JPS6323082B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for picking loads stored in trays.

Conventionally, the automatic picking devices for small items that have been realized are the so-called Daruma-drop method or cut-out method, and the posture of the object to be picked is not constant at the end of the picking operation, and the object to be picked is not fixed, such as a book. However, there were drawbacks that made it unusable as a picking method and apparatus when the quality had to be maintained during picking without deterioration. Furthermore, in the case of books, the picking quantity for each order is small in quantity with a wide variety, and the thickness to be picked varies from several millimeters to over ten centimeters, which has the disadvantage that the picking mechanism and device become complicated or expensive.

An object of the present invention is to pick an object to be picked without deteriorating its quality.

The present invention tilts the tray pulled out by a fork, lifts the load in the tray upward with an L-shaped load receiving member, and rotates it in a direction away from the tray, thereby picking the load. It is characterized by being carried out by a conveyor.

Embodiments of the present invention will be described below with reference to FIGS. 1 to 15.

FIG. 1 shows the layout of a book distribution center employing an embodiment of the present invention.

As shown in FIG. 1, the book distribution center is broadly divided into an automatic warehouse 4, a picking warehouse 11, and a conveyor line that goes in and out of each of these warehouses 4 and 11.

When the book pallet 1 sent from the bookbinding factory by the conveyor in the direction of arrow A is detected by the article recognition detector (1) 3 installed at the branch of the warehousing conveyor 2, the pallet 1 in the automatic warehouse 4 is delivered to each shelf. 5, the pallet 1 is guided in the direction of arrow B by the article extrusion device 6, and the pallet 1 is transferred to the warehousing conveyor 2 heading toward the shelf 5 side.
The pallet 1 is transferred to the stacker crane 7.
After being loaded on top, the pallets 1 are loaded into the shelves 5 by a stacker crane 7. A book pallet 1 is a load on which a plurality of storage trays 9 containing books 8, which are objects to be picked, are placed. Also, one storage tray 9 is taken out from the book pallet 1 in the automatic warehouse 4 via the stacker crane 7, and after being loaded onto the mixed conveyor 10, the storage tray 9 is transferred to the picking warehouse 11 side as indicated by arrow C. When the tray 9 is detected by the article recognition detector (2) 12 placed at the branching part of the mixed conveyor 10, the article is guided in the direction of arrow D by the article pusher (2) 13, and sent to the storage tray receiving conveyor 14. The stocker 15 in the picking warehouse 11 is operated to store the storage trays 9 on the picking shelves 16. The books 8 in the storage tray 9 stored on the picking shelf 16 are picked by the picker 18, which travels within a certain range on the picking rail 17 and moves up and down the number of operations instructed.
The orders are sequentially loaded onto an order conveyor 19 installed for each order, and sent from the order conveyor 19 to a picking buffer area 20 for shipment. on the other hand,
Goods conveyor 21 directly delivered from the shelves 5 in the automated warehouse
The book pallet 1 containing a large amount of books may be sent to the picking buffer area 20 via the picking buffer area 20 and shipped on a conveyor 22 for each store.

FIG. 2 shows the overall structure of a picker 18 equipped with a picking shelf 16 and a picking device. The shelf 16 is located between a stocker 15 that stores or replenishes the storage tray 9 and a picker 18 that picks one or more books 8 from within the storage tray 9, and has shelf sections arranged three-dimensionally. The picking shelf 16 has a shelf board 28 that supports the tray 9 in each shelf section, and the storage tray 9 is horizontally moved from the side of the shelf 16 opposite to the picking car 18 by a stocker 15 having the structure of a general stacker crane. is stored in

As shown in FIG. 2, the picker 18 is guided by a rail 23 provided on the ceiling and a rail 17 provided on the floor, and is movable along the picking shelf 16.
The picker 18 includes a traveling device 24 mounted on a rail 17 and traveling by the driving force of a motor 24a, a post 26 vertically provided to the traveling device 24, and an elevating body provided vertically movably to the post 26. 27, an elevating device 30 that drives the elevating object 27 up and down by winding up and letting out a rope hanging from the upper part of the post 26, and a traveling device 2.
Order conveyor 1 is attached to the 4 side and books 8 are placed on the order conveyor 1.
9, the elevator device 31 attached to the elevating body 27, the picking device 32 attached to the elevating body 27, the telescopic fork device 29 attached to the elevating body 27, and the picker 1.
The control device 33 provides operation commands to each of the 8 drive units.

The storage tray 9 is used to store books 8 in an upright manner, as shown in FIG. The size is such that the rotary plate 36 can rotate and pass through, and the parts other than that size are as follows.
It exists as a front end plate 34 and a bottom plate that supports the book 8 so that the book 8 does not fall out. In addition, the bottom plate of the storage tray protrudes slightly in the width direction,
The protruding portion serves as a guide 35 for the tilting roller, which is bent into a convex shape in the middle.

The picking device 32 is installed as one unit on the elevating body 27, and includes a rotary plate 36 consisting of two plates 36a and 36b assembled at right angles as cargo receiving materials, and a shaft to which the rotary plate 36 is fixedly attached. 38, a support frame 55 to which the shaft 38 is rotatably attached, a motor 37 installed on the support frame 55 and having a rotational drive shaft connected to the shaft 38, and a screw having a female thread and a male thread machined on the support frame 55. A screw rod 56, a support frame to which both ends of the screw rod 56 are rotatably attached and fixed to the elevating body 27, and a screw rod 56.
The motor 58 is fixed to the elevating body 27 by connecting a rotational drive shaft thereto, and a guide rod 57 is passed through a support frame 55 and fixed at both ends to the support frame. The screw rod 56 and guide rod 57 are
As shown in FIG. 5, they are arranged diagonally. Guide rod 5
Limit switches 59 and 60 are attached to both ends of the switch 7, and strikers 59a and 60a are attached to the support frame 55 so as to face the switch levers of each limit switch 59 and 60. In addition, the shaft 38
As shown in FIG. 6, a disk 54 is fixed to the holder. As shown in FIG. 7, this disc 54 has holes 75 and 7 at positions with an angle θ ₁ and a positional shift toward the center of the disc.
A hole 76a that is 90 degrees apart from the hole 76 and the hole 76 is formed. A photoelectric detector 62 for detecting the hole 75 and a photoelectric detector 63 for detecting the holes 76 and 76a are installed on the support frame 55. photoelectric detector 62,
63 controls the motor 37. fork device 29
As shown in FIG. 5, a pinion 43 is rotatably provided on the elevating body 27, a motor 45 applies rotational force to the pinion 43 via an endless chain 44, and a rack 42 meshed with the pinion 43.
It consists of This rack 42 is supported horizontally from the elevating body 27 via rollers, etc., and a stopper 4 facing diagonally upward to the left is located at the left end in FIG.
2a protrudes.

In FIG. 5, the tray 9 is indicated by 53.
It is a tilting device. This tilting device 53 consists of a lever 47 with a roller 48 rotatably attached to its upper end.
Bracket 49c whose lower end is fixed to the elevating body 27
The screw rod 49a is connected to a gear rotatably connected to the rotary shaft 50 via a rotation shaft 50, and is fixed to the rotation shaft 50.
is rotatably attached to a bracket 49b installed on the elevating body 27, and this screw rod 49a
is connected to the rotational drive shaft of a motor 49 installed on the elevating body 27. A limit switch 51 is attached to the bracket 49b so that the switch lever touches the lever 47 when the lever 47 is raised to the state shown in FIG. Attach.

A frame 41 that supports a belt conveyor 67 is fixed on the elevating body 27. belt conveyor 6
7 is placed horizontally as shown in FIG. 5, and has a total of two conveyor belts 67a and 67b. These conveyor belts 67a, 67b are connected to the rotary plate 3 as shown in
The belt drive pulleys 67c and 67d of both conveyor belts 67a and 67b are arranged at intervals such that the conveyor belts 6 can rotate up and down and pass through, as shown in FIG.
A rotating shaft 66 or chain/sprocket type rotational force transmission means 7 to a motor 65 attached to the frame 41
7.

As shown in FIG. 5, the elevator device 31 includes a hollow guide tube 64 fixed to the elevating body 27 and a guide tube 6.
4, a screw rod 73 attached in a vertical position so as to be freely rotatable; a nut 74 assembled to the threaded portion of the screw rod 73; and an elevator plate 69 fixed to the nut 74 and disposed within the guide tube 64.
, a rotational drive shaft of a motor 71 attached to the guide tube 64, and gears 72a and 72b attached to the upper end of the screw rod 73 and meshed with each other. The guide tube 64 has a vertically long slit so that the portion of the elevator plate 69 extending outside the guide tube 64 can move up and down. In addition, the guide tube 6
The right side surface of No. 4 in FIG. 5 has an opening into which the object to be picked can enter. Two photoelectric detectors 70a and 70b are installed on both sides of this opening.
is fixed to the guide cylinder 64 side. An opening is provided in the guide tube 64 so that the light beams from the photoelectric detectors 70a and 70b can pass through the guide tube 64.

As shown in FIG. 8, a rotating shaft 68 is disposed between the guide tube 64 and the conveyor belts 67a, 67b so as to fill the gap therebetween.One end of the rotating shaft 68 is rotatably supported by the guide tube 64, and the other end is The rotary drive shaft of a motor 79 supported from the guide tube 64 is connected by a coupling 78.

In the control device 33 of the picker 18, there is installed a control device mainly consisting of a microcomputer in which a program for controlling the operation of the picker 18 is set. For this reason, each operating section can operate in response to commands from a microcomputer.

The functional block configuration of the control device including the microcomputer is shown in FIG. The controlled objects 83 include the motor 24a and brake of the traveling device 24, the lifting drive device 30, the fork device 29,
This is a picking-related device section 34a including each motor 49, 58, 65, and 71. Input information for control includes traveling operation information 85 from a detector that detects the traveling direction and traveling position of the traveling device 24;
Lifting and fork operation information 86 from a detector that detects the lifting position of the lifting body 27 and the extension/retraction position of the fork device 29, and each limit switch 51, 5
2, 59, 60 and each photoelectric detector 62, 63, 70
Picking operation information 87 including detection signals from and
It consists of Known means can be used for detecting traveling motion information, elevating body, and fork motion information. The microcomputer 89 is a central processing unit that performs program control, calculations, and judgments.
A CPU 90, a RAM 91 in which variable data representing the operating state is stored, an EP-ROM 92 in which the operating program is stored, an operating system (not shown) for performing auxiliary operations of the operating program, and a data table. The setting signals from the M-ROM 93 storing the above information and the setting terminal 94 of the man-machine are transmitted by the optical transmission communication devices 96a and 96b via the host computer 95, and are directly connected to the optical transmission communication device 96a, which is an interface. ACIA97 which is a column input/output LSI, magnetic bubble memory 98 which converts the aforementioned setting signals into files and manages them as inventory information, and DMAC9 which is an interface of the magnetic bubble memory 98.
9, a relay output circuit 84 with PIA 100a which is a parallel input/output unit that outputs to each device 24, 30, 29, 34a, and each limit switch 51, 5.
2, 59, 60 and each photoelectric detector 62, 63, 70
Relay input circuit 8 receiving input from a and 70b
8 and a second parallel input/output unit PIA 100b. These control configurations are
It is provided every 8. The optical transmission communication device 96b, the computer 95, and the setting terminal 94 are arranged at a different location from the picker 18. And each picker 1
An optical transmission communication device 96a is attached every 8, and the optical transmission communication device 96a receives signals from the computer 95 and transmits the operating status of the picker to the computer 95.

In particular, the input/output control section of the picking-related section 34a is shown in enlarged detail as shown in FIG. 10. Each motor 49, 58, 71 has forward rotation and braking circuits 108a, 109 as shown in FIG.
a, 110a are connected, and furthermore, reversing and braking circuits 108b, 109b, 110b are connected. Further, as shown in FIG. 10, the microcomputer 89 and each circuit 108a, 108b are connected through a forward/reverse switching circuit 113, and similarly, a forward/reverse switching circuit 114, 115 is provided for each motor 58, 71. Each switching circuit 113, 114, 11
A switching signal transmission path of a microcomputer 89 is connected to the switching signal input sections 116, 117, and 118 of the microcomputer 89. Each motor 37, 65, 79 and the microcomputer 89 are connected via normal rotation and braking circuits 111, 112. The output signal transmission paths of each limit switch 51, 52, 59, 60 and photoelectric detector 62, 63, 70a, 70b are connected to be input to a computer 89.

The operation of this embodiment will be explained below.

First, from the setting terminal 94 of the worker who operates the book distribution center, command signals such as the type and quantity of books for order picking are sequentially inputted to the computer 95, and the computer 95 sets up the book shelves for each order picking. The amount of inventory at the address is checked, the amount of inventory is compared with the amount of orders, and a command for automatic picking work is transmitted to the microcomputer 89 of the picker 18 via the optical transmission communication devices 96a and 96b. The microcomputer 89 sets initial conditions for each internally installed circuit based on the EP-ROM in which the operating program is stored, and waits for an operating signal from the computer 95.
When the microcomputer 89 receives the operation signal, the picker 18
The picker 18 is moved to the desired shelf address by driving the traveling device 24 and lifting drive device 30 of the picker 18 to the book shelf address where the order is to be picked. Travel by travel and elevation detector,
Upon receiving the lifting operation completion signal, the traveling device 24 and the lifting drive device 30 are stopped, and the lifting body 27 of the picker 18 is positioned in front of the target shelf address.

After the execution of the positioning operation program for the target shelf is completed, the operation program for taking out the tray 9 from the target shelf is executed.

That is, when the motor 45 is rotationally driven, the pinion 43 is rotated, and the rack 42 that engages with the pinion 43 protrudes into the shelf from the elevating body 27 side and is located below the tray 9 stored in the shelf. . After that, the elevating body 27 is moved by the elevating drive device 30.
is raised until the tray 9 can be scooped out above the rack 42. Next, the motor 45 is driven in reverse to pull the rack 42 back toward the elevating body 27, and the tray 9 on the rack 42 is completely pulled out from the shelf.

After that, the program moves to a tilting operation program for the tray 9. That is, when the forward rotation command switching signal from the microcomputer 89 enters the switching signal input section 116, the switching circuit 113 switches to the forward rotation side, and the forward rotation command signal from the microcomputer 89 enters the forward rotation and braking circuit 108a. . For this purpose, the motor 49 rotates in the normal direction and the screw rod 4
9a to rotate the lever 47 upward about the shaft 50. In this way, the roller 48 hits the guide 35 of the tray 9, as shown in FIG. 11A. Further, when the motor 49 continues to rotate normally and the lever 47 rotates upward, the guide 35 is pushed up by the roller 48, so that the tray 9
is tilted on the rack 42. Simultaneously with this inclination of the tray 9, the motor 37 is rotated to match the inclination of the rotary plate 36 with the inclination of the tray 9. In this case, the disk 54 also rotates due to the 37 rotations of the motor, so the hole 7
The light from the photoelectric detector 63 passes through the photoelectric detector 63
When the OFF signal is received by the microcomputer 89, the motor 37 is stopped and the state shown in FIG. 11B is created. When the lever 47 rotates until the inclination of the tray a reaches the set inclination, the lever 47 contacts the switch lever of the limit switch 51, and the limit switch 51 operates to issue an ON signal. The ON signal from the limit switch 51 is taken into the microcomputer 89, and the microcomputer 89 determines that the tray 9 is held at the set tilt angle, and the microcomputer 89 controls the normal rotation and braking circuit 103a. A command signal is issued and motor 4
9 stops and brakes. Also, easy 4
Since there is a stopper 42a at the left end of the tray 2, the inclined tray 9 is prevented from sliding off the rack 42.

The tilting operation program for tray 9 is executed by motor 49.
When the process is completed by braking, the program moves to the picking operation program. That is, when the forward rotation switching command signal is output from the microcomputer 89 to the switching signal input section 117, the switching circuit 114 is switched to the forward rotation side, and the forward rotation and braking circuit 109a is switched to the forward rotation side.
A forward rotation command signal from the microcomputer 89 is input to the microcomputer 89. For this purpose, the motor 58 is driven to rotate in the forward direction, and the screw rod 59 is rotated. Therefore, the support frame 55 is sent upward, and as shown in FIG. This scooping height is reached when the support frame 55 rises and the striker 5
9a hits the switch lever of the limit switch 59. When the striker 59a hits the switch lever of the limit switch 59, the limit switch 59 operates and outputs an ON signal to the microcomputer 89. When the microcomputer 89 receives the ON signal from the limit switch 59, it determines that the support frame 55 has reached the upper limit position and outputs a control signal to the normal rotation and braking circuit 109a. For this purpose, the motor 58 is stopped and braked. This scooping action is performed simultaneously with the action of returning the tray 9 to a horizontal state. The tray 9 is returned horizontally by executing the tilt return operation program, outputting a reverse switching command signal from the microcomputer 89 to the switching signal input section 116 of the switching circuit 113, and switching the switching circuit 113 to the reverse side. It will be done. In this way, the reversal command signal is transmitted from the microcomputer 89 to the reversal and braking circuit 10.
8b, and the motor 49 rotates in reverse. For this purpose, the lever 47 rotates clockwise about the shaft 50, and the roller 48 descends. Therefore, roller 48
The tray 9 supported by the rack 4 returns to the horizontal position.
The bottom surface of tray 9 lands on top of tray 9. In this way, the lever 47 touches the switch lever of the limit switch 52, and the limit switch 52
Outputs ON signal. This ON signal is input to the microcomputer 89, and upon receiving this ON signal, the microcomputer 89 determines that the tray 9 has been returned to the horizontal position and outputs a braking command signal to the reversing and braking circuit 108b. For this purpose, the motor 49 is stopped and braked. The picking operation program is executed following the scooping action and the limit switch 59 is activated.
When the microcomputer 89 accepts the ON signal, a forward rotation command signal is output from the microcomputer 89 to the forward rotation and braking circuit 111, and the motor 37 rotates in the forward direction. For this reason, the rotating plate 36 is rotated by the motor 37, and the plate 36a becomes vertical and the plate 36b becomes horizontal. At this time, the disk 54 also rotates, so when the plate 36a rotates until it becomes vertical and the plate 36b becomes horizontal, the light from the photoelectric detector 63 passes through the rotated hole 76a, and the light from the photoelectric detector 63 is transmitted to the light receiver of the photoelectric detector 63. Reach your side. For this purpose, the photoelectric detector 63 operates and outputs an OFF signal to the microcomputer 89. When the microcomputer 89 receives the OFF signal from the photoelectric detector 63, a braking command signal is issued from the microcomputer 89 to the normal rotation and braking circuit 111, and the motor 37 is stopped and braked. At the same time, upon receiving an ON signal from the photoelectric detector 63, the microcomputer 89 switches to the switching circuit 1.
A reverse rotation switching command signal is output to the switching signal input section 4, and the switching circuit 114 is switched to the reverse rotation side. Then, a reverse rotation command signal is output from the microcomputer 89 to the reverse rotation and braking circuit 109b.
For this reason, as shown in FIG. 11E, the rotation of the rotating plate 36 is stopped with the plate 36b being horizontal and the plate 36a being vertical, and the support frame 55 is further lowered by the reversal of the screw rod 56. This completes the picking of 10 blocks of books 8 from tray 9.

As the support frame 55 continues to descend, finally,
The striker 60a hits the switch lever of the limit switch 60, and this limit switch 60
outputs an ON signal to the microcomputer 89. Upon receiving this ON signal, the microcomputer 89 outputs a forward rotation command signal to the forward rotation and braking circuit 112 and a braking command signal to the reverse rotation and braking circuit 109b. For this purpose, motor 58 is stopped and braked, and motor 6
5,79 starts to rotate forward. For this purpose, the conveyor belts 67a and 67b of the belt conveyor 67 and the rotating shaft 68 are driven to send the books 8 to the left in FIG. 11. Before the striker 60a hits the switch lever of the limit switch 60, the book 8 is transferred from the plate 36b to the conveyor belts 67a, 67b while the support frame 55 is lowering, and is sent to the left side and placed on the rotating plate as shown in FIG. Moving away from 36. limit switch 60
Microcomputer 89 receives the ON signal.
further sends the forward rotation command signal to the forward rotation and braking circuit 1.
Re-output to 11. For this purpose, the motor 37 rotates forward and the rotating plate 36 rotates counterclockwise, thereby rotating the rotating plate 36 to its original position, which is the reference position. When it rotates to the reference position, the hole 76 of the rotating disk 54 also rotates, and the photoelectric detector 62 is inserted into the hole 76.
The light passes through and reaches the receiver of the photoelectric detector 62,
Photoelectric detector 62 outputs an OFF signal. this
The OFF signal is input to the microcomputer 89, and the microcomputer 89 outputs a forward rotation and braking command signal to the braking circuit 111, thereby stopping the motor 37 and braking, allowing the rotary plate 36 to perform the next picking operation. Return to position.

The picked book 8 is conveyed to the belt conveyor 6
Both ends are supported by conveyor belts 67a and 67b of No. 7 and sent to the guide cylinder 64 side. When the book 8 passes between the left end side of the belt conveyor 67 and the guide tube 64, the book 8 is accelerated by receiving the rotational force of the rotating shaft 68, and smoothly moves into the guide tube without stopping.
The vehicle is transferred onto the elevator board 69 inside the vehicle. When the book 8 moves onto the elevator board 69, the light from the photoelectric detector 70b is blocked by the book 8.
This photoelectric detector 70b outputs an ON signal to the microcomputer 89. Upon receiving the ON signal from the photoelectric detector 70b, the microcomputer 89 activates the switching command signal input section 11 of the switching circuit 115.
A normal rotation switching signal is outputted to 8, and the switching circuit 115 is switched to the normal rotation side. The forward rotation command signal output from the microcomputer 89 is input to the forward rotation and braking circuit 110a, and the motor 71 rotates in the normal direction. Therefore, the screw rod 73 is rotationally driven by the motor 71, and the elevator plate 69 is rotated.
is lowered. When the elevator board 69 descends, the book 8 also descends, so that the light from the photoelectric detector 70b is not blocked by the book 8.
It reaches the receiver side of the photoelectric detector 70b and turns ON from the photoelectric detector 70b to the microcomputer 89.
A signal is output. Therefore, the microcomputer 89 outputs a braking command signal to the normal rotation and braking circuit 110a, and the motor 71 is stopped and braked. So, elevator board 6
The top surface of the book 8 on the elevator board 69 is at a position lower than the top surface of the rotating shaft 68 and the belt conveyor 67, and the next picked book 8 can be placed on top of the book 8 placed on the elevator board 69 first. do. This completes one pick-up (10 books), so compare it with the required number of pickings input from the setting terminal 94, and if it is insufficient, carry out the work for the number of pickings from the tilting operation of the tray 9 to the subsequent operations. Repeat. If you tilt the tray 9 again, the tray 9
The book 8 inside falls to the stopper plate 34 side and comes to a position where it can be picked. When the required number of picking operations have been completed, the books 8 are pushed out from the elevator board 69 toward the guide device 25 by known means, and transferred from the guide device 25 to the order conveyor 1.
Guide to 9 and transfer. The books 8 are transported by the order conveyor 19 and shipped from the picking buffer area 20 side. Thereafter, the microcomputer 89 outputs a reverse switching command signal to the switching command signal input section 118, switches the switching circuit 115 to the reverse side, and simultaneously reverses the reverse and brake circuits 11
A reverse rotation command signal is output to 0b. Therefore, the motor 71 rotates in reverse, and the elevator 69 moves up. The elevator plate 69 rises and the photoelectric detector 7
When the light of 0a is removed, an ON signal is output from the photoelectric detector 70a to the microcomputer 89. Therefore, the microcomputer 89 determines that the height has reached such a level that the newly picked book 8 can be loaded onto the elevator board 69, and outputs a braking command signal to the reverse rotation and braking circuit 110b. For this reason, the motor 71 is stopped and braked. After all the picking is completed, the rack 42 is pushed out to the shelf side and the lifting body 27 is lowered to scoop the tray 9 back into the original shelf.
Thereafter, the rack 42 can be pulled toward the elevating body.

In the first embodiment described above, one set of rotary plates 36 consisting of plates 36a and 36b was used, but as shown in FIG. If the rotating plate 36 is raised and
Books 8 with 10 books tied into a set every 90 degree rotation
The blocks can be picked from the tray 9 and moved down the rotary plate 36 to the belt conveyor 67, which is efficient. In this second embodiment as well, the rotary plate 36 is moved upward in the inclined tray 9 from one position to another to scoop up the books 8 in the tray 9, and at the same time the tray 9 is horizontally moved as shown by the arrow. The rotary plate 36 is rotated to the next position, and then the rotary plate 36 is lowered to the position , and the book 8 is transferred from the rotary plate 36 to the belt conveyor 67. At this point, the next set of rotary plates 36 shifted by 90 degrees is already located below the tray 9, so immediately tilt the tray 9 and pack the books 8 in the tray 9 toward the rotary plate 36. , the next picking is performed by matching the inclination of the rotary plate 36 to the inclination of the tray 9. In this way, picking is performed every 90 degree rotation, which is efficient. In order to control the rotational positions of the four sets of rotary plates 36, a fourteenth disk is attached to the disk 54 fixed to the shaft 38 shown in FIG.
As shown in the figure, detection holes 12 for photoelectric detectors 62 and 63
0.121 is one set, and there are four sets shifted by 90 degrees.

In the third embodiment, as shown in FIG. 15, four sets of rotary plates 36 are fixed to the shaft 38 in the first embodiment, shifted by 90 degrees, and the plate 36 of each set of rotary plates 36 is
Boards 124a, 124b, 124c, 12 in which the protruding length of a from the board 36b is different for each set.
4d, and in this way, the plate 124
If you use the board 124b, you can pick 3 books at a time or thick books 8 one by one, and if you use the board 124c, you can pick up the books 8 one by one. A larger number of books 8 or even thicker books can be picked one by one, and if the board 124d is used, one block of books 8 made up of 10 books can be picked. Therefore, it is possible to pick books 8 having different thicknesses, and furthermore, it is possible to pick books 8 one by one. In addition, all the plates 124a, 124
By using b, 124c, and 124d properly, you can pick even a large quantity. Therefore, efficient picking can be performed.

Further, in each of the embodiments, the operation programs set in the microcomputer 89 automatically execute the operations of each part of the picker 18 and the sequence of operations, but each motor may be operated manually.

In either case, the tray 9 is tilted so that the books 8 in the tray 9 are tilted toward the rotating plate 36 side, and the books 8 are placed on the rotating plate 36 side without fail. However, the book 8 can be scooped up and picked out of the tray smoothly without a big shock due to the rotation of the rotary plate, and the book 8 is picked in an orderly manner without being in a disorganized position, so the book 8 is not damaged. Picking is possible with high quality. Also, book 8
When the rotary plate 36 scoops up the
Since the books 8 in the tray 9 are returned to the horizontal position, the books 8 in the tray 9 move away from the books 8 being scooped up, and no frictional force is generated between the books 8 during scooping up. Therefore, damage to the book 8 is further prevented. Further, since the tray 9 is tilted after being taken out from the shelf, the space required for tilting the tray 9 on the shelf is not required, and the storage rate of the tray 9 on the shelf is improved accordingly.

As described above, according to the present invention, since the object to be picked can be picked without being damaged, it is possible to achieve the effect that picking work can be accomplished without deterioration of quality.

[Brief explanation of the drawing]

Fig. 1 is a plan layout diagram of a book distribution center according to an embodiment of the present invention, Fig. 2 is an enlarged perspective view of the picker section shown in Fig. 1, and Fig. 3 is an enlarged perspective view of the tray shown in Fig. 2. 4 is a perspective view showing the arrangement of the tray shown in FIG. 2 and the rotary plate of the picking device during picking, and FIG. 5 is a perspective view showing the arrangement of the tray shown in FIG.
An enlarged view of the lifting body of the picker shown in the figure during picking operation, Figure 6 is a top plan view showing the driving part of the rotary plate shown in Figure 5, and Figure 7 is the circle shown in Figure 6. Fig. 8 is an elevational view showing the arrangement of holes in the board; Fig. 8 is a top view of the belt conveyor section shown in Fig. 5 during the transfer of books; Fig. 9 is a control of the picker control device shown in Fig. 2. Block diagram: Figure 10 is a control block diagram showing the main parts of Figure 9 enlarged, and each figure from A to F in Figure 11 is a schematic diagram showing the working status of each device shown in Figure 5. Elevation, No. 12
The figure is a sectional view of a rotary plate according to a second embodiment of the present invention, FIG. 13 is a perspective view of the vicinity of a picking device according to a second embodiment of the present invention, and FIG. 14 is a circular plate shown in FIG. 13. FIG. 15 is a sectional view of a rotating plate according to a third embodiment of the present invention. 8...books, 9...tray, 36...rotating plate,
37, 54, 58...Motor, 42...Telescopic drive rack of telescopic fork device, 43...Pinion, 47...Lever, 55...Support frame, 56...Screw rod, 67...Belt Conveyor.

Claims (1)

[Scope of Claims] 1. A storage tray for arranging and storing loads in a horizontal direction; the storage tray has an opening on the upper surface of one end in the arranging direction through which the loads can pass upward; The end face and the bottom face of the section are provided with openings through which an L-shaped cargo receiving material, which will be described later, can pass through, and the L-shaped part can be in contact with the lower surface and front surface of the cargo at one end stored in the storage tray, respectively. The L-shaped cargo receiving material is provided with a first motor that rotates the L-shaped cargo receiving material about a horizontal axis so as to move the load placed on the L-shaped cargo receiving material upward; a picking means comprising a second motor that raises and lowers the receiving material and a motor; and a picking means that is installed on the opposite side of the horizontal axis from the installation location of the storage tray and picks up the L-shaped receiving material. a conveyor that receives the load and conveys the load in a direction opposite to the storage tray; an elevator device that is provided with a plate that can be moved up and down on which the load that has been conveyed by the conveyor can be placed; a fork that is installed at a position opposite to the installation position of the conveyor and that moves horizontally between the storage tray and the shelf with the storage tray placed on the top surface; A picking device comprising: a tilting device that pushes up the other end side of the storage tray downward; and an elevating body having the picking means, the conveyor, the elevator device, the fork, and the tilting device on its upper surface.