Take-out system control device, take-out system, take-out device controller and take-out device

Abstract

To provide a take-out device, a take-out system, and a conveyance shelf that can use a picking robot to convey an article from the conveyance shelf to a conveyance destination.SOLUTION: According to one embodiment, a take-out device includes a holding part, a movable device and a lifting device. The holding part detachably holds a storage box that contains articles and is stored on a conveyance shelf. The movable device moves the holding part in a single axial direction that intersects with an up-down direction. The lifting device moves the holding part and the movable device in the up-down direction.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] FIELD Embodiments of the present invention relate to a removal device, a removal system, and a transport shelf. [Background technology]

[0002] BACKGROUND ART A technique has been known in which a transport shelf storing articles such as luggage is moved by an automatic transport vehicle to a pick-up position where the articles are picked up, and the articles are then picked up from the transport shelf by a human operator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4423616 Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to provide a picking device, a picking system, and a transport shelf that can use a picking robot to transport an item from a transport shelf to a destination. [Means for solving the problem]

[0005] According to one embodiment, the take-out device includes a holding unit, a moving unit, and a lifting unit. The holding unit detachably holds a storage box that contains an item and is stored on a transport shelf. The moving unit moves the holding unit in a uniaxial direction that intersects the vertical direction. The lifting unit moves the holding unit and the moving unit in the vertical direction. [Brief explanation of the drawings]

[0006] [Figure 1] 1 is a schematic diagram showing a take-out system according to a first embodiment. [Figure 2] 2 is a schematic diagram showing a station and a transport shelf of the same takeout system. FIG. [Figure 3] FIG. [Figure 4] FIG. [Figure 5] FIG. [Figure 6] FIG. 2 is a block diagram showing the electrical configuration of the takeout system. [Figure 7] FIG. [Figure 8] FIG. [Figure 9] 4 is a time chart showing the operation of the take-out system. [Figure 10] 4 is a flowchart showing the operation of the take-out system. [Figure 11] FIG. 10 is a schematic diagram showing a station and a transport shelf of a take-out system according to a second embodiment. [Figure 12] 4 is a time chart showing the operation of the take-out system. [Figure 13] FIG. 10 is a side view showing a modified example of the take-out device according to the first and second embodiments. [Figure 14] FIG. 10 is a side view showing a modified example of the take-out device according to the first and second embodiments. [Figure 15] FIG. 10 is a side view showing a modified example of the take-out device according to the first and second embodiments. [Figure 16] FIG. 10 is a cross-sectional view showing a modified example of the transport shelf according to the first and second embodiments. [Figure 17] FIG. [Figure 18] FIG. 10 is a cross-sectional view showing a modified example of the transport shelf according to the first and second embodiments. [Figure 19] FIG. [Figure 20] FIG. 10 is a front view showing a modified example of the transport shelf of the first and second embodiments. [Figure 21] FIG. 4 is a schematic diagram showing a modification of the take-out system of the first embodiment. [Figure 22] FIG. 10 is a schematic diagram showing a modification of the take-out system of the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0007] A take-out system 1 according to the first embodiment will be described with reference to FIGS. Fig. 1 is a schematic diagram showing a retrieval system 1. Fig. 2 is a schematic diagram showing a station 2 and a transport shelf 3 of the retrieval system 1. Fig. 3 is a side view showing a retrieval device 11 and a transport shelf 3 of the retrieval system 1. Here, the side view is a view seen from the side relative to the retrieval direction of a storage box 81 by the retrieval device 11.

[0008] FIG. 4 is a rear view showing the removal device 11. Here, the rear view of the removal device 11 is a rear view when the direction from the moving device 25 of the removal device 11 toward the transport shelf 3 is defined as the front direction. FIG. 5 is a perspective view showing the removal device 11. FIG. 6 is a block diagram showing the electrical configuration of the removal system 1. FIG. 7 is a cross-sectional view showing the configuration of the transport shelf 3. Here, the cross-sectional view of the transport shelf 3 is a cross-sectional view of the transport shelf 3 taken along a cutting plane perpendicular to the vertical direction between two shelf portions 86 arranged vertically. FIG. 8 is a front view showing the transport shelf 3.

[0009] As shown in FIG. 1, the takeout system 1 includes, for example, a plurality of stations 2, a plurality of transport shelves 3, a plurality of automated guided vehicles 4, an automated guided vehicle controller 5, and a host system 6.

[0010] The retrieval system 1 uses one automated transport vehicle 4 to move one selected transport shelf 3 from multiple transport shelves 3 to station 2, and uses a retrieval device 11 in station 2 to retrieve a storage box 81 containing an item 7 from the transport shelf 3, and uses a picking robot system 14 in station 2 to retrieve the item 7 stored in the storage box 81 and transport it to the destination.

[0011] The items 7 are, for example, packages. The retrieval system 1 can be used, for example, to move the items 7 stored on a plurality of transport shelves 3 to a sorting box 15 corresponding to the items 7 at the station 2. The sorting box 15 is an example of a destination to which the items 7 are transported by a picking robot 71 (described later) of the picking robot system 14. In this embodiment, an example of transporting the items 7 to the sorting box 15 will be described.

[0012] As shown in Fig. 2, station 2 includes, for example, a picking device 11, a picking robot system 14, and a plurality of sorting boxes 15. Station 2 is configured by installing the picking device 11, the picking robot system 14, and a plurality of sorting boxes 15 in a predetermined area on the floor of a warehouse or the like. Note that Fig. 2 shows, as an example, a state in which the transport shelf 3 from which an item 7 is picked up and the transport shelf 3 from which the next item 7 is picked up have been moved to station 2.

[0013] 3 to 5, the removal device 11 is configured to be able to remove, from the transport shelf 3, a storage box 81 that contains an item 7 to be removed, among a plurality of storage boxes 81 on the transport shelf 3. Here, the predetermined position is a position where the picking robot 71 of the picking robot system 14 can remove the item 7 from the storage box 81.

[0014] The take-out device 11 includes, for example, a housing 21, a holding unit 23, a lifting device 24, a moving device 25, a camera 26, a sensor 27, and a take-out device controller 28.

[0015] Here, we define examples of the up-down direction, front-back direction, and width direction of the take-out device 11. The up-down direction is defined as the direction of gravity, the direction perpendicular to the up-down direction is defined as the forward direction, and the front-back direction is defined as the direction from the take-out device 11 to the transport shelf 3, and the direction perpendicular to both the up-down direction and the front-back direction is defined as the width direction.

[0016] The housing 21 includes, for example, a bottom portion 31, pillar portions 32, and a ceiling portion 33. 5, the bottom 31 is formed in the shape of, for example, a rectangular frame. The bottom 31 is provided with, for example, a plurality of legs 34. For example, four legs 34 are provided, and each leg is fixed to a corner of the lower surface of the bottom 31.

[0017] The pillar portion 32 is provided on the bottom portion 31. The pillar portion 32 has, for example, four pillar members 35. Two of the pillar members 35 are fixed, for example, to a pair of adjacent corners of the bottom portion 31. The remaining two pillar members 35 are fixed, for example, to the corner of the bottom portion 31 to which the pillar member 35 is fixed, and to a corner between the corner and an adjacent corner to which the pillar member 35 is fixed.

[0018] The ceiling portion 33 is fixed to the upper end of the column portion 32. The ceiling portion 33 is configured to be able to support the camera 26. The ceiling portion 33 is configured, for example, in the shape of a plate.

[0019] The holding unit 23 detachably holds the storage box 81. In this embodiment, as shown in Fig. 5, the holding unit 23 includes one or more arms, and holds the storage box 81 by placing the storage box 81 on the arms. The holding unit 23 includes, for example, one or more arms 23a and a stopper 23b.

[0020] The number of arms 23a used is sufficient to stably hold the underside of the storage box 81, and three are provided in this embodiment. The arms 23a are formed, for example, in the shape of a rod that is long in the front-to-rear direction. The three arms 23a are arranged spaced apart in the width direction. The upper surfaces of the arms 23a are formed, for example, as flat surfaces, and the cross sections perpendicular to the longitudinal direction of the arms 23a are formed, for example, as rectangular shapes. Here, the number that can stably hold the storage box 81 is the number that will not cause the storage box 81 to fall off the arms 23a even when the holding unit 23 is raised and lowered by the lifting device 24 and moved by the moving device 25 with the storage box 81 placed on the arms 23a. In this embodiment, the two outer arms 23a in the width direction support both widthwise ends of the underside of the storage box 81, and the center arm 23a in the width direction supports the widthwise center of the underside of the storage box 81.

[0021] Stopper 23b is configured to be able to come into contact with the surface of storage box 81 that faces take-out device 11 when holder 23 is moved forward by moving device 25. Stopper 23b is fixed to, for example, the upper surface of arm 23a. The front surface of stopper 23b is formed, for example, in a plane that is perpendicular to the front-rear direction.

[0022] The length in the front-rear direction of the portion of the holding unit 23 configured in this manner that is forward of the stopper 23b of the arm 23a is long enough to stably place the storage box 81 on the forward portion. Here, the length that allows for stable placement is a length that prevents the storage box 81 from falling even when the holding unit 23 is moved by the lifting device 24 and the moving device 25.

[0023] The lifting device 24 is configured to be able to raise and lower the holding unit 23 and the moving device 25 between a position where the holding unit 23 takes out a storage box 81 from the bottom level of the transport shelf 3 and a position where the holding unit 23 takes out a storage box 81 from the top level of the transport shelf 3. The lifting device 24 is also configured to be able to move the storage box 81 taken out from the transport shelf 3 by the holding unit 23 and the moving device 25 to a pick height. The pick height is a height position where the picking robot 71 takes out an item 7 from the storage box 81. The pick height is a height position set by the picking robot 71. The lifting device 24 is provided in the housing 21. The lifting device 24 includes, for example, a rail 51, a lifting unit 52, and a drive unit 53.

[0024] The rails 51 support the lifting unit 52 so that the lifting unit 52 can move up and down. The rails 51 are provided, for example, on the pillars 32 of the housing 21. For example, one rail 51 is provided on each of two pillar members 35 arranged side by side in the width direction.

[0025] The lifting section 52 is supported on the rails 51 so as to be movable up and down. For example, one lifting section 52 is provided for each of the two rails 51.

[0026] The driving unit 53 is configured to be able to move the lifting unit 52 in the up and down direction. The driving unit 53 includes, for example, a motor 54 and a transmission mechanism 55.

[0027] The motor 54 is fixed, for example, between two pillar members 35 at the rear end of the bottom part 31. The motor 54 is electrically connected to the take-out device controller 28.

[0028] The transmission mechanism 55 is configured to be able to convert the rotation of the motor 54 into vertical movement of the lifting unit 52. The transmission mechanism 55 includes, for example, a shaft 56 that is engaged with the output shaft of the motor 54 and rotates in accordance with the rotation of the output shaft, a pair of first pulleys 57, a pair of second pulleys 58, and a pair of belts 59.

[0029] The shaft 56 is rotatably supported on the bottom 31, for example, in a position parallel to the width direction. The pair of first pulleys 57 are fixed to both ends of the shaft 56 and rotate integrally with the shaft 56. The pair of second pulleys 58 are rotatably supported on, for example, the ceiling 33. The pair of second pulleys 58 are disposed, for example, at positions facing the pair of first pulleys 57 in the vertical direction. The pair of belts 59 are wound around the first pulley 57 and the second pulley 58. The pair of belts 59 are fixed to the lifting unit 52.

[0030] With the drive unit 53 configured in this manner, a pair of first pulleys 57, a pair of second pulleys 58, and a pair of belts 59 rotate in accordance with the rotation of the motor 54, causing the holding unit 23 and the moving device 25 to move up and down via the lifting unit 52 fixed to the pair of belts 59.

[0031] The moving device 25 moves the holding unit 23 in a single axial direction that intersects with the up-down direction. In this embodiment, the moving device 25 moves the holding unit 23 in a front-to-rear direction that is perpendicular to the up-to-down direction. The moving device 25 also moves the holding unit 23 in the front-to-rear direction between a position where the holding unit 23 holds a storage box 81 stored on the transport shelf 3 and a position where removal of the storage box 81 is complete. The position where the storage box 81 is held is, for example, a position where the stopper 23b abuts against the storage box 81. The position where removal of the storage box 81 is complete is a position in the front-to-rear direction where the picking robot 71 can remove the item 7 from the storage box 81.

[0032] The moving device 25 includes, for example, a base 61, a moving unit 62, and a drive unit 63. The base 61 supports the moving unit 62 so that the moving unit 62 can move in the front-rear direction. The base 61 is fixed to the two lifting units 52 of the lifting device 24.

[0033] The holding unit 23 is fixed to the moving unit 62. The moving unit 62 is supported on the base 61 so as to be movable in the front-rear direction, for example, by a transmission mechanism 65 (described later) of the driving unit 63. Note that a rail may be provided on the upper surface of the base 61 to support the movement of the moving unit 62 in the front-rear direction.

[0034] The drive unit 63 includes a motor 64 and a transmission mechanism 65 . The motor 64 is provided, for example, on the base 61. The motor 64 is electrically connected to the takeout device controller . The transmission mechanism 65 is configured to be able to convert the rotation of the motor 64 into forward and backward movement of the moving part 62. As shown in Fig. 3, the transmission mechanism 65 may be configured to include, for example, a screw 66 that is rotated by the motor 64, and a nut 67 that is provided on the moving part 62 and threaded onto the screw 66.

[0035] Another example of the transmission mechanism 65 may include a belt that converts the rotation of the motor 64 into forward and backward movement of the moving unit 62. In this example, the transmission mechanism 65 includes a shaft that is engaged with the output shaft of the motor 64 and rotates in accordance with the rotation of the output shaft, a third pulley that is fixed to the shaft and rotates integrally with the shaft, a fourth pulley that is rotatably provided at the front end of the base 61, and a belt that is passed around the third pulley and the fourth pulley and to which the moving unit 62 is fixed.

[0036] According to the transmission mechanism 65 configured in this manner, the third pulley, the fourth pulley, and the belt 59 rotate in accordance with the rotation of the motor 64, causing the moving part 62 fixed to the pair of belts to move in the front-to-back direction, and the holding part 23 moves in the front-to-back direction via the moving part 62.

[0037] The camera 26 is configured to be able to capture images of the inside of the storage box 81 removed from the transport shelf 3 by the removal device 11. The camera 26 is, for example, a camera that can capture information that allows a control device included in the removal system 1 to detect the position of the item 7 in the storage box 81. The camera 26 is, for example, a camera that can capture information that allows a control device included in the removal system 1 to detect the shape of the item 7 in the storage box 81. Alternatively, these functions may be achieved by using multiple cameras that each have one of these functions. The camera 26 is provided in the housing 21 and transmits data of the captured image to the control device included in the removal system 1. Here, in this embodiment, the control device included in the removal system 1 includes the upper system 6, the removal device controller 28, and a picking robot controller 72 (described later) of the picking robot system 14. In this embodiment, the camera 26 transmits data of the captured image to the picking robot controller 72 of the station 2 where the camera 26 is installed. The camera 26 may be, for example, a depth camera or an RGB camera. The vertical distance to the item 7 can be detected based on the image data captured by the depth camera. The horizontal position of the item 7 can be detected using the image data captured by the RGB camera. The depth camera and the RGB camera can also detect the shape of the item 7. The camera 26 is controlled by, for example, a picking robot controller 72, which is an example of a control device provided in the picking system 1.

[0038] 4, for example, one camera 26 is provided. The camera 26 is installed, for example, on the ceiling part 33. The camera 26 includes, for example, a depth camera and an RGB camera.

[0039] The sensor 27 is configured to detect that the picking robot 71 has removed the item 7 from the storage box 81. The sensor 27 detects, for example, that the picking robot 71 has moved the item 7 from the storage box 81 to a removal completion height. In the example of this embodiment, removal is considered to be completed when the item 7 has been moved to the removal completion height. The removal completion height is a height at which the bottom end of the item 7 is located above the upper edge of the storage box 81. The sensor 27 is, for example, a laser range finder. The sensor 27 is installed, for example, on the column portion 32 of the housing 21. The sensor 27 transmits the detection result to a picking robot controller 72 of the station 2 where the sensor 27 is installed, which is an example of a control device provided in the picking system 1. The sensor 27 is controlled, for example, by the picking robot controller 72, which is an example of a control device provided in the picking system 1.

[0040] The take-out device controller 28 can be realized, for example, by one computer or a combination of multiple computers. The take-out device controller 28 communicates with the host system 6 via wire or wirelessly. Based on signals from the host system 6, the take-out device controller 28 controls the motor 54 of the lifting device 24 and the motor 64 of the moving device 25, thereby controlling the lifting device 24 and the moving device 25.

[0041] In addition, the removal device controller 28 controls the holding unit 23, the moving device 25, and the lifting device 24 so that the holding unit 23 holds the storage box 81, the moving device 25 controls the holding unit 23 to move in the forward and backward directions, and then controls the lifting device 24 to move to a predetermined height.

[0042] In this embodiment, the holder 23 holds the storage box 81 by placing the storage box 81 on the arm 23a. That is, in this embodiment, controlling the holder 23 to hold the storage box 81 is equivalent to controlling the moving device 25 and the lifting device 24 so that the storage box 81 is placed on the arm 23a. In other words, in this embodiment, the holder 23 is indirectly controlled by controlling the moving device 25 and the lifting device 24.

[0043] Note that, for example, if the holding unit 23 is configured to include a suction pad and to suck and hold the storage box 81 by creating a negative pressure in the suction pad with a pump, controlling the holding unit 23 means controlling the pump. Alternatively, if the holding unit 23 is configured to include a clamping unit and a drive unit that drives the clamping unit and to hold the storage box 81 by clamping the storage box 81 with the clamping unit, controlling the holding unit 23 means controlling the drive unit. In this way, if the holding unit 23 is configured to include a drive unit such as a pump or a motor, controlling the drive unit means controlling the holding unit 23.

[0044] 2, the picking robot system 14 is configured to be able to remove an item 7 from a storage box 81 arranged at a picking position and transport the removed item 7 to a sorting box 15 corresponding to the item 7 among a plurality of sorting boxes 15. The picking robot system 14 includes, for example, a picking robot 71 and a picking robot controller 72.

[0045] The picking robot 71 is, for example, a multi-axis robot that can detachably hold the item 7. The picking robot 71 is, for example, as shown in FIG. 1, placed near the picking device 11 on the floor where the station 2 is installed.

[0046] Furthermore, the picking robot 71 is disposed near the end on the opposite side of the pillar 32 in the width direction. By disposing the picking robot 71 in this position, the picking robot 71 can move the item 7 to the sorting box 15 over a short distance without interfering with the pillar 32. Alternatively, the picking robot 71 may be disposed on the opposite side of the pillar 32 in the width direction of the removal device 11, as shown by the two-dot chain line in FIG. 2. Even when disposed in this position, the picking robot 71 can transport the item 7 to the sorting box 15 over a short distance without interfering with the pillar 32.

[0047] The picking robot controller 72 can be realized, for example, by one computer or a combination of multiple computers. The picking robot controller 72 communicates with the host system 6 via wire or wirelessly. The picking robot controller 72 controls the picking robot 71 based on signals from the host system 6.

[0048] Furthermore, the picking robot controller 72 detects the shape and position of the item 7, for example, from image data received from the camera 26. The position of the item 7 here refers to the position of the item 7 in the horizontal direction and the position of the item 7 in the up-down direction.

[0049] Furthermore, the picking robot controller 72 detects, based on a signal from the sensor 27, that the picking robot 71 has completed picking up the item 7.

[0050] The picking robot controller 72 also controls the camera 26 and the sensor 27. The picking robot controller 72 is an example of a control device that controls the camera 26. The picking robot controller 72 is an example of a control device that controls the sensor 27.

[0051] The multiple sorting boxes 15 are installed, for example, on the floor where the station 2 is installed, on the opposite side of the pillars 32 of the housing 21 from both the take-out device 11 and the picking robot 71. The multiple sorting boxes 15 are lined up, for example, in the front-to-rear direction.

[0052] 3, the transport shelf 3 is configured so that a plurality of storage boxes 81 can be arranged in the vertical direction. The transport shelf 3 is configured so that it can be moved by an automatic transport vehicle 4. The transport shelf 3 includes, for example, a plurality of storage boxes 81 and a transport shelf main body 82 that stores the plurality of storage boxes 81.

[0053] The plurality of storage boxes 81 are placed on an upper surface 89 of a shelf portion 86 of a transport shelf main body 82. The plurality of storage boxes 81 are configured to be able to store items 7 therein. The storage boxes 81 are configured so that the items 7 can be removed from above by a picking robot 71. The storage boxes 81 are configured, for example, in the shape of a rectangular storage box that is open at the top.

[0054] The transport shelf body 82 is configured to be able to take in and out the storage boxes 81 along the direction of movement of the holder 23 by the moving device 25. The transport shelf body 82 includes, for example, a shelf bottom plate 83, legs 84, support members 85, and a plurality of shelf board portions 86.

[0055] The shelf bottom plate 83 forms a shelf bottom 83a that contacts the automated guided vehicle 4. The shape of the legs 84 relative to the shelf bottom plate 83 is appropriately formed. The legs 84 extend downward, for example, from a corner of the shelf bottom 83a of the shelf bottom plate 83. The length of the legs 84 (the height below the shelf (the height from the floor to the shelf bottom 83a of the shelf bottom plate 83)) is slightly longer than the minimum height of the automated guided vehicle 4. In other words, the legs 84 have a height that allows the automated guided vehicle 4 to be positioned below the shelf bottom plate 83 by passing between the legs 84. The legs 84 are spaced apart by a length that allows the automated guided vehicle 4 to be positioned below the shelf bottom plate 83 by passing between the legs 84 of the transport shelf 3. Therefore, the automated guided vehicle 4 can get under the shelf of the transport shelf 3 by passing between the legs 84 of the transport shelf 3.

[0056] In this embodiment, an example will be described in which four or more legs 84 extend downward from the shelf bottom 83a at the corner of the shelf bottom plate 83 so that the transport shelf 3 can stand upright stably on the floor surface. The number of legs 84 may be three as long as the transport shelf 3 can stand upright stably on the floor surface. Five or more legs 84 are also preferable.

[0057] The support members 85 are fixed to the shelf bottom plate 83, and a plurality of shelf plate portions 86 are fixed thereto. In this embodiment, for example, four support members 85 are used. As shown in FIG. 6, the four support members 85 are provided at the four corners of the shelf bottom 83a. The four support members 85 are, for example, members that are formed with an L-shaped cross section and are long in one direction.

[0058] The space between the pair of rear support members 85 and the space between the pair of front support members 85 are wide enough for the storage box 81 to pass through.

[0059] The multiple shelf portions 86 are fixed to the support member 85 at intervals in the vertical direction. The shelf portion 86 is large enough to place one or multiple storage boxes 81 on it. In this embodiment, as shown in FIGS. 2 and 6, the shelf portion 86 is formed in the shape of a rectangular plate large enough to accommodate two storage boxes 81 in the front-to-rear direction. The four corners of the multiple shelf portions 86 are fixed to the four support members 85.

[0060] 7 and 8, grooves 87, into which the arms 23a of the holder 23 can be placed, are formed in the upper surface 89 of the shelf portion 86, the number of which is the same as the number of arms 23a. The grooves 87 are formed so that the holder 23 can be inserted. The rear ends of the grooves 87 are open. The depth of the grooves 87 is set to be longer than the thickness of the arms 23a.

[0061] The groove 87 has a length that allows the arm 23a to be inserted to a position where the storage box 81 can be stably placed on the arm 23a. For example, the groove 87 has a length that allows the arm 23a to enter until the stopper 23b abuts against the storage box 81. The width of the groove 87 is set to a dimension that is larger than the width of the arm 23a. The width of the groove 87 has a movement allowance that allows the holding part 23 to move in the width direction when all of the arms 23a are inserted into all of the grooves 87.

[0062] The groove 87 thus configured may be formed, for example, by fixing a plurality of rod members 88b to the plate member 88a. Alternatively, the groove 87 may be formed by performing cutting or the like on the upper surface 89 of the shelf board portion 86.

[0063] 3, the automated guided vehicle 4 is configured to be able to move the transport shelf 3. The automated guided vehicle 4 is, for example, a self-propelled robot having a shelf lift mechanism 91 and wheels 92.

[0064] The shelf lift mechanism 91 has a top plate 91a and a drive unit 91b that pushes up the top plate 91a. When the drive unit 91b extends upward, it pushes up the top plate 91a. When the drive unit 91b retracts, it lowers the top plate 91a.

[0065] Based on a control signal from the automatic guided vehicle controller 5, the automatic guided vehicle 4 moves to a recovery position (for example, directly below the transport shelf 3) corresponding to the target transport shelf 3, recovers the target transport shelf 3 at the recovery position, and travels toward the placement position of the transport shelf 3. Based on a control signal from the automatic guided vehicle controller 5, the automatic guided vehicle 4 places the target transport shelf 3 at the placement position of the target transport shelf 3.

[0066] The automated guided vehicle controller 5 can be realized by, for example, one computer or a combination of multiple computers. The automated guided vehicle controller 5 communicates with a higher-level system 6 via wired or wireless communication, and controls the automated guided vehicle 4.

[0067] The host system 6 acquires information about the item 7 to be picked from an external device. The host system 6 can be realized, for example, by one computer or a combination of multiple computers. The host system 6 communicates with the picking device controller 28 and the automated guided vehicle controller 5 via wired or wireless communication, and controls the picking device 11 and the automated guided vehicle 4.

[0068] The upper system 6 also stores, for example, item information on items such as item 7, shelf information on transport shelves 3 that store one or more items, AGV information on automated guided vehicles 4, and map data for stations 2. The item information includes item IDs (identification information), etc., and each item is assigned an item ID. The shelf information includes shelf IDs, etc., and each transport shelf 3 is assigned a shelf ID. The AGV information includes AGV IDs, etc., and each automated guided vehicle 4 is assigned an AGV ID.

[0069] The above-described takeout device controller 28, picking robot controller 72, automated guided vehicle controller 5, and upper system 6 each include a control unit and a storage unit. The control unit is, for example, a processor. The processor is, for example, configured with a CPU (Central Processing Unit). The storage unit is, for example, a memory or storage. The memory includes a ROM (Read Only Memory), which is a read-only data memory, or a RAM (Random Access Memory), which temporarily stores data. The storage may be a large-capacity storage such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The memory or storage stores control programs and various data. The processor performs various processes based on programs and the like stored in the memory or storage. In other words, the processor executes various programs as a software function unit. The control unit may use an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array) as a hardware function unit instead of a CPU.

[0070] As described above, in this embodiment, the control device that controls the takeout system 1 includes the host system 6, the automatic guided vehicle controller 5, the takeout device controller 28, and the picking robot controller 72.

[0071] Next, an example of the operation of the retrieval system 1 will be described with reference to Fig. 9. Fig. 9 is a time chart showing an example of the operation of the retrieval system 1. As shown in Fig. 9, the retrieval system 1 repeatedly performs a predetermined cycle. This cycle includes, for example, a box retrieval process A, a picking process B, and a box return process C. These processes A, B, and C are performed in order.

[0072] In the box removal process A, the removal device 11 removes the storage box 81 from the transport shelf 3 and moves the removed storage box 81 to a picking position.

[0073] In the picking process B, the host system 6 detects the shape and position of the item 7 to be picked up in the storage box 81 at the pick height based on the image captured by the camera 26. Then, the picking robot controller 72 controls the picking robot 71 based on the signal from the host system 6 to pick up the item 7 to be picked up from the storage box 81.

[0074] In the box returning step C, the take-out device 11 returns the storage box 81 to the transport shelf 3, and then moves the holder 23 to the initial position.

[0075] 9, ta is the time it takes to swap the automated guided vehicles 4. The swapping of the automated guided vehicles 4 will now be described. In this embodiment, as shown in FIG. 2, two transport shelves 3 are arranged in front of the take-out device 11. One transport shelf 3 is a shelf that stores the item 7 to be taken out, and the other transport shelf 3 is a shelf that stores the item 7 to be taken out next. One transport shelf 3 is arranged immediately before the take-out device 11, and the other transport shelf 3 is arranged in a position shifted in the width direction. Swapping the automated guided vehicles 4 means that the automated guided vehicle 4 returns one transport shelf 3 that has completed taking out the item 7 to an arrangement location where multiple transport shelves 3 are arranged, and the automated guided vehicle 4 moves the other transport shelf 3 immediately before the take-out device 11, and then moves the transport shelf 3 that stores the next item 7 to be taken out from the arrangement location where multiple transport shelves 3 are arranged to in front of the take-out device 11.

[0076] tb1 is the time taken for the process of removing the storage box 81 from the transport shelf 3 by the removal device 11. tb2 is the time taken for the process of returning the storage box 81 to the transport shelf 3 by the removal device 11. tr is the time taken for the upper system 6 to detect the shape and position of the item 7 to be removed in the storage box 81 based on the image captured by the camera 26. tp is the time taken for the picking robot 71 to remove the item 7 from the storage box 81. tz is the time taken for the removal device 11 to move the holder 23 to the height of the storage box 81 containing the item 7 to be removed.

[0077] The automatic guided vehicle 4-1 is an automatic guided vehicle 4 that moves one of the transport shelves 3 containing the item 7 to be removed, and the automatic guided vehicle 4-2 is an automatic guided vehicle 4 that moves the other transport shelf 3 containing the next item 7 to be removed.

[0078] Next, an example of one cycle of the operation of the takeout system 1 will be described with reference to Fig. 10. Fig. 10 is a flow chart showing an example of the operation of each of the takeout device 11, the upper system 6, and the picking robot system 14.

[0079] As shown in FIG. 10, first, before starting one cycle of operation, the take-out device controller 28 of the take-out device 11 initializes information stored in memory, such as the height of the destination of the holding unit 23 (step ST1).

[0080] Next, the take-out device controller 28 waits until it receives a take-out signal from the upper system 6 (NO in step ST2). Here, the take-out signal includes information about the height of the storage box 81 that contains the item 7 to be taken out. For example, the take-out signal may be information about one item 7, or may be information about multiple items 7 and the order in which these multiple items 7 are to be taken out.

[0081] When the take-out device controller 28 receives a signal from the host system 6 to take out the item 7 from the transport shelf 3 (YES in step ST2), the take-out device controller 28 starts the box take-out process A.

[0082] Specifically, the take-out device controller 28 controls the lifting device 24 to move the holder 23 to the arm insertion height (step ST3). The arm insertion height is a height at which the arm 23a of the holder 23 can be inserted into the groove 87 of the shelf portion 86 on which the storage box 81 to be taken out is placed by moving the arm 23a forward using the moving device 25. The arm insertion height is a position at which the upper surface of the arm 23a is lower than the lower surface of the storage box 81. Therefore, the arm 23a does not come into contact with the storage box 81.

[0083] Next, the take-out device controller 28 controls the moving device 25 to move the holder 23 forward, thereby inserting the arm 23a into the groove 87 of the shelf portion 86 on which the storage box 81 to be taken out is placed (step ST4). The arm 23a is inserted into the groove 87 until, for example, the stopper 23b abuts against the storage box 81.

[0084] Next, the take-out device controller 28 controls the lifting device 24 and the moving device 25 to take out the storage box 81 (step ST5). Specifically, the lifting device 24 is controlled to move the holder 23 upward to place the storage box 81 on the arm 23a, and further moves the storage box 81 upward until it is separated from the shelf portion 86. The take-out device controller 28 then controls the moving device 25 to move the holder 23 and the storage box 81 backward, thereby taking them out of the transport shelf main body 82.

[0085] Next, the take-out device controller 28 controls the lifting device 24 to move the storage box 81 to the pick height (step ST6). In this way, the take-out device 11 performs steps ST3 to ST6, thereby completing the take-out process A. When the take-out process A is completed, the take-out device controller 28 transmits a signal indicating that the take-out process A has been completed to the upper system 6.

[0086] When the host system 6 receives a signal from the picking device controller 28 indicating that the picking process A has been completed, the host system 6 starts the picking process B together with the picking robot system 14 .

[0087] In the picking process B, the host system 6 transmits a signal to start picking to the picking robot controller 72. Upon receiving the signal from the host system 6, the picking robot controller 72 controls, for example, the camera 26 to take an image with the camera 26. Then, based on the image taken by the camera 26, the shape of the item 7 to be picked up in the storage box 81 placed at the pick height is detected, and the position of the item 7 is detected.

[0088] When the picking robot controller 72 receives a picking start signal from the upper system 6, it starts the picking process (step ST7). Specifically, the picking robot controller 72 controls the picking robot 71 to move upward the items 7 in the storage box 81 placed at the pick height.

[0089] When the upper system 6 detects that the item 7 has been removed from the storage box 81 based on the detection result of the sensor 27, it determines that the picking process B for the item 7 has been completed (YES in step ST7) and sends a signal to the removal device controller 28 to start the box return process C.

[0090] When the take-out device controller 28 receives a signal from the upper system 6 to start the box return process C, it starts the box return process C. Specifically, the take-out device controller 28 controls the lifting device 24 to move the storage box 81 to the storage box return height (step ST8). The storage box return height is a position where the bottom surface of the article 7 held by the holder 23 is higher than the top surface of the shelf section 86 on which the storage box 81 was placed.

[0091] Next, the take-out device controller 28 controls the moving device 25 to return the storage box 81 to the shelf section 86 (step ST9). Specifically, the take-out device controller 28 controls the moving device 25 to move the holder 23 and the article 7 above the shelf section 86, and then controls the lifting device 24 to place the storage box 81 on the shelf section 86 and lower the holder 23 until the arm 23a is separated from the underside of the storage box 81.

[0092] Next, the take-out device controller 28 controls the moving device 25 to pull out the arm 23a of the holding part 23 from the groove 87 (step ST10).

[0093] Next, if the take-out device controller 28 is to take out the storage boxes 81 consecutively (YES in step ST11), the process returns to step ST3. For example, if the take-out device controller 28 has received, as a take-out signal, information on a plurality of items 7 and the order in which these items 7 are to be taken out in step ST2, and if the items 7 stored in different storage boxes 81 are to be taken out consecutively, the storage boxes 81 will be taken out consecutively.

[0094] If the storage boxes 81 are not to be continuously removed (NO in step ST11), the removal device controller 28 controls the lifting device 24 to return the holder 23 to the initial position (step ST12). In this manner, by performing steps ST8 to ST11, the box returning process C is completed.

[0095] If the take-out device controller 28 receives a signal to take out the next item 7 from the host system 6 during the box return process C (YES in step ST13), it returns to the next take-out process A (step ST3). If the take-out device controller 28 does not receive a signal to take out the next item 7 (NO in step ST13), it returns to step ST2 and waits until it receives a signal to take out the next item 7 from the host system 6.

[0096] In this way, the process of removing the article 7 from the storage box 81 and transporting it to the sorting box 15 is completed.

[0097] 9, the operation of the retrieval device 11 to move the holding unit 23 to the height position of the storage box 81 storing the item 7 to be retrieved in the retrieval process A and the operation of switching the automated guided vehicles 4 (switching the AGVs 11, 12, and other automated guided vehicles 4 at the installation location) are performed in parallel by the host system 6. After the retrieval device 11 moves the holding unit 23 to the height position of the storage box 81 storing the item 7 to be retrieved, the retrieval device 11 waits until the switching of the automated guided vehicles 4 is completed.

[0098] According to the retrieval system 1 configured in this manner, the retrieval device 11 retrieves the storage box 81 stored on the transport shelf 3 from the transport shelf 3. Therefore, the item 7 in the storage box 81 can be retrieved by the picking robot 71, and the picking robot 71 can be used to transport the item 7 from the transport shelf 3 to the sorting box 15, which is an example of a destination. Therefore, the transport of the item 7 can be performed efficiently. Furthermore, by retrieving the storage box 81 from the transport shelf 3 by the retrieval device 11, it becomes easier to detect the shape and position of the item 7 to be retrieved in the storage box 81 using a camera or the like.

[0099] Furthermore, by configuring the take-out device 11 that takes out the storage box 81 from the transport shelf 3 as a separate component independent of the picking robot system 14, it is possible to use an existing picking robot system 14. This allows the manufacturing cost of the take-out system 1 to be reduced.

[0100] Furthermore, since the holding unit 23 is provided with the arm 23a and is configured to hold the storage box 81 by placing the storage box 81 on the arm 23a, the configuration of the holding unit 23 can be simplified.

[0101] Furthermore, by providing the camera 26, the station 2 can detect the items 7 in the storage box 81. Furthermore, by installing the camera 26 in the housing 21 of the take-out device 11, the housing 21 can be used as a member for installing the camera 26 in the station 2. As a result, a member for installing the camera 26 in the station 2 is not required, which saves space in the station 2 and reduces the manufacturing cost of the take-out system 1.

[0102] Furthermore, by providing the sensor 27, the station 2 can detect that the article 7 has been removed from the storage box 81. For example, the sensor 27 may be an LRF (Laser Range Finder) that detects that the bottom end of the article 7 has been moved upward from the top end of the storage box 81. Furthermore, by installing the sensor 27 in the housing 21 of the removal device 11, the housing 21 can be used as a member for installing the sensor 27 in the station 2. As a result, a member for installing the sensor 27 in the station 2 is not required, which saves space in the station 2 and reduces the manufacturing cost of the removal system 1.

[0103] Furthermore, by forming grooves 87 in the shelf board portions 86 of the transport shelf 3, it is possible to place the storage box 81 on the arm 23a simply by inserting the arm 23a into the grooves 87 and then lifting the arm 23a. This simplifies the operation of the take-out device 11 for placing the storage box 81 on the arm 23a.

[0104] 9, the retrieval system 1 can simultaneously perform the operation of replacing the transport shelves 3 and the operation of moving the holder 23 by the lifting device 24 to the height of the storage box 81 containing the next item 7 to be retrieved. This allows for efficient transport of the item 7 from the transport shelves 3 to the sorting box 15.

[0105] Thus, according to this embodiment, the storage box 81 is removed from the transport shelf 3, and then the item 7 inside the storage box 81 is removed by the picking robot 71, so that the picking robot 71 can be used to transport the item 7 from the transport shelf 3 to a sorting box 15, which is an example of a destination.

[0106] Next, a retrieval system 1A according to a second embodiment will be described with reference to Figures 11 and 12. In the retrieval system 1A of the second embodiment, components having the same functions as those of the retrieval system 1 described in the first embodiment are denoted by the same reference numerals as those of the retrieval system 1 of the first embodiment, and descriptions thereof will be omitted.

[0107] Fig. 11 is a schematic diagram showing the configuration of the take-out system 1 A. Fig. 12 is a time chart showing the operation of the take-out system 1 A.

[0108] As shown in FIG. 11, the takeout system 1A includes, for example, a station 2A, a plurality of transport shelves 3, a plurality of automated guided vehicles 4, an automated guided vehicle controller 5, and a host system 6.

[0109] Station 2A is equipped with a plurality of picking devices 11, a picking robot system 14, and a plurality of sorting boxes 15. Station 2A is configured by installing a plurality of picking devices 11, a picking robot system 14, and a plurality of sorting boxes 15 in a predetermined area on the floor of a work area such as a warehouse, for example.

[0110] The multiple picking devices 11 are arranged so that one picking robot system 14 can transport an item 7 from a storage box 81 to a sorting box 15. In this embodiment, an example will be described in which station 2A is equipped with two picking devices 11. The picking robot 71 of the picking robot system 14 is arranged behind the two picking devices 11.

[0111] Next, an example of the operation of the take-out system 1A will be described with reference to Fig. 12. Fig. 12 is a time chart showing the operation of the take-out system 1A. In the picking system 1A, the picking process B by the picking robot system 14 is set to be staggered so that the picking process B by the multiple picking devices 11 does not overlap.

[0112] In this embodiment, as shown in FIG. 12, while a picking process B is being performed by the picking robot system 14 to pick up an item 7 in a storage box 81 picked up by one picking device 11, a picking process A is being performed by the other picking device 11.

[0113] The box picking process A and box returning process C by one picking device 11, and the picking process B by the picking robot system 14 and the upper system 6, and the box picking process A and box returning process C by the other picking device 11, and the picking process B by the picking robot system 14 and the upper system 6 are carried out, for example, according to the flow chart described in Figure 10 of the first embodiment.

[0114] 12 is an automated guided vehicle 4 that moves one transport shelf 3 storing an item 7 to be picked up to one pick-up device 11, and automated guided vehicle 4-2 is an automated guided vehicle 4 that moves the other transport shelf 3 storing an item 7 to be picked up next to one pick-up device 11. Automated guided vehicle 4-3 is an automated guided vehicle 4 that moves one transport shelf 3 storing an item 7 to be picked up to the other pick-up device 11, and automated guided vehicle 4-4 is an automated guided vehicle 4 that moves the other transport shelf 3 storing an item 7 to be picked up next to the other pick-up device 11.

[0115] In addition to the effects of the first embodiment, the retrieval system 1A allows multiple retrieval devices 11 to operate in parallel, thereby efficiently sorting the items 7 into sorting boxes 15. Thus, according to this embodiment, the storage box 81 is removed from the transport shelf 3, and then the items 7 in the storage box 81 are removed by the picking robot system 14, so that the picking robot system 14 can be used to transport the items 7 from the transport shelf 3 to the sorting box 15, which is an example of a destination.

[0116] The take-out system 1 and the take-out system 1A are not limited to the first and second embodiments described above.

[0117] In the above embodiment, the holding unit 23 is described as having the arm 23a on which the storage box 81 is placed, but is not limited to this. In another example, the holding unit 23 may not have the arm 23a.

[0118] When the holding unit 23 does not have the arm 23a, the take-out device 11 has, for example, a placement unit on which the storage box 81 taken out from the transport shelf 3 is placed. For example, the base 61 of the moving device 25 can be used as the placement unit.

[0119] 13, the holder 23 may be configured to hold the storage box 81 by negative pressure. As an example of this configuration, the holder 23 may be configured to include one or more cylindrical suction pads 100 each having an opening at one end, and a pump 101 that creates a negative pressure inside the suction pad 100. With the opening of the suction pad 100 closed by the storage box 81, the pump 101 creates a negative pressure inside the suction pad 100, thereby fixing the storage box 81 to the suction pad 100. Then, the storage box 81 held by the holder 23 is moved backward by the moving device 25 and placed on the base 61 serving as a placement unit.

[0120] 14, the holding portion 23 may be configured to be able to engage with the storage box 81. As an example of this configuration, for example, an engaged portion 131 is formed on the storage box 81, and the holding portion 23 is provided with an engaging portion 132 that can engage with the engaged portion 131. The engaging portion 132 engages with the engaged portion 131, causing the holding portion 23 to hold the storage box 81. The storage box 81 held by the holding portion 23 is moved rearward by the moving device 25 and placed on the base 61, which serves as a placement portion.

[0121] 15, the holding portion 23 may be configured to clamp the storage box 81 in the width direction. As an example of this, the holding portion 23 may include, for example, a stopper 23b and a clamping portion 141 that detachably clamps the storage box 81 in the width direction. As shown in an example in FIGS. 13 to 15, when the holding portion 23 does not have the arm 23a, the shelf portion 86 does not need to have the groove 87, as shown in FIG.

[0122] In the above embodiment, when a rail is provided to support the holding part 23 on the base part 61 so that the holding part 23 can move in the front-rear direction, the rail is formed on the upper surface of the base part 61 as an example, but the present invention is not limited to this. In another example, the rail 110 may be formed on the side surface of the base part 61 as shown in Figures 13 and 14.

[0123] In this way, when the rail 110 is configured on the side of the base 61, the upper surface of the base 61 can be formed flat, which is preferable when the base 61 is used as a mounting portion for the storage box 81, as shown as an example in Figures 13 and 14, because the storage box 81 can be placed stably.

[0124] In the above embodiment, the groove 87 has been described as having a shape that does not penetrate the shelf board portion 86 in the vertical direction, but this is not limiting. In another example, as shown in Figures 16 and 17, the groove 87 may be configured to penetrate the shelf board portion 86 in the vertical direction.

[0125] The transport shelf 3 may also be configured to include a guide 120. The guide 120 is configured to be able to guide the storage box 81 onto the shelf board portion 86 when the storage box 81 is returned to the shelf board portion 86.

[0126] As shown in FIGS. 16 and 17, the guide 120 includes a pair of guide members 121 provided at both widthwise ends of the shelf portion 86. The inner surfaces of the rear ends of the pair of guide members 121 in the widthwise direction are formed as guide surfaces 122. The guide surfaces 122 are formed so that the distance between the guide surfaces 122 gradually decreases toward the front. The guide surfaces 122 may be flat or curved. In addition, in the configurations shown in FIGS. 16 and 17, the guide surfaces 122 are formed on the pair of guide members 121, but in other examples, the guide surface 122 may be formed on only one of the guide members 121.

[0127] According to the guide 120 having this configuration, when the storage box 81 is returned to the transport shelf 3 by moving it forward, the guide surface 122 makes it easier to return the storage box 81.

[0128] 19 and 20, the inner surfaces in the width direction of the upper ends of a pair of guide members 121 may be formed as guide surfaces 122. These guide surfaces 122 are formed so that the distance between them gradually decreases downward. The guide surfaces 122 may be flat or curved. For example, in the case where the holders 23 are configured to hold the storage box 81 by clamping it as shown in FIG. 15, when the storage box 81 is moved above the shelf portion 86 and the clamping of the storage box 81 by the holders 23 is released, the storage box 81 is guided by the guide surfaces 122 of the guides 120 and placed on the shelf portion 86.

[0129] In the above embodiment, the grooves 87 are formed in the shelf portion 86 as an example, but the present invention is not limited to this. In another example, as shown in FIG. 20, the shelf portion 86 may not have the grooves 87.

[0130] In the above embodiment, the moving device 25 is configured to be able to move the holder 23 in the front-rear direction, which is an example of an axial direction perpendicular to the up-down direction, but this is not limiting. In another example, the moving device 25 may be configured to be able to move the holder 23 in the front-rear direction and also to be able to move the holder 23 in the width direction. With this configuration, when the position of the transport shelf 3 relative to the take-out device 11 is misaligned in the width direction, for example, the position of the holder 23 can be adjusted in the width direction.

[0131] In the above embodiment, the control device of the takeout system 1 is configured with a plurality of control devices, and for example, a configuration including the upper system 6, the automated guided vehicle controller 5, the takeout device controller 28, and the picking robot controller 72 has been described as an example, but the present invention is not limited to this. The takeout system 1 may be configured with a single control device.

[0132] In the above embodiment, the camera 26 transmits the captured image data to the picking robot controller 72 of the station 2 where the camera 26 is installed, as an example of a control device included in the picking system 1, but the present invention is not limited to this. In another example, the camera 26 may transmit the captured image data to the host system 6, and the host system 6 may detect the shape and position of the item 7 from the image data received from the camera 26.

[0133] In addition, the sensor 27 has been described as transmitting the detection result to the picking robot controller 72 of the station 2 where the sensor 27 is installed, as an example of a control device included in the picking system 1, but this is not limiting. In another example, the sensor 27 may transmit the detection result to the upper system 6, and the upper system 6 may detect that the picking robot 71 has completed picking of the item 7 based on a signal from the sensor 27.

[0134] In the above embodiment, the host system 6 stores, as an example, item information about items such as the item 7, shelf information about the transport shelves 3, AGV information about the automated guided vehicles 4, and map data about the stations 2. However, this is not limiting. When the picking system 1 is configured to include multiple control devices, this information may be stored in at least one of the control devices, or may be stored in a distributed manner among the multiple control devices. For example, the shelf information and map data may be stored in the automated guided vehicle controller 5, and the remaining information may be stored in at least one of the other control devices, namely, the host system 6, the picking device controller 28, and the picking robot controller 72, or the remaining information may be stored in a distributed manner among the other control devices.

[0135] In addition, in the above-described embodiment, a configuration has been described as an example in which a signal is sent from the upper system 6 to the picking device controller 28, and the picking device controller 28 controls the picking device 11 based on this signal, and a signal is sent from the upper system 6 to the picking robot controller 72, and the picking robot controller 72 controls the picking robot 71 based on this signal, but this is not limited to this.

[0136] In another example, the picking system 1 may further include a general control device. This general control device controls the picking device controller 28 and the picking robot controller 72. The general control device may be configured, for example, with one or more computers. The general control device also includes a control unit and a storage unit, similar to the host system 6. In this configuration, a signal is sent from the host system 6 to the general control device, which then sends signals to the picking device controller 28 and the picking robot controller 72 based on this signal, the picking device controller 28 controls the picking device 11 based on this signal, and the picking robot controller 72 controls the picking robot 71 based on this signal.

[0137] Furthermore, in the above embodiment, the sensor 27 is described as being installed in the housing 21 of the take-out device 11 as an example, but is not limited to this. In another example, the sensor 27 may be installed in the lifting / lowering unit 52 of the lifting device 24 or the moving unit 62 of the moving device 25. With this configuration, the sensor 27 moves vertically together with the storage box 81 held by the holding unit 23. Therefore, when changing the detection height of the sensor 27, it is only necessary to change the height position of the sensor 27 relative to the lifting / lowering unit 52 or the height position of the sensor 27 relative to the moving unit 62.

[0138] In the above-described embodiments, the picking robot 71 is disposed near the take-out device 11, and in the first embodiment, as shown in FIG. 2, and in the second embodiment, as shown in FIG. 11, the picking robot 71 is disposed behind the take-out device 11. The configuration in which the multiple sorting boxes 15 are disposed on the opposite side of the column 32 in the width direction from both the take-out device 11 and the picking robot 71 and are aligned in the front-to-rear direction has been described as an example. However, the arrangement of the take-out device 11 and the multiple sorting boxes 15 is not limited to the arrangement shown in FIG. 2 and FIG. 11.

[0139] 21 and 22, the picking robot 71 may be arranged on the opposite side of the column 32 in the width direction from the take-out device 11, and the multiple sorting boxes 15 may be arranged behind both the take-out device 11 and the picking robot 71 and lined up in the width direction. Note that FIG. 21 shows a modified example of the arrangement of the take-out device 11, picking robot 71, and multiple sorting boxes 15 described in the first embodiment, and FIG. 22 shows a modified example of the arrangement of two take-out devices 11, picking robot 71, and multiple sorting boxes 15 described in the second embodiment.

[0140] According to at least one of the embodiments described above, it is possible to provide a take-out device, a take-out system, and a transport shelf 3 that can take out an article 7 from the transport shelf 3.

[0141] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0142] 1...removal system, 1A...removal system, 3...transport shelf, 4...automated guided vehicle, 5...automated guided vehicle controller, 6...host system, 7...item, 11...removal device, 14...picking robot system, 15...sorting box, 21...housing, 23...holding section, 23a...arm, 24...lifting device, 25...moving device, 26...camera, 27...sensor, 81...storage box, 86...shelf section, 87...groove, 89...top surface, 100...suction pad, 101...pump, 110...rail, 120...guide, 121...guide member, 122...guide surface, 131...engaged section, 132...engaging section, 141...clamping section.

Claims

1. a holder for holding a storage box that stores items and is to be stored on the transport shelf; A moving device that moves the holding portion in a single axial direction that intersects with the up-down direction; a lifting device that moves the holding unit and the moving device in the up and down direction; a housing supporting the holding unit, the moving device, and the lifting device; The ejection device comprises:

2. The removal device according to claim 1 , wherein the holding portion includes an arm that can be inserted into a groove that is formed along the uniaxial direction on an upper surface of a shelf portion of the transport shelf on which the storage box is placed.

3. a take-out device controller for controlling the holding unit, the moving device, and the lifting device; The take-out device controller controls the holding unit to hold the storage box and the moving device to move the holding unit in the uniaxial direction, and then controls the lifting device to move to a predetermined height.

3. The take-out device according to claim 1 or 2.

4. a camera that is installed in the housing, held by the holding unit, and moved by the moving device to capture an image of the inside of the storage box that has been removed from the transport shelf; The ejection device according to any one of claims 1 to 3, comprising:

5. a sensor that is installed in the housing and detects that the item has been removed by the picking robot from the storage box that has been removed from the transport shelf by being held by the holding unit and moved by the moving device; 5. The ejection device according to claim 1, further comprising:

6. The take-out device according to claim 5 , wherein the sensor detects when a bottom end of the article moves above an upper end of the storage box.

7. An automated guided vehicle, a transport shelf including a shelf bottom plate forming a shelf bottom that contacts the automated guided vehicle, legs extending downward from the shelf bottom plate and having a height that allows the automated guided vehicle to be positioned below the shelf bottom plate, a support member extending upward from the shelf bottom plate, a plurality of shelf plate portions provided on the support member and arranged in a vertical direction, and a plurality of storage boxes arranged on the plurality of shelf plate portions; a take-out device including a holding unit that holds the container box, a moving device that moves the holding unit in a uniaxial direction that intersects the vertical direction, and a lifting device that moves the holding unit and the moving device in the vertical direction; a picking robot that takes out an item from the storage box taken out from the transport shelf; A control device that controls the removal device, the automated guided vehicle, and the picking robot; A removal system comprising:

8. The picking system according to claim 7 , wherein a plurality of the picking devices are provided for one of the picking robots.

9. A plurality of storage boxes; a shelf bottom plate forming a shelf bottom that contacts the automatic guided vehicle; a leg portion extending downward from the shelf bottom plate and having a height that allows the automated guided vehicle to be positioned below the shelf bottom plate; A support member extending upward from the shelf bottom plate; A plurality of shelf portions are provided in the vertical direction on the support member, and grooves are formed on the upper surfaces of the shelf portions along a single axis direction intersecting the vertical direction, and the storage boxes are placed on the upper surfaces of the shelf portions; A guide provided on the upper surface to guide the storage box to the upper surface; A transport shelf comprising:

10. The guide includes a pair of guide members provided at both ends of the upper surface in a width direction perpendicular to the axial direction, Inner surfaces in the width direction of one end of each of the pair of guide members in the axial direction are formed into guide surfaces such that the distance between the surfaces gradually decreases toward the other end in the axial direction. The transport shelf according to claim 9.

11. The guide includes a pair of guide members provided at both ends of the upper surface in a width direction perpendicular to the axial direction, Inner surfaces of the upper ends of the pair of guide members in the width direction are formed as guide surfaces with a distance between the surfaces gradually decreasing downward. The transport shelf according to claim 9.

Images