Mobile devices, conveying devices, and picking systems

Abstract

The present invention provides a moving device that can move a container and return the moved container to a predetermined position and orientation. [Solution] The moving device 21 comprises a moving body 30 and a drive unit 31. The moving body 30 has an extrusion section 32 and a push-back section 33, and the distance between the extrusion section 32 and the push-back section 33 is wider than the distance between the contact portions of the first side surface 14a and the second side surface 14b of the container 14. The fixed position of the moving body 30 is defined as the position where the extrusion section 32 and the push-back section 33 are separated from the contact portions of the first side surface 14a and the second side surface 14b of the container 14, which is in a predetermined position on the placement section 26. When the drive unit 31 moves the moving body 30 from the fixed position in the extrusion direction A back to the fixed position, it moves the moving body 30 to be moved in the push-back direction B past the fixed position to a position where the container 14 is sandwiched between the push-back section B and the guide section 27, and then moves it in the extrusion direction A back to the fixed position.

Description

Technical Field

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[0001] The present invention relates to a mobile device, a conveying device, and a picking system.

Background Art

[0002] Conventionally, for example, a picking device using a conveying device described in Patent Document 1 below is known. In this picking device, a plurality of containers are conveyed by the conveying device, and an article picked by an operator is put into a container to be filled, so that the container contains the article.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In such a device, it may be necessary to move a moving object such as a container from a predetermined location and return the moved moving object to a predetermined position and orientation at the original location.

[0005] The problem to be solved by the present invention is to provide a mobile device, a conveying device, and a picking system that can move a moving object and return the moved moving object to a predetermined position and orientation.

Means for Solving the Problems

[0006] The present invention provides a moving device comprising: an extrusion unit that contacts a first side surface of a moving object placed in a placement section and moves it in the extrusion direction away from the placement section; and a push-back unit that contacts a second side surface of the moving object opposite to the first side surface and moves it in the push-back direction toward the placement section opposite to the extrusion direction, wherein the distance between the extrusion unit and the push-back unit is wider than the distance between the contact portions of the first and second sides of the moving object; a drive unit that moves the moving device in the extrusion direction and the push-back direction; and a front provided on the side of the placement section opposite to the side in the extrusion direction, between the push-back unit that moves in the push-back direction. The device comprises a guide section that sandwiches the moving object and positions the moving object in a predetermined position and orientation, wherein the push section and the push-back section define the fixed position of the moving object as the position where the first side and second side of the moving object, which are in a predetermined position and orientation on the position section, move away from the contact portions, respectively, and when the drive section moves the moving object, which has been moved from the fixed position in the push-out direction, back to the fixed position, the drive section moves the moving object, which is moved in the push-back direction, past the fixed position to a position where the moving object is sandwiched between the push-back section and the guide section, and then moves it in the push-out direction to return it to the fixed position. [Effects of the Invention]

[0007] According to the present invention, a moving object can be moved, and the moved object can be returned to a predetermined position and orientation. [Brief explanation of the drawing]

[0008] [Figure 1] This is a plan view of a picking system equipped with a moving device and a conveying device, which shows one embodiment of the present invention. [Figure 2] This is a plan view showing the containers moved to the work area of ​​the picking system described above. [Figure 3] This is a plan view of the same moving device. [Figure 4] A side view of the same moving device. [Figure 5] (a) to (d) are side views showing the operation of the same moving device. [Figure 6]The operation of the above-mentioned moving device is shown in the plan views (a) to (e). [Modes for carrying out the invention]

[0009] Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

[0010] Figures 1 and 2 show plan views of the picking system 10. The picking system 10 is used in a picking operation in which an operator 12, who is the main operator of the work, retrieves ordered items from the items stored in the item storage section 11, and sorts the items retrieved by the operator 12 into order-specific collection containers 14, which are transported by the transport device 13. The transport containers 14 are transported by the transport device 13.

[0011] The conveying device 13 has multiple zones Z along the conveying direction F where workers 12 perform picking work, with one worker 12 assigned to each zone Z. In each zone Z, an item storage section 11 is installed on one side of the intersecting direction W that intersects the conveying direction F of the conveying device 13, flanking a work area 15 where the workers 12 perform picking work.

[0012] The work area 15 is a range that may include the body of the worker 12 during picking, and is a fixed area that extends in accordance with the transport direction F and the intersecting direction W that intersects this transport direction F. For example, a rectangular virtual area can be defined as the work area.

[0013] Furthermore, the item storage section 11 is, for example, a shelf, where items are stored by type in each section of the shelf, and the worker 12 can retrieve the items to be picked from the item storage section 11.

[0014] Furthermore, the conveying device 13 includes a conveying unit 20 that conveys the container 14 in the conveying direction F, and a moving device 21 that moves the container 14 between the conveying unit 20 and the work area 15.

[0015] The conveying section 20 uses a roller conveyor having a frame 23 and a plurality of rollers 24 arranged in parallel along the conveying direction F on the frame 23 to convey the containers 14 in the conveying direction F. A conveying surface 25 is formed on the upper side of the plurality of rollers 24 to support and convey the bottom surface of the containers 14. The conveying section 20 has a predetermined number of placement areas 26 in each zone Z, where a predetermined number (for example, 6) of containers 14 are arranged along the conveying direction F, and has the function of an accumulating conveyor capable of conveying and stopping containers 14 at each placement area 26. Alternatively, a stopper may be placed downstream of the conveying direction F in zone Z to stop the conveying of the containers 14, and this stopper may be used to stop a predetermined number of containers 14 at once and place them in each placement area 26, as long as a predetermined number of containers 14 can be brought into, stored, and unloaded from the conveying section 20 in zone Z.

[0016] The transport unit 20 has a guide unit 27 positioned along the transport direction F on the opposite side of the work area 15 in the intersecting direction W that intersects the transport direction F. The guide unit 27 is positioned above the roller 24 (transport surface 25) and is supported by the frame 23 by a plurality of arms 28 (see Figure 4). The guide unit 27 is positioned at a height where the upper side of the container 14 can make contact with it, and functions as a position and orientation correction unit that corrects the position and orientation (hereinafter referred to as position and orientation) of the container 14 to a predetermined position and orientation that allows it to be transported by the transport unit 20 by pressing the side of the container 14 parallel to the longitudinal direction of the guide unit 27.

[0017] Furthermore, the moving device 21 is installed in accordance with the position of the upstream placement section 26 in the transport direction F of each zone Z, and moves the container 14 between a position on the placement section 26 (see Figure 1) and a position protruding into the work area 15 (see Figure 2).

[0018] Also, as shown in FIGS. 3 and 4, the container 14 is box-shaped with an open top surface, and a container or the like that can accommodate articles input from the open top surface is used. The container 14 is sized to be placed in each placement portion 26 of the transport unit 20, is provided in a rectangular shape when viewed from the opening side of the top surface, and is transported by the transport unit 20 with the short side direction intersecting the longitudinal direction thereof facing the transport direction F. The container 一面14 has a first side surface 14a disposed on the side of the guide portion 27 and a second side surface 14b disposed on the side of the work area 15 opposite to the first side surface 14a on the longitudinal side surface. The container 14 includes various container shapes, such as a container shape having a frame portion protruding outward on the upper and lower sides of the side surface, a container shape having a frame portion protruding outward only on the upper side of the side surface, and a container shape with a flat side surface. The first side surface 14a and the second side surface 14b of the container 14 also include portions of the frame portion protruding from the side surface.

[0019] The position and orientation where the upper side of the first side surface 14a of the container 14 abuts parallel to the guide portion 27 is the predetermined position and orientation of the container 14 when being transported by the transport unit 20.

[0020] Also, the moving device 21 moves the container 14 between the position on the placement portion 26 and the position protruding into the work area 15, and includes a moving body 30 that moves the container 14 and a driving portion 31 that moves the moving body 30. Further, the moving device 21 also includes a guide portion 27 that is a position and orientation correction portion for correcting the container 14 returned to the placement portion 26 to a predetermined position and orientation.

[0021] The moving body 30 is attached to the frame 23 so as to be movable in the intersecting direction W intersecting the transport direction F. The moving body 30 includes a pushing portion 32 that moves in the pushing direction A, which is the direction from the placement portion 26 toward the work area 15 on one side in the intersecting direction W by abutting against the first side surface 14a of the container 14 disposed on the placement portion 26, a pushing-back portion 33 that moves in the pushing-back direction B opposite to the pushing direction A by abutting against the second side surface 14b of the container 14, and a support portion 34 that connects and supports the pushing portion 32 and the pushing-back portion 33.

[0022] The extrusion section 32 is provided in an elongated shape along the conveying direction F. A contact surface 32a is provided on the inner surface facing the center of the movable body 30, which is capable of contacting the lower side of the first side surface 14a of the container 14. The outer surface opposite to the contact surface 32a is fixed and supported by the support section 34. The contact surface 32a is arranged parallel to the guide section 27 along the conveying direction F. On the upstream side of the extrusion section 32 in the conveying direction F, there is an inclined surface 32b, which is opposite to the contact surface 32a and inclined outward toward the upstream side.

[0023] The push-back section 33 is provided in an elongated manner along the transport direction F. A contact surface 33a is provided on the inner side facing the center of the movable body 30, which is capable of contacting the lower side of the second side surface 14b of the container 14. The outer side opposite to the contact surface 33a is fixed and supported by the support section 34. The contact surface 33a is arranged parallel to the guide section 27 along the transport direction F. On the upstream side of the push-back section 33 in the transport direction F, there is an inclined section 33b, which is opposite to the contact surface 33a and inclined outward toward the upstream side.

[0024] A pair of support sections 34 are used in the conveying direction F, and they fix and support the extrusion section 32 and the push-back section 33 at both ends. The pair of support sections 34 are positioned between the rollers 24 and are slidably mounted in the extrusion direction A and the push-back direction B, which are intersecting directions W with respect to the frame 23, by a moving guide mechanism (not shown). Each support section 34 comprises a long connecting section 35 and fixing sections 36 that rise from both ends of the connecting section 35 in the longitudinal direction and are fixed to the outer surfaces of the extrusion section 32 and the push-back section 33, respectively. The connecting section 35 is located below the conveying surface 25, which is formed by the upper surfaces of the rollers 24. The fixing sections 36 at both ends protrude above the conveying surface 25 and support the extrusion section 32 and the push-back section 33, respectively. Since the connecting section 35, which is located below the conveying surface 25, moves in the extrusion direction A relative to the frame 23, the frame 23 is provided with an interference prevention structure such as a groove-shaped notch to avoid interference with the connecting section 35.

[0025] The distance L1 between the opposing extrusion portion 32 and the pushback portion 33, which are supported by the support portion 34, is wider than the distance L2 between the contact portions of the first side surface 14a and the second side surface 14b on the lower side of the container 14, which the extrusion portion 32 and the pushback portion 33 can contact. In the shape of the container 14 shown in Figure 4, the extrusion portion 32 and the pushback portion 33 can contact the lower frame portion that protrudes from the sides of the first side surface 14a and the second side surface 14b.

[0026] The drive unit 31 uses an actuator such as an electric cylinder or an air cylinder and has a drive unit body 37 fixed to the frame 23 side and a rod 38 that moves back and forth from the drive unit body 37, with the tip of the rod 38 connected to the outer surface of the extrusion unit 32.

[0027] The drive unit 31 sets the position of the movable body 30, where the extrusion unit 32 and the push-back unit 33 are separated from the contact portions of the first side 14a and second side 14b of the container 14 which is in a predetermined position on the transport unit 20, as the fixed position. From this fixed position, the movable body 30 is moved in the extrusion direction A to make the container 14 protrude into the work area 15. When the movable body 30 is moved from the fixed position in the extrusion direction A back to the fixed position, the movable body 30 that is moved in the push-back direction B is driven to pass the fixed position and move to a pressing position where the container 14 is sandwiched between the push-back unit 33 and the guide unit 27, before being moved in the extrusion direction A back to the fixed position. Furthermore, when the movable body 30 is moved in the extrusion direction A and protrudes into the work area 15, the drive unit 31 stops the movable body 30 at the protruding position where the rear end of the movable body 30 opposite to the extrusion direction A is on the transport unit 20 side and the movable body 30 is supported by the frame 23 by the aforementioned movable guide mechanism.

[0028] Next, we will explain the operation of the picking system 10.

[0029] As shown in Figure 1, with the moving body 30 in a fixed position, the transport unit 20 transports multiple containers 14 in the transport direction F, and the containers 14 are stopped at the placement unit 26 in order, starting from the downstream placement unit 26.

[0030] At this time, as shown in Figures 3 and 4, the container 14 is moved in the transport direction F with its first side surface 14a in a predetermined positional orientation along the guide section 27. Then, the container 14 passing through the uppermost positioning section 26 of each zone Z passes between the extrusion section 32 and the push-back section 33 of the moving body 30 which is positioned in a fixed position. Also, the container 14 that stops at the uppermost positioning section 26 of each zone Z stops between the extrusion section 32 and the push-back section 33 of the moving body 30 which is positioned in a fixed position, with the first side surface 14a facing the extrusion section 32 and the second side surface 14b facing the push-back section 33.

[0031] As shown in Figures 2 and 5(a), the container 14 located in the uppermost positioning section 26 of each zone Z is moved by the moving device 21 in the extrusion direction A and positioned in a protruding position that extends into the work area 15. In the moving device 21, the drive unit 31 moves the moving body 30 in the extrusion direction A, and the extrusion unit 32 contacts the lower side of the first side surface 14a of the container 14 which is resting on the roller 24 of the conveying unit 20, causing the container 14 and the moving body 30 to move together in the extrusion direction A. As the container 14 is moved in the extrusion direction A, its bottom surface slides on the roller 24 in the axial direction of the roller 24.

[0032] The moving body 30, which is moved in the extrusion direction A, is stopped at a predetermined protruding position into the work area 15. As the moving body 30 moves to the protruding position, the front end of the container 14 in the extrusion direction A is removed from the rollers 24 of the conveying unit 20 and supported on a pair of support parts 34 of the moving body 30, while the rear end opposite to the extrusion direction A is supported on the rollers 24 of the conveying unit 20.

[0033] Then, worker 12 takes out the ordered items stored in the item storage section 11 and performs picking work, sorting the retrieved items into the order-specific containers 14. For containers 14 located on the placement sections 26 other than the uppermost placement section 26 in each zone Z, worker 12 puts items into the container 14 from the front side, and for containers 14 protruding into the work area 15, it is possible to put items into the container 14 from the side.

[0034] As shown in Figure 2, when the mobile body 30 and container 14 protrude into the work area 15, the width of the work area 15 in the transport direction F is reduced compared to the work area 15 when the mobile body 30 and container 14 do not protrude into the work area 15, as shown in Figure 1. This allows the worker 12 to load the goods W into the protruding container 14 from the side, thus reducing the worker 12's range of movement and improving work efficiency. Furthermore, when the mobile body 30 and container 14 protrude into the work area 15, it may be difficult for the worker 12 to pass through the work area 15. However, as shown in Figure 1, when the mobile body 30 and container 14 do not protrude into the work area 15, the work area 15 between the transport unit 20 and the container storage unit 11 is wider, making it easier for the worker 12 to pass through.

[0035] Next, once the picking operation is complete, as shown in Figure 5(b), the drive unit 31 is driven to move the push-back unit 33 from its protruding position to the push-back direction B, so that the second side surface 14b of the container 14 is pushed by the push-back unit 33, and the container 14 moves toward the transport unit 20. As shown in Figure 5(c), the push-back unit 33 moves until the container 14 is on the roller 24 and is sandwiched between the push-back unit 33 and the guide 27. Then, as shown in Figure 5(d), the drive unit 31 is driven to move the push-back unit 33 toward the extrusion direction A, so that it moves away from the second side surface 14b of the container 14. In the state shown in Figure 5(d), the extrusion unit 32 has moved away from the first side surface 14a and the push-back unit 33 has also moved away from the second side surface 14b of the container 14, so that the container 14 can be transported along the guide 27.

[0036] Furthermore, as shown in Figure 6(a), the orientation of the container 14 may shift as the mobile body 30 moves to the protruding position, or the orientation of the container 14 may shift due to the worker 12 touching the container 14 or the effect of the object being placed into the container 14 at the protruding position. This is because the distance L1 between the extrusion section 32 and the push-back section 33 of the mobile body 30 is wider than the distance L2 between the contact points of the first side surface 14a and the second side surface 14b on the lower side of the container 14, and the container 14 is not fixed to the mobile body 30. The shift in the container 14 may occur when the container 14 rotates on the mobile body 30, resulting in an obliquely tilted position where the first side surface 14a and the second side surface 14b are no longer parallel to the guide section 27.

[0037] When the loading of items into the container 14 in the protruding position is completed and the worker 12 operates a designated button or the like to indicate completion of loading, the moving device 21 operates as shown in Figure 6(b), and the moving body 30 in the protruding position is moved in the push-back direction B and returned to its fixed position. In the moving device 21, the drive unit 31 moves the moving body 30 in the push-back direction B, and the push-back unit 33 contacts the lower side of the second side surface 14b of the container 14, which is partially resting on the roller 24 of the conveying unit 20, and the container 14 and the moving body 30 are moved together in the push-back direction B. As the container 14 is moved in the push-back direction B, its bottom surface slides on the roller 24 in the axial direction of the roller 24 and moves onto the roller 24.

[0038] Figure 6(c) shows the state in which the movable body 30, which moves from the protruding position in the push-back direction B, moves to a fixed position (passes through a fixed position).

[0039] If the moving body 30, which moves from the protruding position in the push-back direction B, stops at a fixed position, and the first side surface 14a of the container 14 is in a predetermined position parallel to the guide portion 27 and in contact with the guide portion 27, then even if the container 14 is transported in the transport direction F by the transport portion 20, there is no possibility of transport failure. However, if the first side surface 14a is in an inclined position relative to the guide portion 27, then as the container 14 is transported in the transport direction F by the transport portion 20 in this inclined position, the container 14 may not be able to pass between the extrusion portion 32 and the push-back portion 33 of the moving body 30, which is in a fixed position in the downstream zone Z, and may get caught on the extrusion portion 32 or the push-back portion 33, causing a transport failure.

[0040] In this embodiment, the moving body 30, which moves from the protruding position in the push-back direction B, passes through the fixed position shown in Figure 6(c) without stopping, and moves to the pressing position where the container 14 is sandwiched between the push-back portion 33 and the guide portion 27, as shown in Figure 6(d). By sandwiching the container 14 between the push-back portion 33 and the guide portion 27, the orientation of the container 14 is changed so that the first side surface 14a of the container 14 is pressed parallel to the guide portion 27, and the container 14 is corrected to a predetermined position in the placement portion 26.

[0041] Subsequently, as shown in Figure 6(e), the movable body 30 is moved in the extrusion direction A, stops at a fixed position, and returns to its original position.

[0042] Therefore, the container 14, having returned to its predetermined position and orientation in the placement section 26, is transported in the transport direction F by the transport section 20. It is able to pass between the extrusion section 32 and the push-back section 33 of the movable body 30, which is located in a fixed position in the downstream zone Z, and is transported normally without any transport defects.

[0043] Thus, in the moving device 21 of this embodiment, the container 14 placed in the placement section 26 can be moved to the protruding position. When returning the moved container 14 to the placement section 26, the moving body 30, which moves in the push-back direction B, passes through a fixed position and moves to a push-in position where the container 14 is sandwiched between the push-back section 33 and the guide section 27, and then moves in the push-out direction A to return to the fixed position, thereby returning the container 14 to a predetermined position.

[0044] In the transport device 13 using this moving device 21, the container 14 that has been moved to the protruding position can be returned to a predetermined position, thereby preventing transport defects of the container 14.

[0045] In the picking system 10 using this transport device 13, the container 14 can be moved to a protruding position that extends into the work area 15, thereby reducing the range of movement of the worker 12 and improving work efficiency.

[0046] Furthermore, the conveying device 13 is not limited to the picking system 10, but can also be applied to tasks that allow the container 14 to be moved from the conveying unit 20 for work, and then return the container 14 to the conveying unit 20 after work.

[0047] Furthermore, the moving device 21 is not limited to the picking system 10 or the conveying device 13, but can be applied to devices and systems that move objects including containers 14 and other articles, and return the moved objects to a predetermined position or orientation.

[0048] Embodiments of the present invention and their variations have been described above, but various combinations of configurations, as well as partial omissions, substitutions, and modifications, are also possible. [Explanation of symbols]

[0049] 10 Picking Systems 13 Conveying device 14. A container that is a moving object. 14a First side 14b Second side 15 Work Area 20 Conveying section 21 Mobile device 26 Placement section 27 Guide Section 30 Mobile Units 31 Drive unit 32 Extrusion section 33 Push-back section A Extrusion direction B Push-back direction F Conveying direction

Claims

1. A moving body having an extrusion section that contacts a first side surface of a moving object placed in a placement section and moves it in the extrusion direction from the placement section, and a push-back section that contacts a second side surface of the moving object opposite to the first side surface and moves it in the push-back direction toward the placement section opposite to the extrusion direction, wherein the distance between the extrusion section and the push-back section is wider than the distance between the contact portions of the first side surface and the second side surface of the moving object, A drive unit that moves the movable body in the extrusion direction and the pushback direction, A guide portion is provided on the side of the arrangement portion opposite to the side in the extrusion direction, and between it and the push-back portion which moves in the push-back direction, the guide portion sandwiches the moving object and positions the moving object in a predetermined position and orientation. Equipped with, The position where the extrusion portion and the push-back portion move away from the contact portions of the first and second sides of the moving object, which are in a predetermined position on the placement portion, is defined as the fixed position of the moving object. The aforementioned drive unit is When returning the moving body, which has been moved from the fixed position in the extrusion direction, to the fixed position, the moving body, which is moved in the push-back direction, is moved past the fixed position to a position where the moving object is sandwiched between the push-back portion and the guide portion, and then moved in the extrusion direction to return to the fixed position. A mobile device characterized by the following features.

2. A conveying unit that conveys the conveyed object in the conveying direction, A guide section provided along the conveying direction and guiding the first side surface of the conveyed object being conveyed in the conveying direction by the conveying section, A moving body having an extrusion section that contacts the first side surface of the conveyed object on the conveying section and moves the conveyed object in an extrusion direction intersecting the conveying direction from the conveying section, and a push-back section that contacts the second side surface of the conveyed object opposite to the first side surface and moves the conveyed object in a push-back direction toward the conveying section opposite to the extrusion direction, wherein the distance between the extrusion section and the push-back section is wider than the distance between the contact portion between the first side surface and the second side surface of the conveyed object, A drive unit that moves the movable body in the extrusion direction and the pushback direction, Equipped with, The position where the extrusion unit and the push-back unit move away from the contact portions of the first and second sides of the conveyed object, which are in a predetermined position on the conveying unit, is defined as the fixed position of the moving body. The aforementioned drive unit is When returning the moving body, which has been moved from the fixed position in the extrusion direction, to the fixed position, the moving body, which is moved in the push-back direction, is moved past the fixed position to a position where the conveyed object is sandwiched between the push-back portion and the guide portion, and then moved in the extrusion direction to return to the fixed position. A conveying device characterized by the following features.

3. The conveyed object, moved in the extrusion direction by the moving body, is supported on the moving body at its front end in the extrusion direction and on the conveying section at its rear end opposite to the extrusion direction. The conveying device according to feature 2.

4. The conveying device according to claim 2 or 3 for conveying the conveyed object containing the articles, The conveying unit has a plurality of arrangement units that arrange a plurality of conveyed objects along the conveying direction, corresponding to the area of ​​the work area on one side in a direction intersecting the conveying direction. The moving body and the drive unit are arranged to correspond to the position of at least one of the upstream and downstream positions of the arrangement unit in the transport direction. The operation of the drive unit moves the mobile body from the fixed position in the extrusion direction, causing the conveyed object to be ejected into the work area. A picking system characterized by the following features.

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