut-out portion 7B in use below (step X-5). If the lower cutout 7B is not in use, the flag K _{2 is set} to 1 (step X-6), and if the lower cutout 7B is also in use, the next pickup routine is bypassed.

In the pickup routine, first, it is confirmed whether or not the load 6 is picked up from the A line which is the first actual line by checking whether the pickup quantity L _A of the A line of the transfer data is 1 or more (step X -7) When the pickup from the A line is confirmed, a movement command to the A line pickup position is output to the pickup device 10 and the lifter 12 (steps X-8 and X-9). Depending on the position signals of the pickup device 10 and the lifter 12, the pickup device 10 and the lifter
When it is confirmed that 12 has moved to the A line position (steps X-10 and X-11), it is confirmed whether the pickup quantity L _A is larger than the remaining amount M _A of the load 6 in the box 1 (step X-12). . When the pickup quantity L _A is smaller than the remaining quantity M _A , that is, when the load 6 to be picked up in the box 1 can be secured, L _A is output to the pickup device 10 as the pickup quantity (step X-13). Then, the pickup device 10 is placed on the conveyor 11 of the lifter 12 and the L _A number pick a load 6 from the box 1, after completion of the pickup device 10 outputs a pickup completion signal. Check out input of the pickup completion signal (step X-14), the remaining amount of the box 1 M _A
To update the (M _A -L _A) (Step X-15).

In step X-12, the pickup quantity L _A is the remaining quantity M _A
When it is larger, the number of loads 6 to be picked up is insufficient only by picking up from the current box 1, so the empty box 1 is conveyed to the empty line after the end of picking up from the current box 1 and is transferred to the next box 1. It is necessary to pick up the shortage load 6 from.

First, the pickup device 10 picks up M _A
The M _A number of load 6 is transferred to the conveyor 11 by the output to pick up device 10 (Step X-16), confirms the input of the pickup completion signal from the pickup device 10 (Step X-17), empty box Execute the discharge routine.

In the empty box discharging routine, it is confirmed whether the flag K ₁ is 1 or which of the upper and lower cutouts 7 is used (step X-18). When K ₁ is 1, that is, the upper cutout 7A is used. , A movement command to the upper cutout portion 7A transfer position is output to the lifter 12 (step X-19), and it is confirmed by the position signal of the lifter 12 that the lifter 12 has moved to the upper cutout portion 7A position (step S-19). X-20). If K ₁ is not 1, a movement command to the lower cutout portion 7B position is output to the lifter 12 (step X-21), and it is confirmed that the lifter 12 has moved to the lower cutout portion 7B position (step X- twenty two). Step X-20
Alternatively, when it is confirmed at X-22 that the lifter 12 has moved to the cutout section 7, a drive signal for normal rotation for a certain period of time is output to the conveyor 11 on the lifter 12 (step X-23).
The load 6 on the conveyor 11 is transferred to the cutting section 7 that uses it. Then, the movement command to the A line pickup position is output to the lifter 12 (step X-24), and when the movement of the lifter 12 to the A line is confirmed (step X-25), the empty box is ejected to the roller conveyor controller 18. Output a command signal. (Step X-26). Then, the roller conveyor control device 18 drives the roller conveyor 3 of the A line to lift the empty box.
Then, the box 1 loaded with the next load 6 is moved to the picking position, and a discharge completion signal is output to the piece transfer controller 19 after completion. When the input of this discharge completion signal is confirmed (step X-27), the movement command to the empty line transfer device is output to the lifter 12 (step X-28), and the movement of the lifter 12 to the empty line position is confirmed. (Step X-29), a drive signal for reversing for a certain time is output to the conveyor 11 on the lifter 12 (Step X-30), and the empty box on the conveyor 11 is transferred to the empty line. Then, the movement command to the A line pickup position is output to the lifter 12 (step X-31), and the movement of the lifter 12 to the A line position is confirmed (step X-32).

Check the movement to the A-line position of the lifter 12, shortage as pickup quantity to pickup device 10 (L _A -
M _A ) is output (step X-33), and the pickup device 10
Check out input of the pickup completion signal from (Step X-34), the remaining amount M _A of the box _{1 (T A - (L A} -M A)) and updates (step X-35). T _A indicates the total amount of load 6 in box 1.

When the pickup of the A line is completed in the above steps X-7 to X-35, the second line B of the actual line is similarly followed.
The line and the C line of the third stage are picked up (steps X-36 to X-39).

And when the pickup of the 3rd stage real line is completed,
Check the cutout 7 to be used with the flag K ₁ (Step X
-40), the movement command to the confirmed cutout 7 transfer position to the lifter 12 is output (steps X-41 and X-42), and the movement of the lifter 12 to the cutout 7 is confirmed (step X-43). , X−
44), and outputs a drive signal to the conveyor 11 of the lifter 12 for normal rotation for a certain period of time (step X-45).
Then, it is transferred to the cutout section 7 which has been confirmed. When the transfer to the cutout unit 7 is completed, a pickup completion signal is output to the STV control unit of the STV number of the transfer data (step X-4).
6).

Next, ST that outputs the stock 6 stocked to the upper cutout 7A
When it is confirmed that the cutting signal to V13 is input (step X-47), the cutting signal is output to the upper cutting device 15A (step X-48), and the load 6 stocked in the upper cutting portion 7B is STV13. Then, the flag K _{1 in} use at the upper cutout 7A is reset (step X-49), and the stored transfer data for pickup to the upper cutout 7A is erased (step X-49). -50), and a cutout completion signal is output to the control unit 24 of the output STV 13 (step X-51).
Similarly for the lower cutout 7B,
When the 7B cutout signal is input (step X-52), the cutout signal is output to the lower cutting device 15B (step X-5).
3) Reset the flag K ₂ (step X-54), and erase the transfer data of the cutout portion 7B below this (step X-54).
55), and outputs a cut-out completion signal to the control unit 24 of the STV 13 that has output the load 6 (step X-56).

In this way, each piece transfer controller 19 in the M-row transfers the designated load 6 to the two-stage cutout portions 7A, 7B from the three-stage real line according to the transfer data for each STV 13 from the control device 20. Put them in stock and cut them out according to the cutout signals 7A, 7
Each of the loads 6 stocked in B is output to STV13, and the empty box 1 is returned to the empty line.

With the above configuration, a predetermined load 6 is automatically supplied to the shelf equipment, and the load 6 is collected in the STV 13 by the PT18 of each row of the shelf equipment.
By picking up and outputting to STV13, and moving STV13 to each PT18, the load 6 for each user is picked to STV13.

By performing automatic picking work for each user in this way, unmanned picking work can be achieved, human error can be prevented, work efficiency can be improved, and work plans can be easily drafted. It enables continuous operation day and night. In addition, by making the cutting section 7 into two stages, even after the load 6 is stocked in the cutting section 7 of one stage, the picking work to another stage can be executed subsequently with the next transfer data, and the PT
I8 work standby time can be greatly reduced, and work efficiency can be greatly improved.

It should be noted that although the shelf equipment uses the roller conveyors 3 and 5 as the shelves, it is also possible to use a fluidized shelf or a shelf using a belt conveyor.

As described above, according to the present invention, the load specified by the control unit is output to the transfer unit by the transfer unit and the drive unit, so that the picking operation can be unmanned, and thus the human In addition to eliminating mistakes, continuous operation is also possible day and night, improving work efficiency.
Furthermore, by using multiple cutting parts, even after the designated load stock on the cutting part of one stage is completed, picking work on other stages can be executed subsequently, the waiting time of the transfer means is reduced, and the work The efficiency can be greatly improved.

[Brief description of drawings]

The drawings show one embodiment of the automatic picking equipment of the present invention. FIG. 1 is a schematic perspective view, FIG. 2 is a schematic diagram for explaining a transfer method, FIG. 3 is a control block diagram, and FIG. FIG. 5 is a block diagram of the control device, FIG. 5 is a flow chart of the control device, and FIG. 6 is a flow chart of the piece transfer controller. 1 ... box, 6 ... load, 7 ... cutting section, 8 ... piece transfer device, 13 ... automatic carrier, 19 ... piece transfer controller, 20 ... control device.

Claims (1)

[Claims] 1. A shelf comprising a plurality of stages and a plurality of rows in which different boxes are automatically supplied with boxes, and a conveying means for collecting the picked articles from the shelves. Transfer means for picking a specified load from the box and stocking it in a plurality of cutouts for each row of shelves, and driving means for driving the cutouts and outputting the load stocked in the cutouts to the transport means. And a timing signal for outputting a signal designating a load to be picked to each transfer means for each row of the shelf and a cutout portion for stocking the load, and driving the cutout portion to each drive means for each row of the shelf. Is output, and the automatic picking equipment is provided with control means for performing traveling control for moving the transport means to a cutout portion for outputting a load.