Picking facility
A technology for picking up equipment and items, applied in program control, destacking of instruments, and items, etc., can solve the problems of easy error, long time, and easy distance
Active Publication Date: 2020-11-13
DAIFUKU CO LTD
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Problems solved by technology
When the number of articles requiring such posture change is large, it may take a long time to transfer a plurality of articles from the first support to the second support as a whole.
[0007] In addition, when the upper surface of the article in the upright posture SC is smaller than the side surface, if the upper surface of the article in the horizontally long posture SA or the horizontally short posture SB is held by the holding part, it becomes Since the upper surface is relatively narrow, it is easy to make mistakes when holding
In addition, when the height of the article in the sideways long posture SA or the sideways short posture SB is higher than the height of the article in the upright posture SC, if the sideways long posture SA or the sideways short posture is held by the holding part If the upper surface of the article in the posture SB is changed, the distance from the position held by the holding unit to the center of gravity of the article tends to increase, and the holding state of the article during the transfer operation tends to become unstable.
Therefore, it is difficult to increase the speed of the transfer operation.
Therefore, in such a case, it may take a long time as a whole to transfer a plurality of articles from the first support body to the second support body.
Method used
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[0025] An embodiment of the pickup device will be described based on the drawings.
[0026] In addition, in the following embodiments, as will be described later, the first container 51 is formed in a rectangular shape in plan view, such as Figure 4 As shown, the direction along the first side of the first container 51 is taken as the longitudinal direction X in the container, the direction along the second side perpendicular to the longitudinal direction X in the container is taken as the width direction Y in the container, and The direction perpendicular to the longitudinal direction X and the width direction Y in the container is defined as the height direction Z. In addition, the height direction Z corresponds to an up-down direction.
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The present invention achieves a picking facility that can shorten the amount of time required for transferring an article from a first support body to a second support body. From among a plurality ofarticles 50 supported by the first support body 51, the article 50 in the highest position and articles 50 with a top surface T1 that exists within a preset distance D below the top surface T1 of thearticle 50A in the highest position are designated articles to be transferred 50 and a control device performs selection control for preferentially selecting articles to be transferred 50A which arein an upright position SC from among the articles to be transferred 50A, and transfer control for controlling the transfer device so that the article 50A selected in the selection control is transferred from the first support body 51 to the second support body.
Description
technical field [0001] The present invention relates to a pick-up device comprising: a moving device for transferring an article from a first support to a second support; an imaging device for photographing the article placed on the first support from above; device to control the aforementioned transfer device. Background technique [0002] A conventional pick-up device is described in, for example, JP 2015-043175 A (Patent Document 1). In the pick-up facility of Patent Document 1, the container 51 is used as a first support body, the article conveyance conveyor 11 is used as a second support body, and the pick-up robot 5 transfers the article from the container 51 to the article conveyance conveyor 11 . And, usually, the container 51 stores the article 50 in the upright posture SC, but there are also cases where the article 50 in the container 51 falls over due to shaking or vibration when the container 51 is transported by a stacker crane 13B or the like, and is stored in...
Claims
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IPC IPC(8): B65G47/91B65G1/137B65G59/04G06T7/70
CPCB65G61/00B65G1/1378B65G47/917B25J9/1697G05B2219/45063G05B2219/39543G05B2219/40564B65G60/00G06T7/70B65G2814/0305B65G2814/0308B65G2201/02B65G1/137B65G59/04B65G2203/0233B65G2203/041
Inventor 权藤卓也岩井正美味生淳
Owner DAIFUKU CO LTD