Article storage device and order-picking system having the same

Abstract

Previously, there has been a need for a technology that could reduce the number of components in an item storage device and allow for easy opening and closing of the container's opening. The item storage device includes: a storage rack (12) for housing a container (24) with an opening; and a lid (28) provided on a separate component from the container, the lid (28) being movable back and forth between a closed position that closes the opening of a container (24) positioned at a predetermined location on the storage rack (12) and an open position that opens the opening from the closed position. Thus, when multiple containers (24) are consecutively arranged on the storage rack (12), a shared lid (28) can be used, and the containers (24) can be opened and closed with simple operation.

Description

Technical Field

[0001] This invention relates to an item storage device and a picking system equipped with an item storage device. Background Technology

[0002] An item storage device is known that has an openable and closable lid on the container (e.g., Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2014-118161 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] Previously, there was a need for a technology that could reduce the number of parts in a storage device and allow for easy opening and closing of the container's opening.

[0008] Solution for solving the problem

[0009] In one embodiment of the present invention, an item storage device includes: a storage rack for housing a container having an opening; and a cover disposed on a component independent of the container, the cover being movable back and forth between a closed position that closes the opening of the container disposed at a predetermined position on the storage rack and an open position that opens the opening from the closed position.

[0010] The effects of the invention

[0011] According to this disclosure, when multiple containers are arranged consecutively on a storage rack, a shared lid can be used and the containers can be opened and closed with simple operation. This allows for both a reduction in the number of parts and simplification of operation. Attached Figure Description

[0012] Figure 1 This is a diagram of an item storage device according to one embodiment.

[0013] Figure 2 yes Figure 1 Side view of the item storage device shown.

[0014] Figure 3 yes Figure 1 An enlarged view of one of the cover functions shown.

[0015] Figure 4 yes Figure 3 The side view of the cover mechanism shown.

[0016] Figure 5 It means Figure 3The diagram shows the state of the cover mechanism after it has been opened.

[0017] Figure 6 This is an enlarged perspective view of the cover mechanism according to another embodiment.

[0018] Figure 7 yes Figure 6 The side view of the cover mechanism shown.

[0019] Figure 8 It means Figure 7 The diagram shows the state of the cover mechanism after it has been opened.

[0020] Figure 9 This is a side view of the cover mechanism in another embodiment.

[0021] Figure 10 It means Figure 9 The diagram shows the state of the cover mechanism after it has been opened.

[0022] Figure 11 This is a side view of the cover mechanism in another embodiment.

[0023] Figure 12 It means Figure 11 The diagram shows the state of the cover mechanism after it has been opened.

[0024] Figure 13 This is an enlarged perspective view of the cover mechanism in another embodiment.

[0025] Figure 14 yes Figure 13 The side view of the cover mechanism shown.

[0026] Figure 15 It means Figure 14 The diagram shows the state of the cover mechanism after it has been opened.

[0027] Figure 16 This is a side view of the cover mechanism in another embodiment.

[0028] Figure 17 This is a side view of the cover mechanism in another embodiment.

[0029] Figure 18 From Figure 17 Arrow XVIII observation Figure 17 The diagram shows the cover mechanism.

[0030] Figure 19 It means Figure 17 The diagram shows the state of the cover mechanism after it has been opened.

[0031] Figure 20 From Figure 19 Observe the arrow XX in the middle Figure 19The diagram shows the cover mechanism.

[0032] Figure 21 It is used for explanation Figure 19 The diagram shows the function of the posture adjustment mechanism.

[0033] Figure 22 This is a side view of the cover mechanism in another embodiment.

[0034] Figure 23 It means Figure 22 The diagram shows the state of the cover mechanism after it has been opened.

[0035] Figure 24 It is used for explanation Figure 23 The diagram shows the function of the posture adjustment mechanism.

[0036] Figure 25 This is a side view of a storage rack according to another embodiment.

[0037] Figure 26 From Figure 25 Observe the arrow XXVI in the middle. Figure 25 The diagram shows area D of the storage rack.

[0038] Figure 27 It is along Figure 26 Sections of XXVII-XXVII Figure 26 The storage rack shown is a cross-sectional view.

[0039] Figure 28 express Figure 27 The stop member shown is positioned in the second position.

[0040] Figure 29 This is a diagram of a picking system according to one implementation method.

[0041] Figure 30 yes Figure 29 The diagram shown is a block diagram of the picking system.

[0042] Figure 31 It means Figure 29 The flowchart shows an example of the operation flow of the picking system.

[0043] Figure 32 This is a diagram of an elastic covering portion according to one embodiment.

[0044] Figure 33 This is a diagram of the elastic cover portion in another embodiment.

[0045] Figure 34 This is a diagram of a picking system according to another implementation.

[0046] Figure 35 It means Figure 34The flowchart shows an example of the operation flow of the picking system. Detailed Implementation

[0047] Hereinafter, embodiments of the present disclosure will be described in detail based on the accompanying drawings. Furthermore, in the various embodiments described below, the same reference numerals will be used to refer to the same elements, and repeated descriptions will be omitted. Additionally, in the following description, the orthogonal coordinate system in the figures will be used as the reference for direction; for convenience, the positive x-axis direction will be referred to as right, the positive y-axis direction as front, and the positive z-axis direction as up.

[0048] First, refer to Figure 1 and Figure 2 An embodiment of an item storage device 10 will be described. The item storage device 10 includes a storage rack 12 and a plurality of cover mechanisms 14 provided on the storage rack 12. The storage rack 12 includes a plurality of long column portions 16, a plurality of short column portions 18, and a container mounting frame 20. The long column portions 16 and the short column portions 18 are respectively fixed to the floor of the work area and extend vertically along the z-axis direction (e.g., the vertical direction).

[0049] In this embodiment, two container mounting frames 20 are fixedly mounted on the upper ends of the long column 16 and the short column 18, respectively, offset from each other in the z-axis direction. Each container mounting frame 20 is arranged at an angle relative to the xy-plane (e.g., a horizontal plane) such that it moves forward and upward. The angle of inclination of the container mounting frame 20 relative to the xy-plane is, for example, 10°. Multiple containers 24 are mounted on these container mounting frames 20 in a detachable manner.

[0050] Container 24 is hollow and has an opening 26 at its upper end. Figure 5 The container 24 contains items used by the robot for its operations, such as bolts, nuts, or linkages, which will be described later. The containers 24, mounted on the container mounting frame 20, are respectively positioned at designated locations SP within the container mounting frame 20.

[0051] Container 24 is positioned at the installation position SP, for example, using a fixture (not shown) provided on the container installation frame 20 or a positioning member described later. Figure 1 As shown, when the container 24 is set at each setting position SP, the container 24 is located on each container setting frame 20 and is arranged at approximately equal intervals in the x-axis direction.

[0052] Multiple lid mechanisms 14 have identical structures. In this embodiment, three lid mechanisms 14 are arranged in a container frame 20 at approximately equal intervals in the x-axis direction. Hereinafter, refer to... Figure 3 and Figure 4The structure of the cover mechanism 14 will be described below. The cover mechanism 14 includes a cover 28, fixed members 30 and 32, a movable member 34, and a rotary handle 36.

[0053] The cover 28 has a generally quadrilateral shape, with a first surface 38 and a second surface 40 opposite to the first surface 38. A fixing member 30 is fixed to a predetermined position on the container mounting frame 20, for example by bolts or other fasteners or by welding, and extends upward from the container mounting frame 20. A fixing member 32 is fixed to the fixing member 30, for example by bolts or other fasteners or by welding, thereby fixing the fixing member 32 relative to the container mounting frame 20 via the fixing member 30. The fixing member 32 extends upward from the upper end of the fixing member 30.

[0054] The movable member 34 is movably disposed on the fixed member 32. More specifically, the movable member 34 is rotatably disposed on the fixed member 32 via a hinge axis 42. The hinge axis 42 extends substantially parallel to the x-axis, and the movable member 34 rotates about the hinge axis 42 relative to the fixed member 32. The fixed member 32, the movable member 34, and the hinge axis 42 constitute a hinge. The movable member 34 is fixed to one end of the cover 28, for example, by means of fasteners such as bolts or welding. Figure 3 and Figure 4 (In the configuration shown, the rear end). In this embodiment, the movable member 34 is fixed to the second surface 40 of the cover 28.

[0055] The rotary grip 36 is located at the end of the cover 28 on the side opposite to the movable member 34 (in Figure 3 and Figure 4 In the configuration shown, the front end). More specifically, the rotary grip 36 has a grip shaft 46 and a grip wheel 48. The grip shaft 46 is fixedly disposed on the right side face 44 of the cover 28 in a manner that protrudes to the right. The grip wheel 48 is mounted on the grip shaft 46 in a manner that allows it to rotate about the grip shaft 46.

[0056] Cover 28 utilizes the movement of movable member 34 relative to fixed members 30 and 32 to... Figure 4 The closed position shown is the same as Figure 5 The cover moves back and forth between the shown open positions. When cover 28 is positioned... Figure 4 When in the closed position shown, the cover 28, using its first surface 38, closes the opening 26 of the container 24 positioned at the setting position SP of the container setting frame 20. At this time, the first surface 38 can also abut against the upper end surface of the container 24. On the other hand, when the cover 28 is in... Figure 4 The self-enclosed position is retreated and configured in Figure 5 When in the open position shown, the cover 28 protrudes to a position further back than the rear end of the storage rack 12, opening the opening 26 of the container 24 to the outside.

[0057] The opening and closing action of cover 28 can be performed by, for example, a worker or a robot (described later). Specifically, when opening the configuration... Figure 4 In the case of the cover 28 in the closed position shown, the operator or robot first holds the handle wheel 48 of the rotating handle 36, causing the handle wheel 48 to rotate counterclockwise around the hinge axis 42 when viewed from the right.

[0058] Therefore, the cover 28 is guided by the rotational movement of the movable member 34 relative to the fixed members 30 and 32, moving along an arc-shaped track about the hinge axis 42 that is approximately parallel to the yz plane, and retracts from the closed position to reach the destination. Figure 5 The open position is shown. Thus, the opening 26 of the container 24 is open to the outside, allowing workers or robots to retrieve items stored inside the container 24 through the opening 26.

[0059] On the other hand, when the configuration is turned off... Figure 5 With the cover 28 in the open position as shown, the operator or robot holds the handle wheel 48 of the rotating handle 36, causing the handle wheel 48 to rotate clockwise about the hinge axis 42 when viewed from the right. Thus, the cover 28 is guided by the rotational movement of the movable member 34 relative to the fixed members 30 and 32, moving along the same arc-shaped track as when the cover is open, to reach its destination. Figure 4 The closed position is shown. Thus, by sealing the opening 26 with the cover 28, foreign objects (such as cutting fluid or dust) can be prevented from entering the interior of the container 24 through the opening 26.

[0060] Thus, in this embodiment, the lid 28 is provided on the storage rack 12 (specifically, the container mounting frame 20), which is a component independent of the container 24, in a manner that allows it to reciprocate between a closed position and an open position. Because the lid 28 is provided on a component independent of the container 24 (in other words, the lid 28 is independent of the container 24), when multiple containers 24 are consecutively arranged at the mounting position SP of the storage rack 12, a shared lid 28 can be used, and the containers 24 can be opened and closed with simple operation. This allows for both a reduction in the number of components and simplification of operation.

[0061] Furthermore, in this embodiment, the cover 28 is reciprocated by the movement (specifically, rotation) of the movable member 34 relative to the fixed members 30 and 32. According to this structure, the cover 28 can be guided to reciprocate along the same track using a simple construction, thus enabling high-precision reproduction of the opening and closing action of the opening 26 of the container 24.

[0062] Furthermore, in this embodiment, the movable member 34 is rotatably mounted on the fixed member 32. The cover 28 is guided to reciprocate along an arc-shaped track by the rotational movement of the movable member 34 relative to the fixed member 32. According to this structure, operators or robots can easily open and close the cover 28 with a small force (specifically, torque).

[0063] In addition, in this embodiment, the movable member 34 is fixed to one end of the cover 28, and on the other hand, a rotary gripping part 36 is provided at the other end of the cover 28 opposite to the first end. Moreover, as the operator or robot grips the gripping wheel 48 of the rotary gripping part 36 to open or close the cover 28, the gripping wheel 48 of the rotary gripping part 36 rotates relative to the gripping shaft 46.

[0064] Therefore, operators or robots can operate the rotary grip 36 while holding the grip wheel 48, thereby opening and closing the cover 28. In addition, the rotary grip 36 is provided separately from the movable member 34 at the end of the cover 28 opposite to the movable member 34, so operators or robots can easily open and close the cover 28 with less force (specifically, torque).

[0065] Various types of lid mechanisms can be applied to the item storage device 10, and it is not limited to the lid mechanism 14 described above. Hereinafter, refer to... Figures 6-8 Another embodiment of the cover mechanism 50 will be described. The cover mechanism 50 includes a cover 28, fixing members 30, 52, and 54, a movable member 34, a rotating grip 36, and an elastic member 60. The fixing member 52 is a member that is approximately L-shaped when viewed from the x-axis direction, and has a first arm 56 and a second arm 58. The first arm 56 is a flat member that is fixed to the fixing member 30, for example, by fasteners such as bolts or welding, and extends upward from the upper end of the fixing member 30.

[0066] The second arm 58 is a flat plate integrally formed at the upper end of the first arm 56 in a manner substantially orthogonal to the first arm 56, and extends rearward from the upper end of the first arm 56. The fixing member 54 is fixed to the upper surface of the second arm 58, for example, using fasteners such as bolts or welding. Thus, the fixing members 52 and 54 are fixed relative to the container mounting frame 20 via the fixing member 30.

[0067] The movable member 34 is rotatably mounted on the fixed member 54 via the hinge shaft 42. The fixed member 54, the movable member 34, and the hinge shaft 42 constitute a hinge. In this embodiment, the elastic member 60 is provided on the upper surface of the fixed member 54. The elastic member 60 is made of an elastic material such as rubber, polyurethane, or elastic resin.

[0068] From Figure 6 and Figure 7 The closed position shown is towards Figure 8 When the cover 28 is opened in the open position as shown, the fixed member 54 and the movable member 34 are arranged opposite each other in the z-axis direction, and the elastic member 60 is located between the fixed member 54 and the movable member 34. At this time, the assembly of the cover 28 and the movable member 34 is supported by the second arm 58 of the fixed member 52 and the fixed member 54, thereby restricting further rotation of the cover 28 and holding the cover 28 in the open position. Therefore, the second arm 58 of the fixed member 52 and the fixed member 54 constitute a movement limiting mechanism 62 that restricts the movement of the cover 28 when it is in the open position and holds the cover 28 in the open position.

[0069] Furthermore, the second arm 58 and the fixing member 54 engage with the assembly of the cover 28 and the movable member 34 via the elastic member 60, thereby restricting the rotation of the cover 28. Therefore, the second arm 58 and the fixing member 54 function as engaging parts that engage with the cover 28 in the open position and restrict the movement of the cover 28. In addition, in this embodiment, the movement limiting mechanism 62 is configured to hold the cover 28 parallel to the horizontal plane when it is in the open position.

[0070] As described above, in this embodiment, the cover 28 is disposed in Figure 8 In the open position shown, the elastic member 60 is positioned between the fixed member 54 and the movable member 34. According to this structure, when the cover 28 is opened, the elastic member 60 mitigates the impact between the fixed member 54 and the movable member 34, preventing structural elements of the item storage device 10 (e.g., the hinge composed of the fixed member 54, the movable member 34, and the hinge axis 42) from malfunctioning.

[0071] Furthermore, in this embodiment, the item storage device 10 includes a movement restriction mechanism 62 (specifically, a second arm 58 and a fixing member 54), which restricts the movement of the cover 28 when it is in the open position, thereby keeping the cover 28 in the open position. According to this structure, the cover 28 can be stably held in the open position.

[0072] Furthermore, in this embodiment, the movement restriction mechanism 62 is configured to keep the cover 28, which is positioned in the open position, parallel to the horizontal plane. According to this configuration, for example, as described later, when the cover 28 is in the open position, an item can be removed from the container 24 by a robot and placed on the first surface 38 facing vertically upwards, at which point the item can be placed statically on the first surface 38. Additionally, the second arm 58 of the fixing member 52 can also be configured to extend forward from the upper end of the first arm 56.

[0073] Next, refer to Figure 9 and Figure 10 A further embodiment of the cover mechanism 70 will be described. The cover mechanism 70 includes a cover 28, fixing members 30, 72, and 54, a movable member 34, a rotary grip 36, an elastic member 60, and a stop hinge mechanism 74. The fixing member 72 has a first arm 76 and a second arm 78.

[0074] The first arm 76 is a flat plate-shaped member fixed to the fixing member 30 by means of fasteners such as bolts or welding, and extends upward from the fixing member 30. The second arm 78 is a flat plate-shaped member integrally formed at the upper end of the first arm 76 in an inclined manner relative to the first arm 76, and extends rearward from the upper end of the first arm 76. The fixing member 54 is fixed to the upper surface of the second arm 78.

[0075] The stop hinge mechanism 74 has a hinge shaft 42 and an angle adjustment mechanism 80. The movable member 34 is rotatably mounted on the fixed member 54 via the hinge shaft 42 of the stop hinge mechanism 74. The angle adjustment mechanism 80 is used to adjust the rotation angle θ (opening angle) of the movable member 34 relative to the fixed member 54. Specifically, the angle adjustment mechanism 80 has, for example, a gear or locking mechanism, to hold the movable member 34 relative to the fixed member 54 at a position of rotation angle θ arbitrarily set by the angle adjustment mechanism 80.

[0076] like Figure 9 As shown, when the cover 28 is in the closed position, the fixed member 54 and the movable member 34 are arranged opposite each other, and the elastic member 60 is located between the fixed member 54 and the movable member 34. At this time, the assembly of the cover 28 and the movable member 34 is supported by the second arm 78 of the fixed member 72 and the fixed member 54, thereby restricting further rotation of the cover 28 and keeping the cover 28 in the closed position.

[0077] That is, in this embodiment, the open position of the cover 28 closing the opening 26 is defined by the second arm 78 and the fixing member 54. Thus, in this embodiment, the second arm 78 and the fixing member 54 constitute a movement limiting mechanism 79 that restricts the movement of the cover 28 when it is in the closed position and keeps the cover 28 in the closed position.

[0078] Furthermore, the second arm 78 and the fixing member 54 engage with the assembly of the cover 28 and the movable member 34 via the elastic member 60, thereby restricting the rotation of the cover 28. Thus, the second arm 78 and the fixing member 54 function as engaging parts that engage with the cover 28 in the closed position and restrict the movement of the cover 28.

[0079] On the other hand, if from Figure 9 The closed position shown is oriented towards Figure 10The cover 28 is opened in the open position by rotating along the arc-shaped track around the hinge axis 42. The movable member 34 reaches the position of the rotation angle θ set by the angle adjustment mechanism 80 relative to the fixed member 54. The rotation of the movable member 34 and the cover 28 is restricted by the angle adjustment mechanism 80, thereby keeping the cover 28 in the open position.

[0080] In other words, in this embodiment, the open position of the cover 28 is defined by the rotation angle θ set by the angle adjustment mechanism 80. Thus, the angle adjustment mechanism 80 constitutes a movement restriction mechanism 80 that restricts the movement of the cover 28 when it is positioned in the open position and keeps the cover 28 in the open position.

[0081] In this embodiment, the rotation angle θ of the angle adjustment mechanism 80 is set such that the cover 28 in the open position is parallel to the horizontal plane. According to this structure, the cover 28 in the open position can be stably kept parallel to the horizontal plane by means of the angle adjustment mechanism (movement restriction mechanism) 80.

[0082] Next, refer to Figure 11 and Figure 12 A further embodiment of the cover mechanism 90 will be described. The cover mechanism 90 differs from the following in structural aspects. Figures 6-8 The cover mechanism 50 shown is different. That is, the cover mechanism 90 has a mass sensor 92 instead of the elastic member 60. The mass sensor 92, for example, has a piezoelectric element, strain gauge, weight sensor or pressure sensor, etc., and is provided on the upper surface of the fixing member 54.

[0083] The cover 28 is configured in Figure 12 In the open position shown, the mass sensor 92 is positioned between the fixed member 54 and the movable member 34, which are arranged opposite each other. In this state, for example, as described later, when a robot removes an item from container 24 and places it on the lid 28 positioned in the open position, the weight of the lid 28 and the item placed on it is applied to the mass sensor 92. The mass sensor 92 is able to detect the mass of the lid 28 and the item placed on it.

[0084] Next, refer to Figures 13-15 A further embodiment of the cover mechanism 100 will be described. The cover mechanism 100 includes a cover 28, fixing members 30 and 32, a movable member 34, a rotating grip 36, and a movement restriction mechanism 102. The movement restriction mechanism 102 has a first engaging portion 104 and a second engaging portion 106.

[0085] The first engaging portion 104 and the second engaging portion 106 are respectively fixedly disposed on the second surface 40 of the cover 28 and protrude from the second surface 40. In addition, the first engaging portion 104 and the second engaging portion 106 can be integrally disposed with the cover 28, or they can be disposed independently of the cover 28 and installed on the second surface 40.

[0086] On the other hand, a first abutment portion 108 and a second abutment portion 109 are fixedly provided on the container mounting frame 20 of the storage rack 12. The first abutment portion 108 and the second abutment portion 109 extend upward from the main body of the container mounting frame 20, respectively. Furthermore, the first abutment portion 108 and the second abutment portion 109 can be integrally provided with the main body of the container mounting frame 20, or they can be independently provided with and installed on the main body of the container mounting frame 20.

[0087] Regarding Ga 28, in self Figure 13 and Figure 14 The closed position shown Figure 15 When the cover 28 is opened in the open position along the arc-shaped track around the hinge axis 42, the first engaging part 104 and the second engaging part 106 engage with the first abutting part 108 and the second abutting part 109 of the container mounting frame 20, respectively, thereby restricting further rotation of the cover 28.

[0088] Thus, the movement restriction mechanism 102 holds the cover 28 in the open position. Furthermore, in this embodiment, the movement restriction mechanism 102 is configured to hold the cover 28 parallel to the horizontal plane when it is in the open position. According to this embodiment, the cover 28 can be stably held in the open position using the movement restriction mechanism 102.

[0089] Furthermore, in this embodiment, a movement restriction mechanism can also be provided on the storage rack 12. For example, the movement restriction mechanism may also have a base arm fixedly provided to the container mounting frame 20 extending rearward from the container mounting frame 20 and an engaging portion extending upward from the base arm. In this case, when the cover 28 is positioned in the open position, the engaging portion engages with the cover 28 at its upper end, holding the cover 28 in the open position and keeping it, for example, parallel to the horizontal plane.

[0090] Next, refer to Figure 16 A further embodiment of the cover mechanism 110 will be described. The cover mechanism 110 differs from the cover mechanism 100 described above in that it has a movement restriction mechanism 112. The movement restriction mechanism 112 has a base end 114 fixed to the second surface 40 of the cover 28, and a locking portion 116 at its top end. The movement restriction mechanism 112 extends from the second surface 40 along axis A. This axis A may also be substantially orthogonal to the second surface 40.

[0091] On the other hand, an abutment portion 118 is fixedly provided on the container mounting frame 20 of the storage rack 12. The abutment portion 118 extends rearward from the main body of the container mounting frame 20. Figure 16 As shown, when the cover 28 is in the open position, the engaging portion 116 of the movement limiting mechanism 112 engages with the abutting portion 118 of the container mounting frame 20, thereby limiting further rotation of the cover 28. Thus, the movement limiting mechanism 112 holds the cover 28 in the open position.

[0092] In this embodiment, the movement limiting mechanism 112 is configured such that its length L in the direction from its base end 114 to the engagement portion 116 located at its top end is variable (in other words, it can extend and retract freely along axis A). The movement limiting mechanism 112 may have, for example, a telescopic mechanism or a mechanism consisting of a track portion and a sliding portion capable of sliding on the track portion. In addition, the movement limiting mechanism 112 may also have a locking mechanism that locks the engagement portion 116 relative to the base end 114 by any length L.

[0093] Workers Figure 16 By adjusting the length L of the movement restriction mechanism 112 in the shown state, the tilt angle of the cover 28 in the open position relative to the horizontal plane can be adjusted arbitrarily. Thus, the operator can precisely adjust the tilt angle of the cover 28 in the open position in a manner parallel to the horizontal plane.

[0094] Furthermore, the movement restriction mechanism 112 may also be provided on the storage rack 12. For example, the movement restriction mechanism 112 may be provided on the abutment portion 118 with its base end fixed to the upper surface of the abutment portion 118 and its engaging portion 116 disposed above the base end. That is, in this case, the engaging portion 116 of the movement restriction mechanism 112 is provided on the abutment portion 118 of the container mounting frame 20, and engages with the cover 28 when the cover 28 is in the open position to restrict the movement of the cover 28.

[0095] Next, refer to Figures 17-20 The cover mechanism 120 of another embodiment will be described. The cover mechanism 120 is similar to the cover 122 in that... Figures 13-15 The cover mechanism 100 shown is different. The cover 122 has a main body 124 and an opening / closing mechanism 126. The main body 124 is a flat plate member having a first surface 38 and a second surface 40, and a through hole 128 is formed in its center. Figure 18 ).

[0096] The door opening and closing mechanism 126 has a pair of doors 130 and 132 and a door engaging portion 134. For door 130, its base end is rotatably mounted on the main body 124 via a hinge shaft 136 located behind the through hole 128, while its top end 130a is a free end. For door 132, its base end is rotatably mounted on the main body 124 via a hinge shaft 138 located in front of the through hole 128, while its top end 132a is a free end. The hinge shafts 136 and 138 extend parallel to the x-axis direction.

[0097] The door latching portion 134 has a first arm 140 and a second arm 142. The first arm 140 is a flat plate member, and its base end is fixed to the second surface 40 of the main body portion 124 and extends from the second surface 40. The second arm 142 is a flat plate member integrally formed at the top end of the first arm 140 in a manner substantially orthogonal to the first arm 140, and extends to the right from the top end of the first arm 140.

[0098] When cover 122 is configured in Figure 17 In the closed position shown, door 130 overlaps door 132, thus closing the pair of doors 130 and 132. As a result, the opening 26 of container 24 is closed by cover 122 (specifically, the main body 124 and the pair of doors 130 and 132).

[0099] On the other hand, when cover 122 self Figure 17 The closed position shown is towards Figure 19 When the open position shown rotates around the hinge axis 42, the first engaging portion 104 and the second engaging portion 106 of the movement limiting mechanism 102 engage with the first abutting portion 108 and the second abutting portion 109 of the storage rack 12, thereby limiting the rotation of the cover 122 and placing the cover 122 in the open position.

[0100] When the cover 122 is in the open position, the doors 130 and 132 rotate around hinge axes 136 and 138 respectively under the action of gravity, and the top end 130a of door 130 and the top end 132a of door 132 engage with the second arm 142 of the door engaging portion 134. Thus, the pair of doors 130 and 132 unfold vertically downwards and open, forming a cover opening 144 between the top end 130a of door 130 and the top end 132a of door 132.

[0101] When the cover 122 is repositioned to the closed position, as Figure 17 As shown, a pair of doors 130 and 132 overlap to close the cover opening 144. Thus, the door opening and closing mechanism 126 extends vertically downward to form the cover opening 144 when the cover 122 is in the open position, and closes the cover opening 144 when the cover 122 is in the closed position.

[0102] The door opening and closing mechanism 126 ensures that the posture of an item inserted into the through hole 128 is consistent when the cover 122 is in the open position. For details on this function, please refer to [reference needed]. Figure 21 Explanation will be provided. In Figure 21 In the example shown, the item W is, for example, a bolt or a connecting rod, and has a head W1 and a rod W2 extending from the head W1.

[0103] When an article W is inserted into the through hole 128 of the cover 122, which is positioned in the open position from above, the head W1 engages with the doors 130 and 132, while the rod W2 is received in the cover opening 144. As a result, the article W is positioned such that the head W1 is positioned vertically above and the rod W2 hangs vertically downward from the head W1. Thus, in this embodiment, the door opening and closing mechanism 126 functions as a posture adjustment mechanism to ensure that the posture of the article W placed on the cover 122 in the open position is consistent.

[0104] Next, refer to Figure 22 and Figure 23 The cover mechanism 150 of another embodiment will now be described. The cover mechanism 150 differs from the cover mechanism 120 described above in that the cover 152 is different. Specifically, the cover 152 has a main body portion 124 and an opening and closing mechanism 154. The opening and closing mechanism 154 has a cylindrical portion 156 and a door 158.

[0105] In this embodiment, the cylindrical portion 156 is, for example, a corrugated flexible member, and is configured to extend and retract freely in the direction of its central axis. For the cylindrical portion 156, its base end has a through hole 128 surrounding the main body portion 124. Figure 18 The door 158 is arranged around the cylindrical portion 156 in a manner that allows it to be rotatably mounted on the top of the cylindrical portion 156 via a hinge shaft 160.

[0106] like Figure 22 As shown, when the cover 152 is in the closed position, the cylindrical portion 156 folds and retracts, and the door 158 closes the cover opening 162. On the other hand, when the cover 152 is in the closed position... Figure 22 The closed position shown is towards Figure 23 When the open position shown rotates about the hinge axis 42, the first engaging part 104 and the second engaging part 106 of the movement limiting mechanism 102 engage with the first abutting part 108 and the second abutting part 109 of the storage rack 12, thereby limiting the rotation of the cover 152 and placing the cover 152 in the open position.

[0107] When the cover 152 is in the open position, the cylindrical portion 156 extends vertically downwards under the influence of gravity. For example... Figure 23As shown, the unfolded cylindrical portion 156 tapers at its top (in other words, the cross-sectional area decreases) as it moves downwards from its base to its top (i.e., the cap opening 162).

[0108] Additionally, the door 158 rotates about the hinge axis 160 to open the cover opening 162. Thus, the door opening and closing mechanism 154 extends vertically downward to form the cover opening 162 when the cover 152 is in the open position, and closes the cover opening 162 when the cover 152 is in the closed position.

[0109] Similar to the opening and closing mechanism 126 described above, the opening and closing mechanism 154 can be inserted into the through hole 128 when the cover 152 is in the open position. Figure 18 The pose of the item is consistent with the pose of the other item. For more information on this function, please refer to... Figure 24 Please provide an explanation. For example... Figure 24 As shown, when an article W is inserted into the through hole 128 of the cover 152, which is positioned in the open position from the top, the head W1 is engaged with the inner circumferential surface 156a of the cylindrical portion 156, while the rod portion W2 is received in the cover opening 162.

[0110] As a result, the posture of the article W is uniformly arranged such that the head W1 is positioned vertically upward and the rod W2 hangs downward from the head W1 vertically downward. Thus, in this embodiment, the opening and closing mechanism 154 functions as a posture adjustment mechanism to ensure that the posture of the article W placed on the cover 152 in the open position is uniform. Furthermore, the cylindrical portion 156 is not limited to a freely telescopic member; for example, it may be a funnel-shaped solid member.

[0111] Furthermore, in the aforementioned cover mechanism 120 or cover mechanism 150, the movement restriction mechanism 102 (engaging parts 104, 106) and the abutment parts 108, 109 can also be used instead. Figure 7 The movement restriction mechanism 62 shown (fixed members 52, 54) may also be applied. Figure 9 The movement restriction mechanism 80 (specifically, the stop hinge mechanism 74) and the fixing members 54 and 72 are shown.

[0112] Various types of storage racks can be used in the item storage device 10, and it is not limited to the storage rack 12 described above. Hereinafter, refer to... Figures 25-27 The storage rack 170 according to another embodiment will be described. The storage rack 170 has a plurality of long columns 16, a plurality of short columns 18, and a container mounting frame 172. A plurality of containers 24A, 24B, and 24C are arranged on the container mounting frame 172 in a manner that is in the y-axis direction.

[0113] like Figure 26As shown, the container mounting frame 172 has a guide mechanism 174, a stop mechanism 176, and a positioning member 183. The guide mechanism 174 guides the containers 24A, 24B, and 24C, which are placed on the guide mechanism 174, to move towards a predetermined mounting position SP of the container mounting frame 172 under the action of gravity.

[0114] Specifically, the guide mechanism 174 has a central base portion 177, a pair of guide rails 178 and 180, a first row of rollers 182A disposed between the central base portion 177 and the guide rails 178, and a second row of rollers 182B disposed between the central base portion 177 and the guide rails 180.

[0115] The central base portion 177 is disposed at the center of the container mounting frame 172 in the x-axis direction, and is inclined relative to the xy-plane (e.g., a horizontal plane) in a manner that moves forward and upward. A pair of guide rails 178, 180 are disposed apart from each other in the x-axis direction such that the central base portion 177 is disposed between them, and are inclined relative to the xy-plane (e.g., a horizontal plane) in a manner that extends parallel to the central base portion 177. The inclination angle of the central base portion 177, guide rails 178, 180 relative to the xy-plane (horizontal plane) is, for example, 10°.

[0116] Guide rail 178 has a base portion 184 and a guide wall 186 rising upward from the left end of the base portion 184. Similarly, guide rail 180 has a base portion 188 and a guide wall 190 rising upward from the right end of the base portion 188. Here, in this embodiment, a generally rectangular hole 192 is formed in the central base portion 177.

[0117] The first row of rollers 182A is arranged at approximately equal intervals along the y-axis. Each of the first row of rollers 182A is positioned between the central base portion 177 and the base portion 184 such that it can rotate about an axis approximately parallel to the x-axis. Similarly, the second row of rollers 182B is arranged at approximately equal intervals along the y-axis. Each of the second row of rollers 182B is positioned between the central base portion 177 and the base portion 188 such that it can rotate about an axis approximately parallel to the x-axis.

[0118] Containers 24A, 24B, and 24C are placed between opposing guide walls 186 and 190. While being prevented from falling to the left or right by the guide walls 186 and 190, they move towards the setting position SP under the action of rollers 182A and 182B and under their own gravity. In this way, the guiding mechanism 174 guides the containers 24A, 24B, and 24C toward the setting position SP.

[0119] The stopping mechanism 176 has a stopping member 194 and a force-applying part 196 that applies force to the stopping member 194. Figure 27 ).like Figure 27 As shown, the stop member 194 is received in a hole 192 formed in the central base portion 177 and is rotatably supported on the central base portion 177 via a shaft 202. Specifically, the stop member 194 has a stop member body 198 and a stop wall 200 protruding upward from the front end of the stop member body 198.

[0120] 196 pairs of force-applying components and 194 directions of stopping members Figure 27 The force is applied in the direction indicated by arrow E (i.e., clockwise when viewed from the right). For example, the force-applying part 196 is a torsion spring with one end connected to the stop member 194 and the other end connected to the central base part 177. Alternatively, the force-applying part 196 may be a weight provided at the front end of the stop member body 198.

[0121] The positioning member 183 is fixedly disposed on the guide rails 178 and 180, extending between them, and positioned at a predetermined position on the rear side of the guide rails 178 and 180. The positioning member 183 defines the placement position SP of the containers 24A, 24B, and 24C. That is, the containers 24A, 24B, and 24C, which are guided by the guide mechanism 174 to move rearward, come into contact with the positioning member 183 and stop. The position of the containers 24A, 24B, and 24C that stop due to the positioning member 183 is called the placement position SP.

[0122] exist Figures 25-27 In the example shown, container 24A is configured at setting position SP, and containers 24B and 24C follow container 24A. Here, in Figure 27 In the shown state, container 24A, positioned at setting position SP, is mounted on stop body 198, such that stop member 194 is positioned at a first position where its stop wall 200 protrudes above hole 192. At this time, stop wall 200 engages with container 24B, which is located behind container 24A, thereby restricting movement of container 24B in the direction toward setting position SP. As a result, containers 24A and 24B separate from each other.

[0123] On the other hand, such as Figure 28 As shown, when container 24A is removed from container mounting frame 172, stop member 194 rotates in direction E under the action of force application part 196, and is positioned in... Figure 28 The second position is shown. When the stop member 194 is positioned in the second position, the stop wall 200 is housed inside the hole 192, while the rear end 198a of the stop member body 198 protrudes above the hole 192.

[0124] Then, when the container 24B is guided by the guide mechanism 174 to the setting position SP that abuts against the positioning member 183, the container 24B is mounted on the rear end 198a of the stop body 198, thereby causing the stop member 194 to overcome the force application part 196 and rotate in the opposite direction to the direction E.

[0125] As a result, the stop member 194 returned to Figure 27 In the first position shown, the stop wall 200 engages with the container 24C following the container 24B, restricting the movement of the container 24C in the direction toward the set position SP. Thus, the containers 24B and 24C are separated from each other.

[0126] As described above, when the guide mechanism 174 guides the container 24A (or 24B) to the setting position SP, the stop mechanism 176 restricts the movement of the subsequent container 24B (or 24C), separating the container 24A (or 24B) from the container 24B (or 24C). According to this structure, when the container 24A (or 24B) positioned at the setting position SP is moved to the closed position, it is possible to prevent the container 24B (or 24C) following the container 24A (or 24B) from interfering with the lid 28 and hindering the closing action of the lid 28.

[0127] Furthermore, when removing the container 24A (or 24B) positioned at the setting position SP, it is possible to prevent the container 24A (or 24B) from interfering with the subsequent container 24B (or 24C) and hindering the removal of the container 24A (or 24B). Additionally, the stop mechanism 176 is composed of the stop member 194 and the force-applying part 196, thereby enabling the aforementioned function of the stop mechanism 176 to be achieved with a simpler construction.

[0128] Furthermore, according to this embodiment, the guide mechanism 174 can automatically and sequentially arrange multiple containers 24A, 24B, and 24C at the setting position SP, and smoothly perform operations such as retrieving items stored in containers 24A, 24B, and 24C for each container. This automates the operation and shortens the cycle time.

[0129] Furthermore, the force-applying part 196 may be a pneumatic or hydraulic cylinder instead of a torsion spring. In this case, the stop member 194 may be received in the hole 192 in a manner that allows it to move back and forth along a straight axis between a first position where the stop wall 200 protrudes upward from the hole 192 and a second position where the stop wall 200 is received within the hole 192. Moreover, the force-applying part 196 (cylinder) can also move the stop member 194 back and forth between the first and second positions.

[0130] Next, refer to Figure 29 and Figure 30 A picking system 210 according to one embodiment will be described. The picking system 210 includes a robot 212, a control device 214, a vision sensor 216, and... Figure 11 and Figure 12 The item storage device 10 shown. In this embodiment, the robot 212 is a vertical multi-joint robot and has a robot base 218, a rotating body 220, a lower arm 222, an upper arm 224, a wrist 226, and a hand 228.

[0131] The robot base 218 is fixed to the floor of the workshop. A rotating body 220 is mounted on the robot base 218 in a manner that allows it to rotate about a vertical axis. A lower arm 222 is mounted on the rotating body 220 in a manner that allows it to rotate about a horizontal axis, and an upper arm 224 is rotatably mounted on the tip of the lower arm 222. A wrist 226 is rotatably connected to the tip of the upper arm 224, allowing the hand 228 to rotate about a wrist axis.

[0132] The hand 228 is detachably connected to the tip flange of the wrist portion 226. As an example, the hand 228 is an openable / closable hand with multiple fingers that can be opened and closed, configured to grip an object using these fingers. As another example, the hand 228 is an absorbent hand with an electromagnet, vacuum device, or suction cup, configured to absorbently grip an object. As yet another example, the hand 228 may have both an openable / closable hand and an absorbent hand. In this case, the hand 228 may grip the rotating grip 36 using the openable / closable hand and grip an object inside the container 24 using the absorbent hand.

[0133] Servo motors 230 are built into each structural element of robot 212 (i.e., robot base 218, rotating body 220, lower arm 222, upper arm 224, and wrist 226). Figure 30 Servo motor 230 drives the movable elements of robot 212 (i.e., rotating body 220, lower arm 222, upper arm 224 and wrist 226) according to instructions from control device 214.

[0134] A robot coordinate system C1 is set in robot 212. Robot coordinate system C1 is a coordinate system used to control the movement of each movable element of robot 212, and it is fixed in three-dimensional space. In this embodiment, robot coordinate system C1 is set relative to robot 212 such that its origin is located at the center of robot base 218, and its z-axis is consistent with the rotation axis of rotary body 220.

[0135] The vision sensor 216 is fixed relative to the hand 228 (or TCP) in a known positional relationship. The vision sensor 216 is, for example, a camera or a 3D vision sensor, and includes an image sensor (CCD, CMOS, etc.) that receives and photoelectrically converts the image of the subject, and an optical system (condenser lens, focusing lens, etc.) that guides the light from the image of the subject to the image sensor. The vision sensor 216 captures an image of the object and sends the captured image data to the control device 214. Based on the image data captured by the vision sensor 216, the control device 214 obtains the position of the captured object in the robot coordinate system C1.

[0136] The control device 214 is a computer with a processor (CPU, GPU, etc.) and memory (ROM, RAM, etc.), and controls the actions of the robot 212. The control device 214 controls the robot 212 based on image data from the vision sensor 216 and mass data from the mass sensor 92 of the item storage device 10, so that the robot 212 performs the action of opening the lid 28 of the item storage device 10 and taking out the items stored in the container 24.

[0137] The following is for reference Figure 31 The operation of the picking system 210 is described. Figure 31 The process shown begins when control device 214 receives a work start command from the operator, the higher-level controller, or the computer program. When Figure 31 At the start of the process, in the item storage device 10, the container 24 is positioned at the setting position SP on the container setting frame 20, and the cover 28 of the cover mechanism 90 is configured in the closed position.

[0138] In step S1, the control device 214 uses the vision sensor 216 to photograph the rotating grip part 36 of the cover mechanism 90 and obtain the position of the rotating grip part 36 in the robot coordinate system C1. Specifically, the control device 214 causes the robot 212 to move so that the vision sensor 216 is positioned so that the rotating grip part 36 is within its field of view.

[0139] Next, the control device 214 uses the vision sensor 216 to capture images of the rotary gripper 36 and acquires the captured image data from the vision sensor 216. Then, based on the acquired image data, the control device 214 obtains the position of the gripping wheel 48 of the rotary gripper 36 in the robot coordinate system C1.

[0140] In step S2, the control device 214 uses the robot 212 to open the cover 28. Specifically, the control device 214 controls the robot 212 based on the position of the handle wheel 48 in the robot coordinate system C1 obtained in the most recent step S1, and uses the hand 228 to hold the handle wheel 48.

[0141] Next, the control device 214 causes the robot 212 to move, causing the hand 228 holding the handle 48 to move along an arc-shaped track around the hinge axis 42, thereby moving the cover 28 from a closed position to an open position. As a result, the cover 28 is positioned... Figure 12 The open position is shown. At this time, the cover 28 is held parallel to the horizontal plane by the movement restriction mechanism 62, so that the first surface 38 of the cover 28 faces vertically upward.

[0142] In step S3, the control device 214 determines whether the cover 28 was properly positioned in the open position in step S2. Here, it is assumed that when the cover 28 is properly open and positioned in the open position, the weight of the cover 28 is applied to the mass sensor 92. Therefore, the mass sensor 92 can detect the mass of the cover 28 in the open position. On the other hand, when the cover 28 is not properly open and remains in the closed position, the mass of the cover 28 will not be detected by the mass sensor 92.

[0143] Therefore, in step S3, the control device 214 acquires data of the mass M1 detected by the mass sensor 92 at that moment. The data of mass M1 can be either data expressing the mass (unit [kg]) as a numerical value, or it can be an electrical signal corresponding to the mass M1.

[0144] Then, the control device 214 determines whether the acquired mass M1 is within a predetermined allowable range [α, β]. If α ≤ M1 ≤ β, it determines that the cover 28 is normally opened (i.e., yes). Here, the actual mass ML of the cover 28 can be measured in advance, so the thresholds α and β of the allowable range [α, β] can be set based on the mass ML.

[0145] If the control device 214 determines "yes", it proceeds to step S4; otherwise, if the determination is "no", it returns to step S1. Thus, in this embodiment, the control device 214 determines whether the cover 28 is properly positioned in the open position based on the mass M1 data detected by the mass sensor 92.

[0146] In step S4, the control device 214 uses the vision sensor 216 to photograph the items (bolts, nuts, or rods, etc.) inside the container 24 to obtain the position of the items to be retrieved in the robot coordinate system C1. Specifically, the control device 214 causes the robot 212 to move so that the vision sensor 216 is positioned so that at least one of the items inside the container 24 is within its field of view.

[0147] Next, the control device 214 uses the vision sensor 216 to photograph the object and acquire the captured image data from the vision sensor 216. Then, the control device 214 analyzes the acquired image data, determines an object from the objects photographed in the image data as the object to be retrieved, and obtains the position of that object in the robot coordinate system C1.

[0148] In step S5, the control device 214 uses the robot 212 to remove an item from the container 24 and place it on the lid 28. Specifically, the control device 214 controls the robot 212 based on the position of the item in the robot coordinate system C1 obtained in the most recent step S4, and uses the hand 228 to grasp the item and remove it from the container 24 through the opening 26. Next, the control device 214 causes the robot 212 to move the hand 228 holding the item above the lid 28, which is positioned in the open position, so that the hand 228 releases the item. As a result, the item is placed on the first surface 38 of the lid 28, which is positioned in the open position.

[0149] In step S6, the control device 214 infers the number n of items placed on the lid 28. Here, for example, if the hand 228 with an electromagnet is used, multiple items can be removed in step S5. In this step S6, the control device 214 infers the number n of items placed on the lid 28 based on the mass data detected by the mass sensor 92.

[0150] Specifically, the control device 214 acquires data of the mass M2 detected by the mass sensor 92 at that moment. At this time, the mass M2 detected by the mass sensor 92 is the value obtained by adding the mass MA of a single item to the mass n of the number of items placed on the lid 28, plus the mass ML of the lid 28 (i.e., M2 = ML + MA × n). Since the mass ML of the lid 28 and the mass MA of a single item can be measured in advance, the control device 214 can infer the number n based on the formula n = (M2 - ML) / MA. Therefore, the control device 214 infers the number n of items placed on the lid 28 at that moment.

[0151] In step S7, the control device 214 determines whether the number n deduced in the most recent step S6 is zero (n = 0). If the control device 214 determines that n = 0 (i.e., yes), it returns to step S4; otherwise, if the control device 214 determines that n ≥ 1 (i.e., no), it proceeds to step S8. Thus, in this embodiment, the control device 214 determines the presence or absence of an item placed on the cover 28 positioned in the open position based on the mass M2 detected by the mass sensor 92.

[0152] In step S8, the control device 214 uses the vision sensor 216 to photograph the items placed on the cover 28, acquiring the position of the items, which are the objects of the conveying operation, in the robot coordinate system C1. Specifically, the control device 214 uses the vision sensor 216 to photograph the items placed on the cover 28 and acquires the captured image data from the vision sensor 216. Next, the control device 214 analyzes the acquired image data to determine the number n of items photographed in the image data. I Then, from the items captured in the image data, an item is identified as the target for the retrieval operation, and the position of that item in the robot coordinate system C1 is obtained.

[0153] In step S9, the control device 214 determines whether the items were correctly photographed in the most recent step S8. Specifically, the control device 214 compares the number n inferred in the most recent step S6 with the number n determined based on the image data in step S8. I Are they consistent?

[0154] Here, when photographing the items in step S8, due to factors such as reflected light, noise, or the optical specifications of the vision sensor 216 (the number of pixels of the camera sensor, etc.), the following situation may occur: in the captured image data, not all the items placed on the cover 28 are clearly photographed, and it is impossible to accurately identify all the items.

[0155] Therefore, in step S9, the control device 214 compares the number n deduced in step S6 with the number n determined based on the image data in step S8. I If the two devices are consistent, the system determines "yes" and proceeds to step S10 if they are consistent. On the other hand, if the system determines "no", the control device 214 returns to step S8 and repeats steps S8 and S9 until it determines "yes" in step S9.

[0156] Furthermore, when the number of times a "no" judgment is made in step S9 reaches a predetermined number (e.g., 5 times), the control device 214 may also generate a warning signal in the form of sound or image and output it to the operator. Alternatively, when the number of times a "no" judgment is made in step S9 reaches a predetermined number, the control device 214 may also re-enter step S1 after the robot 212 has closed the cover 28. Moreover, the control device 214 may also stop the robot 212's operation, generate a warning signal, and output it to the operator when the number of times such a cycle is repeated reaches a predetermined number. Thus, based on the mass M2 data detected by the mass sensor 92 in step S6 and the image data captured by the vision sensor 216, the control device 214 determines whether the vision sensor 216 has properly captured the item in step S8.

[0157] In step S10, the control device 214 uses the robot 212 to hold the item on the cover 28 and transport it to a predetermined storage location. Specifically, the control device 214 controls the robot 212 based on the position of the item in the robot coordinate system C1 obtained in the most recent step S8, using its hand 228 to hold the item placed on the cover 28. Then, the control device 214 causes the robot 212 to move the hand 228 holding the item towards the storage location and release the item. As a result, the item is stored in the storage location.

[0158] In step S11, the control device 214 determines whether the conveying of all items on the cover 28 is complete. For example, the control device 214 may also determine the number of items n (or the number n determined in the most recent step S8) based on the most recent step S6. I If the result is "1", the system determines "yes". If the result is "yes", the control device 214 proceeds to step S12; otherwise, if the result is "no", it returns to step S6.

[0159] In step S12, the control device 214 determines whether the operation of retrieving and transporting all items in the container 24 has been completed. For example, the control device 214 may pre-store the total number n of items stored in the container 24. S On the other hand, the number of times step S10 is executed, m, is counted. Then, the control device 214 compares the number of times m with the total number n. S If the conditions are met, the determination is "yes". If the determination is "yes", the control device 214 proceeds to step S13; otherwise, if the determination is "no", it returns to step S4.

[0160] In step S13, the control device 214 uses the robot 212 to close the cover 28. Specifically, firstly, the control device 214 uses the vision sensor 216 to capture an image of the rotating grip 36 of the cover 28 in the open position, and obtains the position of the grip wheel 48 in the robot coordinate system C1 based on the captured image data.

[0161] Then, the control device 214 controls the robot 212 based on the acquired position of the gripping wheel 48 in the robot coordinate system C1, using the hand 228 to grip the gripping wheel 48. The control device 214 then causes the robot 212 to move, causing the hand 228 gripping the gripping wheel 48 to move along an arc-shaped track around the hinge axis 42 in the opposite direction to the opening of the cover in step S2. Thus, the cover 28 is positioned... Figure 11 The closed position is shown. Then, control device 214 terminates. Figure 31 The process is shown below.

[0162] As described above, according to this embodiment, the robot 212 uses its hand 228 to grasp and open the lid 28, which is positioned in the closed position. When the lid 28 is positioned in the open position, the robot performs the operation of grasping and retrieving the items stored in the container 24 through the opening 26 using its hand 228. With this structure, the opening of the container 24 and the retrieval of the items can be automated.

[0163] In addition, in this embodiment, the control device 214 controls the robot 212 to temporarily place the item held by the hand 228 on the first surface 38 of the cover 28 (step S5), and then uses the hand 228 to hold the item temporarily placed on the first surface 38 again and transport it to the storage location (step S10).

[0164] In this embodiment, the cover 28 can be stably held in the open position by the movement restriction mechanism 62, so the first side 38 of the open cover 28 can be used as a temporary placement area for retrieved items. According to this structure, there is no need to provide a separate structure for the temporary placement area, thus reducing the manufacturing cost of the picking system 210.

[0165] Furthermore, in this embodiment, the movement restriction mechanism 62 keeps the cover 28, which is positioned in the open position, parallel to the horizontal plane. According to this structure, when an item is temporarily placed on the first surface 38 in step S5, the item can be brought to a quick stop. This allows for smoother execution of the re-grasping of the item in steps S8 to S10.

[0166] Furthermore, in this embodiment, the control device 214 determines whether the cover 28 is properly positioned in the open position based on the mass M1 data detected by the mass sensor 92 (step S3). According to this structure, the control device 214 can quickly determine whether the cover 28 is properly opened and can smoothly transfer to subsequent processing (step S4 or step S1), thus contributing to the reduction of cycle time.

[0167] Furthermore, in this embodiment, the control device 214 determines the presence or absence of an item placed on the lid 28, which is positioned in the open position, based on the mass M2 data detected by the mass sensor 92 (step S7). According to this structure, assuming that, as a result of step S5, the item falls off the lid 28 and is not properly temporarily placed, the control device 214 can quickly detect that there is no item on the lid 28 and repeat the temporary placement process in steps S4 and S5. In other words, it can quickly and reliably detect whether an item taken from the container 24 is properly placed on the lid 28.

[0168] Furthermore, in this embodiment, the control device 214 determines whether the vision sensor 216 has properly captured the object based on the mass M2 data detected by the mass sensor 92 (step S9). According to this structure, the control device 214 can quickly determine whether the image data captured in step S8 is appropriate (i.e., all objects have been properly identified), and can smoothly transfer to subsequent processing (step S10 or step S8), thus contributing to a reduction in cycle time.

[0169] Furthermore, in the picking system 210, the aforementioned cover mechanisms 50, 70, 100, or 110 can be used instead of cover mechanism 90. In this case, since the mass sensor 92 is omitted, [the following text is incomplete and likely refers to a different process:] from Figure 31 Steps S3, S6, and S9 are omitted in the flowchart shown.

[0170] On the other hand, the cover mechanism 70 can also be configured such that a torque sensor capable of detecting the torque applied about the hinge axis 42 is provided in the stop hinge mechanism 74 of the cover mechanism 70, and the mass of the cover 28 and the item placed on the cover 28 is detected based on the torque. When such a cover mechanism 70 is applied to the picking system 210, the control device 214 can perform... Figure 31 The process is shown below.

[0171] Alternatively, in the aforementioned cover mechanism 100, the mass sensor 92 may be positioned such that when the cover 28 is in the open position ( Figure 15 The mass sensor 92 is disposed on the surface of the first engaging portion 104 or the abutting portion 108 (or the second engaging portion 106 or the abutting portion 109) in a manner between the first engaging portion 104 and the abutting portion 108 (or the second engaging portion 106 or the abutting portion 109) that are opposite to each other. The mass sensor 92 disposed in this manner can detect the mass of the cover 28 and the item placed on the cover 28. When such a cover mechanism 100 is applied to the picking system 210, the control device 214 can perform... Figure 31 The process is shown below.

[0172] Alternatively, in the picking system 210, a proximity sensor capable of detecting the cover 28 in the open position can be installed instead of the mass sensor 92 (or based on the mass sensor 92). When the cover 28 is in the open position, this proximity sensor sends an open cover detection signal to the control device 214. In step S3 described above, the control device 214 can also determine "yes" upon receiving the open cover detection signal.

[0173] Alternatively, a force sensor capable of detecting external forces applied to the hand 228 can be provided on the robot 212, for example, on the robot base 218 or the wrist 226. Alternatively, a force sensor (specifically, a torque sensor) capable of detecting the torque of the output shafts of each servo motor 230 applied to the robot 212 can also be provided.

[0174] The control device 214 can detect the mass of the object held by the hand based on the detection data of the force sensor. In this case, the control device 214 may also lift the cover 28 on which the object is temporarily placed in step S6 above using the hand 228, and obtain the mass M2 (=ML+MA×n) based on the detection data detected by the force sensor at this time, thereby inferring the number n of items placed on the cover 28.

[0175] Alternatively, in the picking system 210, a resilient cover can also be provided on the first surface 38 of the cover 28. Figure 32 This form is shown. Furthermore, in Figure 32 For ease of understanding, only cover 28 is illustrated. Figure 32 The first surface 38 of the cover 28 shown is provided with an elastic covering portion 240.

[0176] The elastic cover 240 is a flat, sheet-like member made of an elastic material such as rubber, polyurethane, or elastic resin, and is attached to the first surface 38, for example, using an adhesive. By providing the elastic cover 240, impacts applied to the cover 28 can be absorbed when an article is temporarily placed on the first surface 38 of the cover 28 in the open position. Furthermore, by making the elastic cover 240 from an elastic material with a high coefficient of friction relative to the article, displacement of the temporarily placed article can also be suppressed.

[0177] Furthermore, the elastic cover 240 is not limited to a flat sheet member, but may also have irregularities on its surface. Figure 33 This form is shown. Figure 33 The elastic cover 240 shown has a wavy, uneven surface 242 formed thereon. With respect to this uneven surface 242, when an item is temporarily placed on the first surface 38 of the cover 28 in the open position, the item engages with the uneven surface 242, thereby effectively preventing the item from shifting position.

[0178] By providing the elastic cover 240, when the item is temporarily placed on the first surface 38 in step S5, the item can be made to remain stationary more stably, thus enabling the re-holding of the item in steps S8 to S10 to be performed more smoothly and with higher precision.

[0179] Furthermore, the color of the elastic cover 240 can be selected in a way that allows the object to be easily detected in the image data captured by the vision sensor 216 in step S8. For example, by setting the color of the elastic cover 240 to black, the visual features of the elastic cover 240, which forms the background of the object, can be made less noticeable in the image data. As a result, the object can be determined with high accuracy using image analysis in step S8.

[0180] In addition, Figure 33 In the illustrated configuration, the elastic cover 240 has a protrusion 242, but the protrusion 242 may also be integrally formed on the first surface 38. That is, in this case, the protrusion 242 is formed on the first surface 38. In this case, it is also possible to prevent the position of an item temporarily placed on the first surface 38 from shifting.

[0181] Next, refer to Figure 34 Another embodiment of the picking system 250 will be described. The picking system 250 includes a robot 212, a control device 214, a vision sensor 216, and... Figures 17-21 The item storage device 10 shown below. Refer to the following... Figure 35 The operation of the picking system 250 is explained. Additionally, in Figure 35 In the process shown, for and Figure 31 The same process is labeled with the same step numbers and detailed explanations are omitted.

[0182] It started Figure 35 Following the illustrated process, control device 214 executes steps S1, S2, and S4 as described above. Here, when the cover 122 is positioned in the open position in step S2, as... Figure 19 As shown, a pair of doors 130 and 132 of the door opening and closing mechanism 126 are opened to form a cover opening 144.

[0183] In step S5, the control device 214 uses the robot 212 to remove an item from the container 24 and place it on the lid 122. Specifically, the control device 214 uses the hand 228 to grasp the item and remove it from the container 24 via the opening 26. Next, the control device 214 causes the robot 212 to move the hand 228 holding the item above the through hole 128 of the lid 122, which is positioned in the open position, and releases the item. As a result, the item is inserted into the through hole 128 from above, and under the action of the posture adjustment mechanism (opening / closing mechanism 126), the item is aligned... Figure 21 The posture shown.

[0184] Afterwards, the control device 214 executes steps S8 and S10. Here, the posture adjustment mechanism (126) is used to make the posture of the items temporarily placed on the cover 122 consistent, so that when step S10 is repeated, the robot 212 can hold the items with the hand 228 in the same posture. Moreover, when the items held by the hand 228 are transported and stored in the storage location, the items can be arranged in the storage location in the same posture. That is, according to this embodiment, the posture of multiple items stored in the storage location can be made consistent. After step S10, the control device 214 executes steps S11 to S13.

[0185] In addition, it is also possible to Figures 22-24 The item storage device 10 shown is applied to the picking system 250. In this case, during execution... Figure 35 In step S5, the posture of the items temporarily placed on the cover 152 can also be kept consistent under the action of the posture adjustment mechanism (door opening and closing mechanism 154). Figure 24 The posture shown.

[0186] Furthermore, in the aforementioned picking systems 210 or 250, the robot base 218 of the robot 212 can also be fixed to a traveling device (not shown). This traveling device causes the robot 212 to move in a direction parallel to the xy plane (horizontal plane) of the robot coordinate system C1.

[0187] Moreover, such as Figure 1 As shown, when multiple containers 24 are arranged in the x-axis direction on the container setting frame 20, the control device 214 can also cause the driving device to move the robot 212 along the x-axis direction and perform actions on each container 24. Figure 31 or Figure 35 The process is shown. In this case, the control device 214 can also be built into the driving device. Alternatively, the storage rack 170 described above can also be applied to the picking system 210 or 250. Alternatively, any of the above-described cover mechanisms 14, 50, 70, 100 or 110 can be applied to the item storage device 10 of the picking system 210.

[0188] Furthermore, the posture adjustment mechanism is not limited to the opening and closing mechanism 126 or the opening and closing mechanism 154, and may have any structure that can make the posture of an item placed on the lid consistent. For example, as a posture adjustment mechanism, it may be configured such that a recess with the same shape as the shape of the item is provided on the first surface 38 of the lid 28, so that the posture of the item placed in the recess is consistent.

[0189] Furthermore, in the above embodiments, the opening and closing of covers 28, 122, and 152 by rotating around hinge axis 42 has been described. However, this is not a limitation; covers 28, 122, or 152 may also be configured to slide linearly along the x-axis or y-axis, moving between a closed position and an open position by means of sliding motion.

[0190] For example, a slide rail extending along the x-axis or y-axis may be provided on the container mounting frame 20 of the storage rack 12 (or 170), and the cover 28, 122, or 152 may be slidably mounted on this slide rail. Thus, the cover 28, 122, or 152 may be positioned at one end of the slide rail in a closed position, closing the opening 26 of the container 24 positioned at the mounting position SP, and at the other end of the slide rail in an open position, opening the opening 26. Furthermore, the item storage device 10 may also include a drive unit (e.g., a servo motor) that drives the covers 28, 122, and 152 to open and close.

[0191] Furthermore, in the above embodiments, the lid mechanisms 14, 50, 70, 90, 100, 110, 120, and 150 are described as components separate from the container 24 and provided on the storage racks 12 and 170. However, this is not a limitation; the lid mechanisms 14, 50, 70, 90, 100, 110, 120, or 150 may also be provided as components separate from the container 24 and the storage rack 12 (or 170).

[0192] For example, an outer frame extending parallel to the container mounting frame 20 of the storage rack 12 (or 170) can be fixed close to (e.g., directly above) the container mounting frame 20 (or 172). Alternatively, the outer frame can be separate from the storage rack 12 and fixed to the floor (or column) of the work area. Then, the cover mechanism 14, 50, 70, 90, 100, 110, 120, or 150 (specifically, the fixing member 30) can also be fixed to this outer frame. The present disclosure has been described above by way of embodiments, but the above embodiments are not intended to limit the invention protected by the claims.

[0193] Explanation of reference numerals in the attached figures

[0194] 10. Item storage device; 12. 170 Storage rack; 14. 50. 70. 90. 100. 110. 120. 150. Lid mechanism; 24. 24A. 24B. 24C. Container; 26. Opening; 28. 122. 152. Lid; 30. 32. 52. 54. 72. Fixed component; 34. Movable component; 36. Rotary grip; 210. 250. Picking system; 212. Robot; 214. Control device.

Claims

1. A storage device for items, wherein, This item storage device features: A storage rack for holding containers with openings, having a container holding frame that supports the containers from below; The first fixing member is configured to be laterally separated from the container located at a predetermined position on the storage rack, and is fixed to the container mounting frame by extending upward from the container mounting frame. The second fixing member, which is fixed to the side of the first fixing member, has a first arm and a second arm, the first arm extending upward from the upper end of the first fixing member, and the second arm extending to the side from the upper end of the first arm. A movable component that is rotatably connected to the second fixed component; as well as A lid is fixed to the movable member in a manner that allows it to rotate between a closed position, which closes the opening of the container positioned at the designated location, and an open position, which opens the opening from the closed position. The lid is configured to protrude laterally from the fixed member when positioned in the open position. When the cover is in the open position, the second arm and the movable member are arranged opposite to each other, and the second arm restricts the rotation of the cover, holding the cover in the open position in a manner parallel to the horizontal plane.

2. The item storage device according to claim 1, wherein, The movable component is rotatably connected to the fixed component and fixed to the cover. The cover is disposed on the fixed member via the movable member, and moves back and forth along a track on an arc by means of the rotation of the movable member relative to the fixed member.

3. The item storage device according to claim 2, wherein, The movable member is fixed to one end of the cover, and a rotating grip is provided at the other end of the cover on the opposite side.

4. The item storage device according to claim 2 or 3, wherein, The item storage device also includes an elastic member located between the opposing second arm and the movable member.

5. The item storage device according to claim 1, wherein, The item storage device also includes a movement restriction mechanism that restricts the movement of the cover when the cover is in the closed position or the open position, thereby keeping the cover in the closed position or the open position.

6. The item storage device according to claim 5, wherein, The movement restriction mechanism has a mating part disposed on one of the cover and the storage rack. The mating part engages with the other of the cover and the storage rack when the cover is disposed in the closed position or the open position to restrict the movement of the cover.

7. The item storage device according to claim 1, wherein, The cover has a posture adjustment mechanism that ensures that the posture of an item placed on the cover is consistent when the cover is in the open position.

8. The item storage device according to claim 7, wherein, The posture adjustment mechanism has an opening and closing mechanism that unfolds vertically downward when the cover is in the open position to form a cover opening for receiving the article, and closes the cover opening when the cover is in the closed position.

9. The item storage device according to claim 1, wherein, The cover has: Firstly, it closes the opening when the cover is in the closed position, and secondly, it faces vertically upward when the cover is in the open position; and The second surface, which is opposite to the first surface, A protrusion is formed on the first surface to prevent the position of an item placed on the first surface from shifting when the cover is configured in the open position.

10. The item storage device according to claim 1, wherein, The cover has: Firstly, it closes the opening when the cover is in the closed position, and secondly, it faces vertically upward when the cover is in the open position; and The second surface, which is opposite to the first surface, An elastic covering portion is provided on the first surface.

11. The item storage device according to claim 1, wherein, The item storage device is equipped with a mass sensor that detects the mass of the lid or the item placed on the lid when the lid is in the open position. The mass sensor is positioned between the relatively configured second arm and the movable member.

12. The item storage device according to any one of claims 1, 7, 9, and 11, wherein, The storage rack has the following features: A guiding mechanism that guides the container in such a manner as to move the placed container toward the predetermined position under the influence of gravity; and A stop mechanism that, when a container is guided to the predetermined position by the guide mechanism, restricts the movement of other containers following that container in the direction toward the predetermined position, thereby separating the container from the other containers.

13. A picking system, wherein, The picking system includes the item storage device and robot as described in claim 1. The robot has a hand capable of grasping the lid, moving the lid between the closed position and the open position. When the lid is positioned in the open position, the robot uses the hand to grasp and remove items stored inside the container through the opening.

Images