JP2004051245A - Layer-based picking device - Google Patents

Abstract

An object of the present invention is to provide a layer-based picking device that can be installed in a space-saving manner and that can perform a picking operation without disturbing the packing state of product layers.
A rotating arm (3a) freely movable along a rail (3d) provided in an upper space of a depalletizer (1) and a palletizer (2) and retreating to an upper space of a product layer (W) by rotating around a rotation fulcrum (3b). When the product layer W is removed from the depalletizer 1 to the palletizer 2, the transfer arm 3 functions as a drop-down alignment stopper so that the product layer W does not collapse. It functions as a transfer arm and functions as a stacking and aligning stopper so that the product layer W does not collapse when stacked with a palletizer.
[Selection diagram] Fig. 1

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a layer unit picking device that takes out products in layers from a pallet in which products of the same type are stacked in layers and stacks products of different types in layers on an empty pallet.
[0002]
[Prior art]
Japanese Patent Application Laid-Open No. 5-338800 discloses a layer-unit picking device for taking out products of the same type in layers from a multilayered pallet in units of one layer and stacking products of different types on an empty pallet in multiple layers. Picking devices have been proposed.
[0003]
FIG. 9 shows this picking device. In accordance with a layer picking command device that sends a layer picking command having a stacking order of each product type and the number of layers to be loaded for each product type, a plurality of pallets 112 of the same product type are stacked. A supply device for sequentially supplying the varieties, and a take-off roller mechanism 111d for each time the uppermost layer of the pallet is set to a predetermined height based on the layer picking command from the multilayered product of each pallet supplied from the supply device. A depalletizer that abuts on the lower part of the product on the top layer of the pallet and removes the required number of layers in layers, and returns the rest of the product along with the pallet, and the product removed by the removal roller mechanism 111d of the depalletizer. A layer conveyor 115 for transporting layers in a predetermined direction; Palletizer that receives the product layer conveyed by the palletizer, stacks it on an empty pallet set to a predetermined height, and stacks different types of products based on the layer picking instruction in layers, and layer picking according to the work plan in advance Operating conditions required for operation are stored, based on a work plan that is the layer picking command, a withdrawal position of a layer product from the depalletizer according to the stored operating condition, a product layer stacking position by the palletizer, Control means for controlling the speed of contact of the take-off roller mechanism 111d with the uppermost layer of the pallet and the speed of the layer conveyor 115 are provided.
[0004]
[Problems to be solved by the invention]
However, in the above picking device, when the product layer is taken down by the depalletizer, when the product layer is transported by the layer conveyor, and when the product layer is stacked on the empty pallet by the palletizer, the product layer is loaded. The problem is that the figure collapses.
[0005]
In order to solve this problem, it has been considered to install an alignment stopper when the product is taken down by the depalletizer or when the product is loaded on an empty pallet by the palletizer, but there is no example when the product layer is transported.
[0006]
In addition, the alignment stoppers considered up to now require a complicated operating mechanism to accommodate various product sizes, and such alignment stoppers must be installed on both the depalletizer side and the palletizer side. Instead, a large installation space is required.
[0007]
The present invention has been made in order to solve such a problem, and the same kind is taken out from a product layer in which a plurality of kinds are stacked in a single layer unit, and layer unit picking for stacking different kinds of products in a multilayer on an empty pallet. It is an object of the present invention to provide a layer unit picking device which can perform a picking operation without disturbing the packing state of product layers and can be installed in a small space.
[0008]
[Means for Solving the Problems]
In order to solve the above problems, the present invention has the following features.
[0009]
[1] In a layer unit picking apparatus for stacking different kinds of products on a pallet in layers, to create a different kind of pallet, a depalletizer for removing product layers from a multi-layer pallet of the same kind in layers, and the depalletizer A palletizer for stacking the product layer withdrawn on an empty pallet or on a different kind of pallet being created, and means for transferring the product layer from the depalletizer to the palletizer, wherein A transfer arm that moves while abutting on the opposite end face, and operates to press the opposite end face in the direction of the palletizer at the time of stacking on the empty pallet or the different kind of pallet being created. A layer unit picking device.
[0010]
[2] The layer unit picking device, wherein the transfer arm operates so as to press the transfer direction side end face of the product layer in the depalletizer direction when the product layer is taken down.
[0011]
[3] The transfer arm presses a rail installed in an upper space between the depalletizer and the palletizer, a slider attached to the rail, and an end face of the product layer, and sets a rotation fulcrum of the slider. A rotating arm rotatable about the center, wherein the rotating arm rotates about a rotation fulcrum of the slider portion, so that the product layer is transferred from the product layer after being depalletized and before being transferred. The layer unit picking device according to the above [2], wherein the device is retracted.
[0012]
The above object can be achieved by the following means in addition to the above means.
[0013]
[4] The transfer arm presses against a rail installed in an upper space between the depalletizer and the palletizer, a slider attached to the rail, and an end face of the product layer, and is attached to the slider. A lifting arm having a mechanism to move up and down,
The layer picking apparatus according to [2], wherein the lifting arm is retracted from the product layer by a mechanism that moves up and down in a vertical direction before the product layer is transported after being depalletized. .
[0014]
[5] Layer unit picking command means for transmitting a layer unit picking command having a stacking order of each type and the number of layers to be stacked for each type, and a multi-layered pallet of the same type is supplied in a stacking order for a plurality of types. A supply device, a depalletizer that removes a required number of layers in layer units from the multilayer stacked products of each pallet supplied from the supply device based on the layer unit picking instruction, and returns the remaining products together with the pallet; The product layers removed by the depalletizer are sequentially stacked on an empty pallet, and a palletizer for stacking products of different types based on the layer unit picking command, and a palletizer that is movable between the depalletizer and the palletizer, When the product layer is removed by the depalletizer and transferred to the palletizer for stacking, the product layer abuts on the end face of the product layer or By contacting, layer by layer picking device, characterized in that it comprises a transfer arm for performing constraining product layer for the product layer transfer and / or stabilizing cargo.
[0015]
[6] The layer unit picking device according to the above [5], wherein the transfer arm can be retracted from a transfer line of a product layer transferred from the depalletizer to the palletizer.
[0016]
[7] The transfer arm is removed by the depalletizer and is brought into contact with the end face of the product layer to be transferred and stacked by the palletizer, so that when the product layer is removed by the depalletizer, the removed product layer does not collapse. Function as an aligning stopper, function as an alignment transfer arm when transferring the product layer removed from the depalletizer to the palletizer, and keep the product layer stacked when stacking the product layer with the palletizer The layer unit picking device according to the above [5] or [6], which functions as a stacking alignment stopper.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
One embodiment of the layer unit picking device according to the present invention is shown in FIGS. FIG. 1 is a side view of a layer unit picking device, and FIG. 2 is a diagram showing a configuration of a layer unit picking command device for controlling the layer unit picking device.
[0018]
The layer-based picking device according to this embodiment removes a required number of layers in layers from multilayered products on a pallet supplied from a supply device such as a conveyor or a carriage, and returns the remaining products together with the pallet. A depalletizer 1; a palletizer 2 for sequentially stacking the product layers removed by the depalletizer 1 on empty pallets; and a transfer arm installed above the depalletizer 1 and the palletizer 2 and movable between the depalletizer 1 and the palletizer 2. 3 is comprised.
[0019]
The depalletizer 1 is mounted with a pallet of a multi-layered product supplied from the supply device, and rotates on a pallet lifter 14 for adjusting a height position of the pallet and a pallet lifter so that a contact force acts in a direction of lifting the product. A pickup roller 12 which advances to a lower part of the uppermost product layer W of the multilayered product, a roller table 13 connected to the pickup roller 12, and an uppermost product layer W which is pushed with the advancement of the pickup roller 12 and the lower part thereof. And a back stopper 11 for holding the product from the opposite side so as not to shift the load.
[0020]
The pallet lifter 14 is provided with a height of a multi-layered product pallet P in which products of the same type conveyed by the supply device 15 are multi-layered such that the pickup roller 12 comes into contact with a lower portion of the uppermost product layer W. Position. As the pickup roller 12 and the roller table 13 advance below the uppermost product layer W, the uppermost product layer W is taken down on the roller table 13 in units of layers.
[0021]
On the other hand, the palletizer 2 has the empty pallet Pk placed thereon, and the pallet lifter 21 for adjusting the height position of the empty pallet Pk, and the palletizer 2 is located above the empty pallet Pk and is taken down on the roller table 13. A slide table 22 for receiving the product layer W and retreating from below the received product layer W to stack the product layer W on the empty pallet Pk, and preventing the product layer W from collapsing with the retreat of the slide table 22. And an alignment stopper 23 for suppressing the slide table 22 from the retreat direction side.
[0022]
Then, the pallet lifter 21 is positioned so that the upper portion of the empty pallet Pk conveyed by the conveyor or the carriage is directly below the slide table 22. The product layer W transferred from the roller table 13 to the slide table 22 is stacked in units of layers on the empty pallet Pk by the retracting of the slide table 22 so that the product layer W is regulated by the stacking stopper 23. Can be
[0023]
The transfer arm 3 includes a rail 3d installed in the space above the depalletizer 1 and the palletizer 2, a slider 3c movable along the rail 3d, and a rotary arm 3a attached to the slider 3c via a rotation fulcrum 3b. It is composed of Thereby, the rotating arm 3a can freely move along the rail 3d in the upper space of the depalletizer 1 and the palletizer 2, and by rotating about the rotation fulcrum 3b as a rotation center, the product W of the layer unit can be obtained. It can be evacuated to the upper space.
[0024]
The rotary arm 3a is removed when the product layer W is removed by the depalletizer 1 by being brought into contact with the end face of the product layer W which is removed by the depalletizer 1 and transferred to and stacked on the palletizer 2. The product layer W is removed so that it does not collapse, and functions as an alignment stopper. When the product layer W removed from the depalletizer 1 is transferred to the palletizer 2, it functions as an alignment transfer arm, and the product layer W is stacked by the palletizer 2. When attaching, it functions as a stacking alignment stopper so that the stacked product layers W do not collapse.
[0025]
Further, the layer unit picking command device includes a layer unit picking planning device 32 for planning a product type, the number of layers, and an order in which products of different types are multilayered, and a stacking order of each product type planned by the layer unit picking planning device 32. And a layer unit picking plan that determines the number of layers to be loaded for each type, and a machine control device 33 that instructs operation control of the depalletizer 1, the palletizer 2, the transfer arm 3, the supply device 15, and the like according to the plan. It is configured.
[0026]
Next, as shown in FIG. 3, as an example, products of different types are stacked on an empty pallet Pk in the order of A type, B type, and C type by using the layer unit picking apparatus configured as described above. The operation procedure to be performed will be described with reference to the operation process explanatory diagrams shown in FIGS.
[0027]
4 (a) is the product for multilayer stacked multilayer stacking product pallet P _A of A variety conveyed like in conveyor and the conveying carriage, the top layer of the multilayer stacked product pallet P _A product layer W _A as the pickup roller 12 contacts the lower, pallet lifter 14 is positioned a height position of the multi-layer stacked product pallet P _a, shows the state immediately before the uppermost product layer W _a is made as taken is there. At this time, the rotary arm 3a is positioned near the upper part of the pickup roller 11.
[0028]
Then, as shown in FIG. 4 (b), the pickup roller 12, while rotating so that the contact force in the direction in which the product is lifted works, together with the roller table 13 while contacting the lower portion of the uppermost product layer W _A forward by, product layer W _a is made as taken on the roller table 13 layer by layer. At this time, the rotating arm 3a is in contact with the end face of the palletizer 2 side of the take Do is mounted on the roller table 13 by the product layer W _A, by restricting the movement of the product layer W _A from the palletizers 2 side functions as takes beat alignment stopper so that the product layer W _a which is made as taken does not collapse. By the action of the rotating arm 3a functioning as the take beat alignment stopper, stowage without being distorted shape of the layer units, the product layer W _A is made as taken on the roller table 13 layer by layer. At this time, the roller table 13 may or may not be driven.
[0029]
When lowered taken to the product layer W _A of the roller table 13 above operation is completed, the rotating arm 3a is rotated around the rotational center 3b, retracted to the top of the take unloaded product layer W _A. When retraction of the rotating arm 3a is completed, the pickup roller 12 and the roller table 13 where the product layer W _A is mounted is retracted. When retraction of the pickup roller 12 and the roller table 13 is completed, the rotating arm 3a, which have been saved, in turn, as shown in FIG. 4 (c), positioning the end face of the product layer W _A to press the Deparetaiza 1 side Is done.
[0030]
By rotating arm 3a is transferred to the palletizer 2 side while pushing the product layer W _A from Deparetaiza 1 side, as shown in FIG. 5 (d), the product layer W _A from upper roller table 13 of the palletizer second slide table 12 are transported in an aligned state. At this time, the roller table 13 may or may not be driven.
[0031]
The slide table 12 product layer W _A which aligned to the top, as in FIG. 5 (e), the slide table 13 is retracted to the right in the figure, by being restricted by the stowage stopper 23, the empty pallet Pk Will be stowed. At that time, the rotating arm 3a, which has been aligned conveying the product layer W _A is to regulate the movement of the product layer W _A from Deparetaiza 1 side, stowing for such product layer W _A is not collapse to be stowage Functions as an alignment stopper. By the action of the rotating arm 3a functioning as the stowage alignment stopper, stowage without being distorted shape of the layer units, the product layer W _A is stowage on empty pallet Pk per layer.
[0032]
With the above operation steps, the transfer of the product layer WA of the product type _A onto the empty pallet Pk is completed.
[0033]
If the product of type _A is to be stacked on the stacked product layer WA by another layer, as shown in FIG. 5 (f), the pallet lifter 14 of the depalletizer 1 positioned at the bottom of the product pallet P product layer of the next layer on _a W _{a 'as} the pickup roller 12 contacts the pallet lifter 21 of palletizers 2, already stowing and an upper product layer W _a slide Positioning is performed so as to be directly below the table 22. Then, the rotary arm 3a is positioned near the upper portion of the pickup roller 11 as in FIG. Then, FIG. 4 (b) ~ (c) and FIG. 5 described above (d) ~ (e) repeats the operation steps up, another layer of the product layer W _A on top of the product layer W _A in which the stowage ' Stow.
[0034]
Next, the product of the B type is stacked on the layer on which the product of the A type is stacked.
[0035]
As shown in FIG. 6 (g), replacing the multi-layer stacking product palette Deparetaiza 1 side in the product stacked multilayer multilayer stacking product pallet P _B of B varieties, the pickup roller 12 in the lower portion of the uppermost product layer W _B There positioning the multilayer stacking product pallet P _B into contact, the pallet lifter 21 of palletizers 2, already stowage and an upper product layer W _a to position so that just below the slide table 22. The rotary arm 3a is positioned near the upper part of the pickup roller 11 as in FIG.
[0036]
Thereafter, repeating the FIG 4 (b) ~ (c) and FIG. 5 (d) Operation process of ~ (e), the product layer _{W B} of B varieties on the product layer _{W A} of A varieties was stowage Stow.
[0037]
Then, the above series of operation steps is repeated once again, and the product layer WC of the _{C type} is stacked on the product layer WB of the _B type that has been stacked.
[0038]
Through the above operation steps, the operation of stacking different types of products in the order of A type, B type, and C type on the empty pallet Pk shown in FIG. 3 is completed.
[0039]
As described above, in this embodiment, a multifunctional and structure having the rotating arm 3a that freely moves along the rail 4 in the upper space of the depalletizer 1 and the palletizer 2 and rotates about the rotation fulcrum 3b as a rotation center is also available. The product layer W is appropriately supported by the simple transfer arm 3, so that space can be saved, and the same type is stacked in multiple layers without disturbing the appearance of the product layer W. The product can be taken out of the product pallet by one layer, and different types of products can be stacked in multiple layers on an empty pallet.
[0040]
In this embodiment, the transfer arm 3 is retracted into the upper space of the product layer W by rotating the rotation arm 3a about the rotation fulcrum 3b as the center of rotation. It is also possible to provide a mechanism for raising and lowering the entire lifting arm in the vertical direction so as to retreat to the upper space of the product layer W.
[0041]
Further, in this embodiment, the rotating arm 3a is brought into contact with the end face of the product layer W. However, in some cases, the rotating arm 3a is brought close to the end face of the product layer W, and the package of the product layer W collapses. When this happens, the support may be provided to prevent the package from collapsing.
[0042]
Next, another embodiment of the layer unit picking device according to the present invention is shown in FIGS. 7 (a) to 7 (c) and 8 (d) to 8 (e).
[0043]
The difference from the above-described embodiment is that the movement of the pickup roller 12 and the roller table 13 is not straight but bent. Accordingly, only the operation range of the rotating arm 3a is different.
[0044]
As compared with the above-described embodiment, the space between the pickup roller 12 and the roller table 13 can be reduced, so that the layer unit picking device can be further reduced in space.
[0045]
【The invention's effect】
The layer unit picking device of the present invention functions as an alignment transfer arm when transferring the product layer from the depalletizer to the palletizer, and functions as a stacking and aligning stopper so that the product layer to be stacked is not collapsed when stacked with the palletizer. Transport arm, which saves space in the picking unit for each layer, and transfers the product layer from the depalletizer to the palletizer without disturbing the packing of the product layer. Varieties of products can be stacked in multiple layers.
[0046]
Further, the layer unit picking device of the present invention further reduces the space of the layer unit picking device by causing the transfer arm to function as a depalletizing alignment stopper so that the package of the product layer removed by the depalletizer does not collapse. The same product type can be taken out of the multilayered product without breaking the packing style, and the product layer can be transferred from the depalletizer to the palletizer, and the different product types can be placed on the empty pallet. Can be stacked in multiple layers.
[Brief description of the drawings]
FIG. 1 is a side view showing an embodiment of the present invention.
FIG. 2 is a configuration diagram of a layer unit picking instruction device according to an embodiment of the present invention.
FIG. 3 is a side view showing a stacked state of different varieties in one embodiment of the present invention.
FIG. 4 is an operation process diagram showing an operation process in one embodiment of the present invention.
FIG. 5 is an operation process diagram showing an operation process in one embodiment of the present invention.
FIG. 6 is an operation process diagram showing an operation process in one embodiment of the present invention.
FIG. 7 is an operation process diagram showing an operation process in another embodiment of the present invention.
FIG. 8 is an operation process diagram showing an operation process in another embodiment of the present invention.
FIG. 9 is a side view showing a configuration of a conventional layer unit picking device.
[Explanation of symbols]
Reference Signs List 1 Depalletizer 2 Palletizer 3 Transfer arm 3a Rotating arm 3b Rotating fulcrum 3c Slider 3d Rail 11 Back stopper 12 Pickup roller 13 Roller table 14 Pallet lifter 15 Supply device 21 Pallet lifter 22 Slide table 23 Alignment stopper 32 Layer picking planning device 33 Machine control product layer _{W B} B varieties device P multilayer stacked product pallet _{P a} a cultivar multilayer stacked product pallet _{P B} multilayer stacked product pallet Pk empty pallet W product layer _{W a} a variety of multi-layer stacked product pallet _{P C} C varieties B varieties product layer of the product layer W _{C C} varieties

Claims (3)

In a layer unit picking device that creates different kinds of pallets by stacking different kinds of products on pallets in layers,
A depalletizer that removes product layers from the same type of multilayer pallets in layers,
A palletizer for stacking the product layer taken down by the depalletizer on an empty pallet or on a different kind of pallet being created,
Means for transferring the product layer from the depalletizer to the palletizer, wherein the means moves while contacting an end face of the product layer opposite to the transfer direction, and moves on the empty pallet or on the different kind stacking pallet being created. A transfer arm operable to press the opposite end face in the direction of the palletizer during stacking. The layer unit picking device, wherein the transfer arm operates to press the transfer direction side end face of the product layer in a depalletizer direction when the product layer is taken down. The transfer arm presses against a rail installed in an upper space between the depalletizer and the palletizer, a slider attached to the rail, and an end face of the product layer, and rotates around a rotation fulcrum of the slider. With a movable rotating arm,
3. The product according to claim 2, wherein the rotary arm retreats from the product layer by rotating about a rotation fulcrum of a slider portion and before the product layer is transported after being depalletized. Layer unit picking device.

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