Picking Device

Abstract

The present invention comprises: a first transfer device (110) and a second transfer device (120) that travel from a first region (201) to a second region (202) while being guided by a rail (130), and transfer objects (200); and a transfer control device (160) that, after the first transfer device (110) and the second transfer device (120) have picked the objects (200) in parallel in the first region (201) and have traveled in parallel along the rail (130), controls the first transfer device (110) and the second transfer device (120) so as to release the objects (200) in parallel in the second region (202).

Description

[Technical Field]

[0001] The present invention relates to a picking device that picks and transports an object and releases it at a predetermined location. [Background technology]

[0002] At logistics centers, the so-called picking work of sorting multiple types of products for multiple branches or individuals and storing them in cardboard boxes is a task that has a significant impact on logistics efficiency. Traditionally, picking work has been performed by humans, but recently there have been attempts to use picking robots to perform this work.

[0003] For example, Patent Document 1 describes a picking device in which two picking robots are arranged side by side, thereby improving the efficiency of picking work by the picking robots. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-37144 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in conventional technology such as that described in Patent Document 1, the operations of picking, transporting, and releasing objects are controlled individually for two picking robots at different times, so control must be exercised to prevent mutual interference between the two picking robots, which reduces the picking efficiency of the entire picking system.

[0006] The present invention has been made in view of the above-mentioned problems, and aims to provide a picking device equipped with a plurality of transfer devices, which improves the transport efficiency of objects to be picked. [Means for solving the problem]

[0007] In order to achieve the above object, one aspect of the present invention provides a picking device, which includes a first transfer device that includes a rail extending between a first area and a second area, a first carrier that travels while being guided by the rail, a first arm whose base end is attached to the first carrier, and a first holding device that is attached to the tip of the first arm and that holds an object, and that picks up an object in the first area, travels along the rail, and then releases the object in the second area, thereby transporting the object from the first area to the second area; a second transfer device that transports the object from the first area to the second area by picking up the object in the first area, traveling along the rail, and then releasing the object in the second area; and a transfer control device that controls the first transfer device and the second transfer device so that the first transfer device and the second transfer device pick up the object in the first area in parallel, travel along the rail, and then release the object in the second area in parallel. [Effects of the Invention]

[0008] According to the present invention, the first transfer device and the second transfer device perform a series of operations in parallel, picking up the object in the first area, running in parallel along the rail, and then releasing the object in the second area, thereby improving the efficiency of transporting the object compared to conventional configurations in which the object is picked and released at different times. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. [Figure 2] FIG. 2 is a perspective view showing a first transfer device and a second transfer device. [Figure 3] FIG. 10 is a side view showing one aspect of a posture that the first transfer device can take based on the structure of the first transfer device. [Figure 4] FIG. 2 is a block diagram showing the functional configuration of a transfer control device. [Figure 5] FIG. 2 is a plan view showing a first example of the arrangement of a first holding device and a second holding device. [Figure 6] FIG. 10 is a plan view showing a second example of the arrangement of the first holding device and the second holding device. [Figure 7] FIG. 10 is a plan view showing an overlapping state of a first object and a second object that cannot be picked in parallel. [Figure 8] FIG. 10 is a plan view showing an overlapping state of a first object and a second object that can be picked in parallel. [Figure 9] FIG. 10 is a diagram for explaining terminology of a collision avoidance detection logic between the first transfer device and the second transfer device when viewed from the first transfer device. [Figure 10] FIG. 10 is a perspective view showing another example of a transfer device. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of a picking device according to the present invention will be described below with reference to the drawings. Note that the following embodiment is provided as an example to explain the present invention and is not intended to limit the present invention. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, mathematical formulas, the content of each step in a method, and the order of each step shown in the following embodiment are examples and may include content not described below. Furthermore, while geometric expressions such as parallel and orthogonal may be used, these expressions do not indicate mathematical precision and include substantially acceptable errors, deviations, etc. Furthermore, expressions such as simultaneous and identical also include substantially acceptable ranges.

[0011] The drawings are schematic diagrams in which emphasis, omission, or adjustment of proportions is appropriately made for the purpose of explaining the present invention, and differ from the actual shapes, positional relationships, and proportions. The X-axis, Y-axis, and Z-axis shown in the drawings represent Cartesian coordinates arbitrarily set for the purpose of explaining the drawings. In other words, the Z-axis is not necessarily an axis along the vertical direction, and the X-axis and Y-axis are not necessarily located within a horizontal plane.

[0012] In addition, in the following, multiple inventions may be collectively described as one embodiment, and some of the contents described below may be described as optional components related to the present invention.

[0013] 1 is a perspective view showing a picking device 100. The picking device 100 includes a rail 130, a first transfer device 110 that travels along the rail 130 and transfers an object 200 from a first area 201 to a second area 202, and a second transfer device 120 that travels along the rail 130 and transfers the object 200 from the first area 201 to the second area 202. The picking device 100 includes a first conveying device 151 and a second conveying device 152.

[0014] The first area 201 is an area where the objects 200 to be transferred are placed, and the placed objects 200 are picked by the picking device 100. In this embodiment, a source transfer box 210 containing the objects 200 to be picked is placed in the first area 201. The source transfer box 210 contains objects 200 of the same type of product, and different source transfer boxes 210 contain objects 200 of different types of products. Note that different source transfer boxes 210 may contain objects 200 of the same type of product, or one source transfer box 210 may contain objects 200 of multiple types of products. The second area 202 is an area to which the objects 200 are transferred, and is an area where the objects 200 picked in the first area 201 are released. In this embodiment, a destination transfer box 220 containing the released objects 200 is placed in the second area 202. One or more objects 200 of the same type are transferred from one source box 210 to the destination box 220. Also, one or more objects 200 of the same or different types may be transferred from different source boxes 210.

[0015] The first conveying device 151 conveys the source box 210 containing the target object 200 to the first area 201. After at least a portion of the target object 200 contained in the source box 210 has been conveyed out by at least one of the first transfer device 110 and the second transfer device 120, the source box 210 is conveyed out of the first area 201. The type of the first conveying device 151 is not particularly limited, and examples include a conveyor and an automated guided vehicle. In this embodiment, the first conveying device 151 includes an outgoing conveyor 153 and a returning conveyor 154 arranged in the vertical direction, and an elevating device 155 that lifts the source box 210 received from the outgoing conveyor 153 to the first area 201 and lowers the source box 210 to the returning conveyor 154 after the transfer of the target object 200 has been completed.

[0016] The second conveying device 152 conveys a destination box 220 for storing the target object 200 to the second area 202. After at least one target object has been transferred into the destination box 220 by at least one of the first transfer device 110 and the second transfer device 120, the second conveying device 152 removes the destination box 220 from the second area 202. The type of the second conveying device 152 is not particularly limited, and examples include a conveyor and an unmanned guided vehicle. The second conveying device 152 may have the same configuration as the first conveying device 151, but may also have a different configuration or type. In this embodiment, the second conveying device 152 has the same configuration as the first conveying device 151 and includes an outbound conveyor (not shown), a return conveyor (not shown), and an elevator (not shown).

[0017] The rail 130 is a member that guides the reciprocating movement of the first transfer device 110 and the second transfer device 120 between the first area 201 and the second area 202. In this embodiment, the rail 130 is arranged on the side of the first area 201 and the second area 202 (on the side where the first conveying device 151 and the second conveying device 152 extend), and extends linearly from the first area 201 to the second area 202. The rail 130 is arranged above the first conveying device 151 and the second conveying device 152, straddling at least one of the first conveying device 151 and the second conveying device 152 (both in this embodiment). Note that if the first conveying device 151 and the second conveying device 152 are carts, the rail 130 may be arranged so that the first conveying device 151 and the second conveying device 152 can pass underneath.

[0018] FIG. 2 is a perspective view showing the first transfer device 110 and the second transfer device 120. The first transfer device 110 is a device that transfers an object 200 from a first area 201 to a second area 202. The type of the first transfer device 110 is not particularly limited, and examples include a Cartesian robot, an articulated robot, and a parallel link robot. In this embodiment, a vertical articulated robot is adopted as the first transfer device 110. The first transfer device 110 includes a first carriage 111, a first arm 112, and a first holding device 113.

[0019] The first running body 111 is a basic component of the first transfer device 110, and is a component that is guided by the rail 130 and reciprocates in the extending direction of the rail 130 (the X-axis direction in the drawing). The driving method for causing the first running body 111 to run along the rail 130 is not particularly limited. In this embodiment, the first running body 111 is connected to a circular belt (not shown) arranged inside the rail 130. The first running body 111 is guided by the rail 130 and reciprocates in the extending direction of the rail 130 by rotating the circular belt using a first running drive source 138 (see FIG. 1) that has a motor attached to the rail 130. The first running body 111 may run by a linear motor, or may run based on the rotation of a ball screw, a feed screw, or the like.

[0020] The first arm 112 is a member whose base end is attached to the first running body 111 and which moves the first holding device 113 attached to its tip end to any position within the first area 201 and any position within the second area 202. In this embodiment, the first arm 112 includes a first upper arm 114 attached to the first running body 111 so as to be rotatable about a first rotation axis 101 along the extension direction of the rail 130 (the X-axis direction in the figure), and a first forearm 115 attached to the side of the tip end of the first upper arm 114 (the side of the second transfer device 120) so as to be rotatable about a second rotation axis 102 parallel to the first rotation axis 101.

[0021] The first upper arm 114 has a base end attached to the first running body 111 so as to be rotatable relative to the first running body 111 within a first plane (the YZ plane in the drawing), which is a predetermined plane intersecting (orthogonal in this embodiment) the extension direction of the rail 130, but so as to be immovable relative to the first running body 111 in the extension direction. The first upper arm 114 is connected to a first upper arm drive unit 117 equipped with a first upper arm motor 116, and is driven relative to the first running body 111 by a driving force generated from the first upper arm drive unit 117. Specifically, the first upper arm 114 is rotated around a first rotation axis 101 relative to the first running body 111. The first forearm 115 has a base end attached to the tip of the first upper arm 114 so as to be rotatable relative to the first upper arm 114 within a plane parallel to the first plane, but so as to be immovable relative to the extension direction. The first forearm portion 115 is connected to a first forearm drive unit 119 equipped with a first forearm motor 118, and is driven relative to the first upper arm portion 114 by a drive force generated from the first forearm drive unit 119. Specifically, the first forearm portion 115 is rotated around the second rotation axis 102 relative to the first upper arm portion 114.

[0022] With this configuration, first upper arm 114 and first forearm 115 constituting first arm 112 move within a plane parallel to the first surface, but do not move in the extending direction of rail 130 when the position of first running body 111 is fixed. In addition, first holding device 113 attached to first arm 112 also moves within a plane parallel to the first surface, but does not move in the extending direction of rail 130 when the position of first running body 111 is fixed.

[0023] The first forearm 115 is attached to a side surface of the first upper arm 114 facing the second transfer device 120. The first holding device 113 is attached to a side surface of the tip of the first forearm 115 facing the second transfer device 120 so as to protrude toward the second transfer device 120. In other words, the first holding device 113 is attached to the opposite side of the first upper arm 114 with respect to the first forearm 115. In other words, the first upper arm 114, the first forearm 115, and the first holding device 113 are disposed at positions shifted (offset) from one another in the extension direction of the rail 130. As a result, even if the first forearm 115 rotates with respect to the first upper arm 114, the first holding device 113 does not interfere with the first upper arm 114. Therefore, the range of positions in which the first holding device 113 can be placed (moved) can be expanded, and for example, as shown in Figure 3, when the first transfer device 110 is viewed in the extension direction of the rail 130 (X-axis direction), it is possible to adopt a posture in which the first forearm portion 115 is located directly below the first upper arm portion 114, and the first holding device 113 is located near the first running body 111 in the Y-axis direction (approaching to a position close to being directly below the first running body 111).

[0024] The first holding device 113 is attached to the first arm 112, and is arranged at a desired position in the first area 201 and the second area 202. The first holding device 113 is a device that can hold the object 200 and release the held object 200. The first holding device 113 is attached to the tip of the first forearm 115. In this embodiment, the first holding device 113 includes a first hand 131, a first rod 132, a first holding unit 133, and a first rotating unit 134.

[0025] The first hand 131 is a plate-like member attached to the first forearm 115 by a first link mechanism (not shown) so that the angle with respect to the first traveling body 111 is kept constant.

[0026] The first rod 132 is a rod-shaped member attached to the first hand 131 so as to protrude in a direction perpendicular to the first hand 131. When the first holding device 113 holds the target object 200 by suction, the first rod 132 may be tubular and serve as an intake path.

[0027] The first holding part 133 is a member attached to the tip (lower end) of the first rod 132 and holds the target object 200. The type of the first holding part 133 is not particularly limited, and may be, for example, a chuck that clamps and holds the target object 200. In this embodiment, the first holding device 113 is a device that holds the target object 200 by vacuum suction, and the first holding part 133 is a suction pad.

[0028] The first rotating unit 134 is a device that rotates the first rod 132 about its axis relative to the first hand 131, and is equipped with a motor. If the first holding unit 133 is a chuck or the like, the first rotating unit 134 may rotate the chuck to correspond to the posture of the object 200. In this embodiment, the first rotating unit 134 changes the posture of the object 200 that is sucked and held at the tip of the first holding unit 133 by rotation, so that the object 200 can be released in the second region 202 in a desired posture.

[0029] The second transfer device 120, like the first transfer device 110, is a device that transfers the object 200 from the first area 201 to the second area 202. The type of the second transfer device 120 is not particularly limited, and examples include a Cartesian robot, an articulated robot, and a parallel link robot. In this embodiment, the second transfer device 120 is of the same type as the first transfer device 110, and a vertical articulated robot is used. The second transfer device 120 includes a second carriage 121, a second arm 122, and a second holding device 123.

[0030] The second running body 121 is a basic component of the second transfer device 120, and is a component that is guided by the rail 130 and reciprocates in the extending direction of the rail 130 (the X-axis direction in the figure). The driving method for causing the second running body 121 to run along the rail 130 is not particularly limited. In this embodiment, the second running body 121 is connected to a circular belt (not shown) arranged inside the rail 130. The belt connected to the second running body 121 is separate from the belt connected to the first running body 111, and the belts rotate independently of each other. By rotating the circular belt using a second running drive source 139 (see FIG. 1 ) that has a motor attached to the rail 130, the second running body 121 is guided by the rail 130 and reciprocates in the extending direction of the rail 130. The second running body 121 may be driven by a linear motor, or may be driven by the rotation of a ball screw, a feed screw, or the like.

[0031] The second arm 122 is a member whose base end is attached to the second running body 121 and which moves the second holding device 123 attached to its tip end to any position within the first area 201 and any position within the second area 202. In this embodiment, the second arm 122 includes a second upper arm 124 attached to the second running body 121 so as to be rotatable about a third rotation axis 103 along the extension direction of the rail 130 (the X-axis direction in the figure), and a second forearm 125 attached to the side of the tip end of the second upper arm 124 (the side of the first transfer device 110) so as to be rotatable about a fourth rotation axis 104 parallel to the third rotation axis 103.

[0032] The second upper arm 124 has a base end attached to the second running body 121 so as to be rotatable relative to the second running body 121 within a plane parallel to the first surface but immovable relative to the second running body 121 in the extension direction. The second upper arm 124 is connected to a second upper arm drive unit 127 equipped with a second upper arm motor 126 and is driven relative to the second running body 121 by a driving force generated from the second upper arm drive unit 127. Specifically, the second upper arm 124 is rotated around a third rotation axis 103 relative to the second running body 121. The second forearm 125 has a base end attached to a tip end of the second upper arm 124 so as to be rotatable relative to the second upper arm 124 within a plane parallel to the first surface but immovable relative to the extension direction. The second forearm 125 is connected to a second forearm drive unit 129 equipped with a second forearm motor 128 and is rotationally driven relative to the second upper arm 124 by a driving force generated by the second forearm drive unit 129. Specifically, it is rotated around the fourth rotation axis 104 relative to the second upper arm portion 124 .

[0033] With this configuration, the second upper arm 124 and the second forearm 125 constituting the second arm 122 move within a plane parallel to the first plane. On the other hand, when the position of the second running body 121 is fixed, they do not move in the extending direction of the rail 130. In addition, the second holding device 123 attached to the second arm 122 also moves within a plane parallel to the first plane, but when the position of the second running body 121 is fixed, they do not move in the extending direction of the rail 130. Note that the first plane is a virtual plane, and its location is not specified. Also, the first plane and the second plane may be the same plane.

[0034] The second forearm 125 is attached to a side surface of the second upper arm 124 facing the first transfer device 110. The second holding device 123 is attached to a side surface of the tip of the second forearm 125 facing the first transfer device 110 so as to protrude toward the first transfer device 110. In other words, the second holding device 123 is attached to the opposite side of the second upper arm 124 with respect to the second forearm 125. In other words, the second upper arm 124, the second forearm 125, and the second holding device 123 are disposed at positions shifted (offset) from one another in the extension direction of the rail 130. As a result, even if the second forearm 125 rotates with respect to the second upper arm 124, the second holding device 123 does not interfere with the second upper arm 124. Therefore, the range of positions in which the second holding device 123 can be placed (moved) can be expanded, and for example, similar to the first transfer device 110 shown in Figure 3, when the second transfer device 120 is viewed in the extension direction of the rail 130 (X-axis direction), it is possible to adopt a posture in which the second forearm portion 125 is located directly below the second upper arm portion 124, and the second holding device 123 is located near the second running body 121 in the Y-axis direction (approaching to a position close to being directly below the second running body 121).

[0035] The first transfer device 110 and the second transfer device 120 have a plane-symmetrical structure with the YZ plane in the drawing as the symmetrical plane. This makes it possible to place the first transfer device 110 and the second transfer device 120 as close as possible to each other while avoiding interference between the first holding device 113 and the second holding device 123, as shown in FIG. 4, which will be described later.

[0036] The second holding device 123 is attached to the second arm 122, and is arranged at a desired position in the first area 201 and the second area 202, and is a device that can hold the object 200 and release the held object 200. The second holding device 123 is attached to the tip of the second forearm 125. In this embodiment, the second holding device 123 includes a second hand 141, a second rod 142, a second holding unit 143, and a second rotating unit 144.

[0037] The second hand 141 is a plate-like member attached to the second forearm 125 by a second link mechanism (not shown) so that the angle with respect to the second running body 121 is kept constant.

[0038] The second rod 142 is a rod-shaped member attached to the second hand 141 so as to protrude in a direction perpendicular to the second hand 141. When the second holding device 123 holds the target object 200 by suction, the second rod 142 may be tubular and serve as an intake path.

[0039] The second holding part 143 is a member attached to the tip of the second rod 142 and holds the object 200. The type of the second holding part 143 is not particularly limited, and may be, for example, a chuck that clamps and holds the object 200. In this embodiment, the second holding device 123 is a device that holds the object 200 by vacuum suction, and the second holding part 143 is a suction pad.

[0040] The second rotating unit 144 is a device that rotates the second rod 142 about its axis relative to the second hand 141, and is equipped with a motor. If the second holding unit 143 is a chuck or the like, the second rotating unit 144 may rotate the chuck to correspond to the posture of the object 200. In this embodiment, the second rotating unit 144 changes the posture of the object 200 that is sucked and held at the tip of the second holding unit 143 by rotation, so that the object 200 can be released in the second region 202 in a desired posture.

[0041] 5 is a plan view illustrating a possible relative positional relationship between the first holding device 113 provided in the first transfer device 110 and the second holding device 123 provided in the second transfer device 120. As shown in this Fig. 4, the first holding device 113 (first holding section 133) provided in the first transfer device 110 is provided so as to protrude toward the second transfer device 120 side with respect to the first forearm section 115 in a plan view. The second holding device 123 (second holding section 143) provided in the second transfer device 120 is provided so as to protrude toward the first transfer device 110 side with respect to the second forearm section 125 in a plan view.

[0042] In the picking device 100 configured as described above, as shown in Fig. 6, the first holding device 113 and the second holding device 123 are arranged at offset positions (positions where they do not overlap each other) in a direction that is horizontal and perpendicular to the extension direction of the rail 130 (Y-axis direction in Fig. 6), so that at least a portion of them can be in the same position (overlapping position) in the extension direction of the rail 130 (X-axis direction in Fig. 6). With this configuration, as shown in Fig. 6, the first holding device 113 and the second holding device 123 can simultaneously (at the same time) pick two objects 200 that have at least a portion in the same position in the X-axis direction.

[0043] On the other hand, in a configuration in which the first holding device 113 is not provided protruding toward the second transfer device 120 relative to the first forearm 115 (it is provided at the same position as the first forearm 115 in the X-axis direction or protruding toward the first transfer device 110), and in a configuration in which the second holding device 123 is not provided protruding toward the first transfer device 110 relative to the second forearm 125 (it is provided at the same position as the second forearm 125 in the X-axis direction or protruding toward the second transfer device 120), such a relative positional relationship cannot be established. For this reason, the first holding device 113 and the second holding device 123 cannot simultaneously (at the same time) pick up two objects 200 that have at least a portion in the same position in the X-axis direction.

[0044] According to the picking device 100 of the above embodiment, the first transfer device 110 and the second transfer device 120 travel guided by the same rail 130 and transfer the object 200 from the first area 201 to the second area 202, so that it is possible to transfer the object 200 over a distance equal to or greater than the extension length of the arms provided on the first transfer device 110 and the second transfer device 120. Furthermore, by having the first transfer device 110 and the second transfer device 120 work together to transfer the object 200, it is possible to improve transfer efficiency compared to a configuration in which a single transfer device transfers the object 200.

[0045] In addition, the rail 130 is arranged across the first conveying device 151 and the second conveying device 152, and the first transfer device 110 and the second transfer device 120 move in a multilevel intersection with the first conveying device 151 and the second conveying device 152, making it possible to make the entire picking device 100 compact.

[0046] Furthermore, the first arm 112 and the second arm 122 are configured to move the first holding device 113 and the second holding device 123, respectively, in a plane perpendicular to the extension direction of the rail 130, and not to move the first holding device 113 and the second holding device 123 along the extension direction of the rail 130. Therefore, in order to prevent interference between the first transfer device 110 and the second transfer device 120, it is only necessary to monitor the distance between the first running body 111 and the second running body 121 in the extension direction of the rail 130, making control simpler than with a picking device equipped with two transfer devices whose arms interfere with each other.

[0047] 6, the first holding device 113 and the second holding device 123, which protrude in directions approaching each other, can be arranged side by side in a direction (Y-axis direction in the figure) perpendicular to the extension direction of the rail 130 (X-axis direction in the figure), and two objects 200 that are close to each other in the extension direction of the rail 130, or two objects 200 that are offset in the direction (Y-axis direction) perpendicular to the extension direction of the rail 130 and arranged overlapping in the extension direction of the rail 130 (X-axis direction), can be picked up simultaneously by the first transfer device 110 and the second transfer device 120. It is also possible to simultaneously release two objects 200 that are close to each other.

[0048] Furthermore, because the first upper arm 114 and the first holding device 113 are arranged so as not to interfere with each other, the first forearm 115 can be rotated freely regardless of the posture of the first upper arm 114, and therefore the first holding device 113 can be arranged directly below the first upper arm 114 in a side view. This makes it possible to pick up and release the object 200 even at a position below the first transfer device 110 and close to the first transfer device 110. The same effect is achieved with the second transfer device 120.

[0049] 4 is a block diagram showing the functional configuration of the transfer control device 160. The transfer control device 160 is a device including a processor that controls the operation of the first transfer device 110 and the operation of the second transfer device 120.

[0050] The transfer control device 160 controls the first transfer device 110 and the second transfer device 120 so that the first transfer device 110 and the second transfer device 120 pick up the object 200 in the first area 201 in parallel, travel along the rail 130 in parallel, and then release the object 200 in the second area 202 in parallel. In other words, the first transfer device 110 and the second transfer device 120 are controlled so that the operation of the first transfer device 110 picking up the object 200 in the first area 201 and the operation of the second transfer device 120 picking up the object 200 in the first area 201 are performed at least temporarily in parallel (preferably simultaneously). Following this control, the first transfer device 110 and the second transfer device 120 are controlled so that the operation of the first transfer device 110 holding the object 200 traveling along the rail 130 toward the second area 202 and the operation of the second transfer device 120 similarly holding the object 200 traveling along the rail 130 toward the second area 202 are performed at least temporarily in parallel (preferably simultaneously).Furthermore, following this control, the first transfer device 110 and the second transfer device 120 are controlled so that the operation of releasing the object 200 held by the first transfer device 110 in the second area 202 and the operation of releasing the object 200 held by the second transfer device 120 in the second area 202 are performed at least temporarily in parallel (preferably simultaneously).

[0051] In an embodiment in which the first transfer device 110 and the second transfer device 120 are individually controlled for the operation of picking up the object 200 in the first area 201, traveling in parallel along the rail 130, and then releasing the object 200 in the second area 202, even if the first transfer device 110 has completed picking up the object 200 in the first area 201, it may be necessary to wait until the second transfer device 120 has completed picking up the object 200 in the first area 201, and there is a risk that the first transfer device 110 may not be able to start traveling toward the second area 202. On the other hand, in the picking device 100 of the present invention, by using the above-mentioned control, a series of operations of picking up the object 200 in the first area 201, running in parallel along the rail 130, and then releasing the object 200 in the second area 202 are performed in parallel as if the first transfer device 110 and the second transfer device 120 were operating in sync, thereby improving the transport efficiency of the object 200 compared to conventional configurations in which the object 200 is picked and released at different times.

[0052] To achieve the above-mentioned control, the transfer control device 160 includes, as processing units obtained by causing a processor to execute a program, a pick control unit 161, a travel control unit 162, and a release control unit 163. In this embodiment, the transfer control device 160 includes a position derivation unit 164, a pick determination unit 165, and a holding target setting unit 166.

[0053] The position derivation unit 164 derives the positions of the first object 211 and the second object 212 placed in the first area 201. In this embodiment, the position derivation unit 164 derives the position of the object 200 placed in the first area 201 as much as possible. The position derivation unit 164 derives the position of the object 200 based on information from the sensor 170. The type of sensor 170 is not particularly limited, but an example is a 3D sensor that irradiates the object 200 with lattice-like or striped light from above the first area 201 and acquires an image by capturing the light on the object 200 with an imaging device. The position derivation unit 164 derives the shape of the object 200, its position in a horizontal plane, the height position of the top surface of the object 200, etc. based on the distortion of the light tip in the image.

[0054] The pick determination unit 165 determines whether the position of the first object 211 and the position of the second object 212 acquired from the position derivation unit 164 can be picked in parallel. The determination method of the pick determination unit 165 is not particularly limited. For example, as shown in FIG. 5, if the distance between the first object 211 and the second object 212 is equal to or greater than a first distance 221, which is a distance between the first object 211 and the second object 212 that can be held by the first holding device 113 and the second holding device 123 that are aligned in the extension direction of the rail 130 (the X-axis direction in the figure) and are closest to each other, the pick determination unit 165 determines that the object can be picked, and if the distance is less than the first distance 221, determines that the object cannot be picked. 6, the pick determination unit 165 may determine that the first object 211 and the second object 212 can be picked if the distance is equal to or greater than a second distance 222, which is a distance between the first object 211 and the second object 212 that can be held by the first holding device 113 and the second holding device 123 when they are aligned in a direction perpendicular to the extension direction of the rail 130 in a horizontal plane (the Y-axis direction in the figure) and are closest to each other, and may determine that the second object 211 and the second object 212 cannot be picked if the distance is less than the second distance 222. Also, as shown in FIG. 7, if the first object 211 and the second object 212 overlap in the vertical direction (the Z-axis direction in the figure), the pick determination unit 165 may determine that the first object 211 and the second object 212 cannot be picked. Also, as shown in FIG. 8, even if the first object 211 and the second object 212 overlap in the vertical direction (the Z-axis direction in the figure), the pick determination unit 165 may determine that the first object 211 and the second object 212 can be picked if the center of gravity of the lower object 200 is not hidden by the upper object 200.

[0055] The hold target setting unit 166 determines the pick order of the objects 200 arranged in the first area 201 and sets a first object 211 and a second object 212. Specifically, the hold target setting unit 166 sets the initial value of a variable N (N is an integer equal to or greater than 2) to 2, extracts the first-height object at the highest height position determined by the position derivation unit 164 and the N-th-height object at the Nth-highest position, increases N by 1 until the pick determination unit 165 determines that the first-height object and the N-th-height object can be picked in parallel, and sets the first-height object and the N-th object determined to be pickable as the first object 211 and the second object 212.

[0056] That is, the hold target setting unit 166 first extracts the first-height object at the highest height position determined by the position derivation unit 164 and the second-height object at the second (N=2) highest position, and the pick determination unit 165 determines whether the first-height object and the second-height object can be picked in parallel. If the determination is positive, the first-height object at the highest height position is set as the first object 211, and the second-height object at the second highest position is set as the second object 212. However, if the determination is negative, the hold target setting unit 166 extracts the first-height object at the highest height position determined by the position derivation unit 164 and the third-height object at the third (N=3) highest position, and the pick determination unit 165 determines whether the first-height object and the third-height object can be picked in parallel. Thereafter, N is increased by 1 until the pick determination unit 165 determines that the first height object and the Nth height object can be picked in parallel, and the first height object and the Nth height object that are determined to be pickable are set as the first object 211 and the second object 212.

[0057] The pick control unit 161 controls the pick operations of the first transfer device 110 and the second transfer device 120 so that the first object 211 and the second object 212 in the first area 201 that have been determined to be pickable by the pick determination unit 165 are picked in parallel. Picking in parallel means that the first transfer device 110 and the second transfer device 120 simultaneously perform at least a part of a series of holding operations, in which a holder that is not holding the object 200 operates its arm to move to a position where the object 200 will be held, and then operates its arm to move the held object 200 to a predetermined location. In this embodiment, the pick control unit 161 executes the series of holding operations in a substantially synchronized state with a time difference of about one to several times the control cycle. Specifically, the pick control unit 161 controls the operation of the first upper arm drive unit 117, the operation of the first forearm drive unit 119, the operation of the second upper arm drive unit 127, and the operation of the second forearm drive unit 129 in parallel, thereby picking the first object 211 and the second object 212 in parallel.

[0058] If the pick determination unit 165 determines that parallel picking is not possible, the pick control unit 161 controls the first transfer device 110 and the second transfer device 120 so that picking of the first object 211 and picking of the second object 212 are executed in that order. In this embodiment, the pick determination unit 165 determines that parallel picking is not possible when the pick determination unit 165 repeats the above-mentioned determination until the variable N reaches its maximum value, and determines that the first height object and the Nth height object cannot be picked in parallel.

[0059] The first object 211 and the second object 212 are objects 200 selected as objects to be held among the objects 200 arranged in the first area 201. The first transfer device 110 can pick either the first object 211 or the second object 212, and the second transfer device 120 can pick either the first object 211 or the second object 212.

[0060] The transfer control device 160 controls the operation of the first transfer device 110 and the second transfer device 120 so that the first holding device 113 and the second holding device 123 do not interfere with (contact with) each other. Specifically, the drive of the first transfer device 110 and the second transfer device 120 is controlled so that a position obtained by adding a specified margin distance to the second transfer device 120 side in the extension direction from a first normal stop position where the first holding device 113 can stop when the first transfer device 110 continues to decelerate at the maximum deceleration is not closer to the second transfer device 120 in the extension direction than a second normal stop position where the second holding device 123 can stop when the second transfer device 120 continues to decelerate at the maximum deceleration.

[0061] When the relative distance in the extension direction between two objects 200 to be picked by the first transfer device 110 and the second transfer device 120 is equal to or greater than a specified threshold, the transfer control device 160 controls the operation of the first transfer device 110 and the second transfer device 120 using a first distance as the margin distance, while when the relative distance in the extension direction between the two objects 200 is less than the threshold, the transfer control device 160 controls the operation of the first transfer device 110 and the second transfer device 120 using a second distance shorter than the first distance as the margin distance.

[0062] The travel control unit 162 independently controls the first travel drive source 138 of the first transfer device 110 and the second travel drive source 139 of the second transfer device 120, and controls the travel of the first transfer device 110 and the second transfer device 120 along the rail 130. The travel control unit 162 can also control the first transfer device 110 and the second transfer device 120 to travel in parallel. Traveling in parallel means that at least a portion of the travel operation of the first transfer device 110 and the travel operation of the second transfer device 120 in the same direction is performed at the same time.

[0063] In this embodiment, the travel control unit 162 controls the first transfer device 110 and the second transfer device 120 in either the normal mode or the proximity mode.

[0064] 9 is a diagram for explaining terminology for the collision avoidance detection logic with the second transfer device 120 as seen from the first transfer device 110. The first transfer device shortest stopping distance shown in Fig. 9 is the distance from the current position of the first transfer device 110 (first holding device 113) to the stopping position of the first holding device 113 when the first transfer device 110 continues to decelerate at the maximum deceleration and stops at the shortest stopping distance. The second transfer device shortest stopping distance is the distance from the current position of the second transfer device 120 (second holding device 123) to the stopping position of the second holding device 123 when the second transfer device 120 continues to decelerate at the maximum deceleration and stops at the shortest stopping distance.

[0065] The normal mode is a mode in which, when the relative distance in the extension direction between two objects 200 to be picked by the first transfer device 110 and the second transfer device 120 is equal to or greater than a specified threshold, the travel of the first transfer device 110 and the second transfer device 120 is controlled so that the first transfer device 110 and the second transfer device 120, which have stopped near the first area 201 to pick the objects 200, stop at a normal stopping distance that does not overlap in the extension direction of the rail 130. The normal stopping distance may be set based on a proximity distance, which is the minimum distance at which the first holding device 113 and the second holding device 123 should be spaced apart when the first holding device 113 and the second holding device 123 are aligned in the extension direction of the rail 130, as shown in FIG. 5, for example. Specifically, as shown in Figure 9, the movement limit position of the second holding device 123, which is calculated by adding the proximity distance and margin distance, which are margins to avoid contact between the first holding device 113 and the second holding device 123, to the shortest stopping distance of the second transfer device, is set so that it is closer to the second transfer device 120 (not closer to the first transfer device 110) than the shortest stopping position of the first holding device 113, which corresponds to the shortest stopping distance of the first transfer device.

[0066] The proximity mode is a mode in which the first transfer device 110 and the second transfer device 120 are stopped at a distance shorter than the normal stopping distance when the relative distance in the extension direction between the two objects 200 to be picked by the first transfer device 110 and the second transfer device 120 is less than the specified threshold. For example, when the distance in the extension direction of the rail 130 between the first object 211 to be picked and the second object 212 to be picked, which is obtained from the position derivation unit 164, is a distance that cannot be maintained by the first transfer device 110 and the second transfer device 120 that have stopped at the normal stopping distance, the mode switches from the normal mode to the proximity mode. The travel control unit 162 in the proximity mode controls the travel of at least one of the first transfer device 110 and the second transfer device 120, which have stopped at the normal stopping distance, so that the first holding device 113 and the second holding device 123 overlap in a direction (the Y-axis direction in the figure) perpendicular to the extension direction of the rail 130, as shown in Fig. 6. In this case, the travel control unit 162 can also cause at least one of the first transfer device 110 and the second transfer device 120 to travel at a slower speed than in the normal mode.

[0067] In the proximity mode, the travel control unit 162 changes at least one of the proximity distance and the margin distance to a value shorter than that in the normal mode. For example, at least one of the proximity distance and the margin distance is set to zero. As shown in FIG. 6, when controlling the vehicle to stop at a proximity stop distance where the first holding device 113 and the second holding device 123 overlap in a direction perpendicular to the extension direction of the rail 130 (the Y-axis direction in the figure), the proximity distance and the margin distance can be set to negative values. In this way, by setting the proximity distance and the margin distance to different values in the normal mode and the proximity mode, contact between the first holding device 113 and the second holding device 123 can be reliably avoided in the normal mode, while in the proximity mode, the first holding device 113 and the second holding device 123 can be brought closer to each other, enabling a relative positional relationship such as that shown in FIG. 6, for example.

[0068] The release control unit 163 controls the release operations of the first transfer device 110 and the second transfer device 120 so that the first object 211 and the second object 212 picked in the first area 201 are released in the second area 202 in parallel. Releasing in parallel means that the first transfer device 110 and the second transfer device 120 simultaneously perform at least a part of a series of release operations, in which the holding unit holding the object 200 operates an arm to move the object 200 to a position where it will be released, thereby releasing the object 200, and then operates the arm that is no longer holding the object 200 to move it to a predetermined location. In this embodiment, the release control unit 163 executes the series of release operations in a substantially synchronized state with a time difference of approximately one to several times the control cycle. Specifically, the release control unit 163 releases the first object 211 and the second object 212 in parallel by controlling the operation of the first upper arm drive unit 117, the operation of the first forearm drive unit 119, the operation of the second upper arm drive unit 127, and the operation of the second forearm drive unit 129 in parallel.

[0069] According to the picking device 100 of the above embodiment, the operations of the first transfer device 110 and the second transfer device 120 are controlled in parallel, thereby improving the transport efficiency of the object 200 compared to a configuration in which the object 200 is picked and released at different times.

[0070] The first holding device 113 and the second holding device 123 move by the first arm 112 and the second arm 122 in a plane perpendicular to the extension direction of the rail 130, but are not moved in the extension direction.Therefore, in order to prevent interference between the first transfer device 110 and the second transfer device 120, the travel control unit 162 only needs to control the movement of the first running body 111 and the second running body 121 in the extension direction of the rail 130, making control simpler than in a picking system that has multiple transfer devices equipped with flexible arms, etc.

[0071] In the normal mode, the first transfer device 110 and the second transfer device 120 travel at high speed, which can improve the efficiency of the picking operation of two objects 200 that are separated by a distance equal to or greater than the normal stopping distance. When picking multiple objects 200 that are positioned close to each other, overlapping each other, or vertically overlapping each other in the extension direction of the rail 130, the first object 211 and the second object 212 can be picked almost simultaneously by switching to the proximity mode.

[0072] In addition, the rail 130 is arranged across the first conveying device 151 and the second conveying device 152, and the first transfer device 110 and the second transfer device 120 move in a three-dimensional intersection with the first conveying device 151 and the second conveying device 152, making it possible to make the entire picking device 100 compact.

[0073] 6, the first holding device 113 and the second holding device 123, which protrude in directions approaching each other, can be arranged side by side in a direction (Y-axis direction in the figure) perpendicular to the extension direction of the rail 130 (X-axis direction in the figure), and two objects 200 that are close to each other in the extension direction of the rail 130, and two objects 200 that are shifted in a direction perpendicular to the extension direction of the rail 130 and arranged overlapping in the extension direction of the rail 130, can be picked up simultaneously by the first transfer device 110 and the second transfer device 120. It is also possible to simultaneously release two objects 200 that are close to each other.

[0074] Furthermore, because the first upper arm 114 and the first holding device 113 are arranged so as not to interfere with each other, the first forearm 115 can be rotated freely regardless of the posture of the first upper arm 114, and therefore the first holding device 113 can be arranged directly below the first upper arm 114. This makes it possible to pick up and release the object 200 even at a position below the first transfer device 110 and close to the first transfer device 110. The same effect is achieved with the second transfer device 120.

[0075] The present invention is not limited to the above-described embodiments. For example, the present invention may be embodied in another embodiment by arbitrarily combining the components described in this specification or by excluding some of the components. Furthermore, the present invention also includes various modifications that would occur to a person skilled in the art without departing from the spirit of the present invention, i.e., the meaning of the wording of the claims.

[0076] For example, as shown in FIG. 10 , the first transfer device 110 may include a holding lever 172 with a brake release switch 171 at its tip. While holding the holding lever 172, the operator can press the brake release switch 171 to release the electromagnetic brakes provided in the first upper arm motor 116 and the first forearm motor 118. This allows the operator to rotate the first upper arm 114 and the first forearm 115 as desired and position the first holding device 113 as desired. Because the electromagnetic brakes can be released while the operator is holding the holding lever 172, it is possible to prevent the first arm 112 from being positioned in an undesired way due to brake release. Furthermore, if the holding lever 172 is attached to the same link mechanism as the first holding device 113, the first arm 112 can be moved while the holding lever 172 is maintained in the same position. The second transfer device 120 may also include a holding lever 172 with a brake release switch 171.

[0077] A first configuration of the present invention is a first transfer device that includes a rail extending between a first area and a second area, a first carrier that travels while being guided by the rail, a first arm whose base end is attached to the first carrier, and a first holding device that is attached to the tip of the first arm and holds an object, and that picks up the object in the first area, travels along the rail, and then releases the object in the second area, thereby transporting the object from the first area to the second area; a second carrier that travels while being guided by the rail, a second arm whose base end is attached to the second carrier, and the The picking device includes a second transfer device attached to the tip of a second arm, which is equipped with a second holding device for holding an object, which picks up the object in the first area, travels along the rail, and then releases the object in the second area, thereby transporting the object from the first area to the second area; and a transfer control device that controls the first transfer device and the second transfer device so that the first transfer device and the second transfer device pick up the object in parallel in the first area, travel along the rail, and then release the object in parallel in the second area.

[0078] A second configuration of the present invention, in addition to the first configuration, comprises: a first upper arm portion having a base end attached to the first running body so as to be rotatable relative to the first running body within a specified plane intersecting the extension direction of the rail but not movable relative to the extension direction; and a first forearm portion having a base end attached to a tip of the first upper arm portion so as to be rotatable relative to the first upper arm within a plane parallel to the specified plane but not movable relative to the extension direction; the first holding device is attached to the tip of the first forearm; the second arm comprises: a second upper arm portion having a base end attached to the second running body so as to be rotatable relative to the second running body within a plane parallel to the specified plane but not movable relative to the extension direction; and a second forearm portion having a base end attached to the tip of the second upper arm so as to be rotatable relative to the second upper arm within a plane parallel to the specified plane but not movable relative to the extension direction; and the second holding device is attached to the tip of the second forearm.

[0079] A third configuration of the present invention is, in addition to the second configuration, that the first holding device is provided so as to protrude toward the second transfer device relative to the first forearm portion, and the second holding device is provided so as to protrude toward the first transfer device relative to the second forearm portion.

[0080] A fourth configuration of the present invention is, in addition to any one of the first, second, and third configurations, a position deriving unit that derives a position of an object to be placed in the first area, and the transfer control device is configured to control the first transfer device so that a position obtained by adding a specified margin distance to the second transfer device in the extension direction to a first normal stop position at which the first holding device can stop when the first transfer device continues to decelerate at a maximum deceleration is not located closer to the second transfer device in the extension direction than a second normal stop position at which the second holding device can stop when the second transfer device continues to decelerate at a maximum deceleration. and controls the driving of the second transfer device, and based on the positions of the two objects to be picked by the first transfer device and the second transfer device obtained from the position derivation unit, if the relative distance in the extension direction of the two objects is equal to or greater than a specified threshold, controls the driving of the first transfer device and the second transfer device using a first distance as the margin distance, while if the relative distance in the extension direction of the two objects is less than the threshold, controls the driving of the first transfer device and the second transfer device using a second distance shorter than the first distance as the margin distance.

[0081] A fifth configuration of the present invention, in addition to any one of the first, second, third, and fourth configurations, includes a position derivation unit that derives the position of an object to be placed in the first area, and a pick determination unit that determines whether the first transfer device and the second transfer device can pick the two objects in parallel based on the positions of the two objects to be picked obtained from the position derivation unit, and the transfer control device controls the first transfer device and the second transfer device so that the first transfer device and the second transfer device pick the two objects in parallel when the determination of the pick determination unit is positive, while when the determination of the pick determination unit is negative, controls the first transfer device and the second transfer device so that the first transfer device picks one of the two objects in the first area, and then the second transfer device picks the other of the two objects in the first area.

[0082] A sixth configuration of the present invention is, in addition to the fifth configuration, such that the position derivation unit determines the vertical positions and the extension direction positions of multiple objects in the first area, and the pick determination unit determines, with an initial value of N set to 2, whether the first transfer device and the second transfer device can pick up the first height object whose vertical position determined by the position derivation unit is the highest and the Nth height object whose vertical position is the Nth highest, in parallel, and if the determination is positive, the transfer control device controls the first transfer device and the second transfer device so that the first transfer device and the second transfer device pick the first height object and the Nth height object in parallel, while if the determination is negative, the pick determination unit adds 1 to N and then repeats the processing.

[0083] A seventh configuration of the present invention is, in addition to the fifth or sixth configuration, that the pick determination unit determines that parallel picking is impossible when two objects in the first area overlap vertically. [Industrial Applicability]

[0084] The present invention can be used in a picking device that picks, moves, and releases an article. [Explanation of symbols]

[0085] 100 Picking device 101 First rotation axis 102 Second rotation axis 103 Third rotation axis 104 Fourth Rotation Axis 110 First transfer device 111 First Running Body 112 First Arm 113 First holding device 114 First upper arm 115 First Forearm 116 First upper arm motor 117 First upper arm drive unit 118 First forearm motor 119 First forearm drive unit 120 Second transfer device 121 Second Running Body 122 Second Arm 123 Second holding device 124 Second upper arm 125 Second forearm 126 Second upper arm motor 127 Second upper arm drive unit 128 Second forearm motor 129 Second forearm drive unit 130 Rail 131 First Hand 132 First Rod 133 First holding part 134 First Rotating Section 138 First driving source 139 Second driving source 141 Second Hand 142 Second Rod 143 Second holding part 144 Second Rotating Section 151 First conveyor 152 Second conveying device 153 Outward conveyor 154 Return conveyor 155 Lifting device 160 Transfer control device 161 Pick control section 162 Travel control unit 163 Release control section 164 Position derivation part 165 Pick Judgment Section 166 Retention target setting section 170 sensors 171 Brake release switch 172 Retaining lever 200 objects 201 First area 202 Second area 210 Original box 211 First Object 212 Second Object 220 Destination box 221 First distance 222 Second distance

Claims

1. a single rail extending between the first region and the second region; a first transfer device including a first running body that runs while being guided by the rail, a first arm whose base end is attached to the first running body, and a first holding device that is attached to the tip end of the first arm and holds an object, and that picks up the object in the first area, runs along the rail, and then releases the object in the second area, thereby transporting the object from the first area to the second area; a second transfer device including a second running body that runs while being guided by the rail, a second arm whose base end is attached to the second running body, and a second holding device that is attached to the tip end of the second arm and holds an object, and that picks up the object in the first area, runs along the rail, and then releases the object in the second area, thereby transporting the object from the first area to the second area; a transfer control device that controls the first transfer device and the second transfer device so that the first transfer device and the second transfer device pick up objects in parallel in the first area, travel along the rail in parallel, and then release the objects in parallel in the second area, the first arm comprises: a first upper arm portion having a base end attached to the first running body so as to be rotatable relative to the first running body within a specified plane intersecting the extending direction of the rail and immovable relative to the extending direction; and a first forearm portion having a base end attached to a tip end of the first upper arm portion so as to be rotatable relative to the first upper arm within a plane parallel to the specified plane and immovable relative to the extending direction; the first holding device is attached to a distal end of the first forearm, the second arm comprises: a second upper arm portion having a base end attached to the second running body so as to be rotatable relative to the second running body within a plane parallel to the specified plane and immovable relative to the second running body in the extension direction; and a second forearm portion having a base end attached to a tip end of the second upper arm portion so as to be rotatable relative to the second upper arm within a plane parallel to the specified plane and immovable relative to the extension direction, the second holding device is attached to a distal end of the second forearm, The first holding device is a first forearm portion provided on the second transfer device side, The second holding device is a second forearm portion provided on the first transfer device side, a position deriving unit that derives a position of an object placed in the first area; The transfer control device is The drive of the first transfer device and the second transfer device is controlled so that a position where a specified margin distance is added to the second transfer device side in the extension direction with respect to a first normal stop position where the first holding device can stop when the first transfer device continues to decelerate at a maximum deceleration is not located closer to the second transfer device in the extension direction than a second normal stop position where the second holding device can stop when the second transfer device continues to decelerate at a maximum deceleration, Based on the positions of two objects to be picked by the first transfer device and the second transfer device, acquired from the position derivation unit, if the relative distance between the two objects in the extension direction is equal to or greater than a specified threshold, the drive of the first transfer device and the second transfer device is controlled by setting a first distance as the margin distance, whereas if the relative distance between the two objects in the extension direction is less than the threshold, the drive of the first transfer device and the second transfer device is controlled by setting a second distance shorter than the first distance as the margin distance. Picking device.

2. a single rail extending between the first region and the second region; a first transfer device including a first running body that runs while being guided by the rail, a first arm whose base end is attached to the first running body, and a first holding device that is attached to the tip end of the first arm and holds an object, and that picks up the object in the first area, runs along the rail, and then releases the object in the second area, thereby transporting the object from the first area to the second area; a second transfer device including a second running body that runs while being guided by the rail, a second arm whose base end is attached to the second running body, and a second holding device that is attached to the tip end of the second arm and holds an object, and that picks up the object in the first area, runs along the rail, and then releases the object in the second area, thereby transporting the object from the first area to the second area; a transfer control device that controls the first transfer device and the second transfer device so that the first transfer device and the second transfer device pick up objects in parallel in the first area, travel along the rail in parallel, and then release the objects in parallel in the second area, a position derivation unit that derives a position of an object placed in the first area; a pick determination unit that determines whether the first transfer device and the second transfer device can pick up the two objects in parallel based on the positions of the two objects to be picked acquired from the position derivation unit, When the determination of the pick determination unit is affirmative, the transfer control device controls the first transfer device and the second transfer device so that the first transfer device and the second transfer device pick the two objects in parallel, while when the determination of the pick determination unit is negative, the transfer control device controls the first transfer device and the second transfer device so that the first transfer device picks one of the two objects in the first area, and then the second transfer device picks the other of the two objects in the first area; the position derivation unit determines vertical positions of a plurality of objects in the first area and positions in an extension direction of the rail, the pick determination unit determines whether the first transfer device and the second transfer device can pick up, in parallel, a first-height object whose vertical position determined by the position derivation unit is the highest and an N-th-height object whose vertical position is the Nth highest, with an initial value of N set to 2; If the determination is affirmative, the transfer control device controls the first transfer device and the second transfer device so that the first transfer device and the second transfer device pick up the first height object and the N height object in parallel, whereas if the determination is negative, the pick determination unit adds 1 to N and then repeats the process. Picking device.

3. The pick determination unit When two objects in the first area overlap each other in the vertical direction, it is determined that parallel picking is impossible. The picking device according to claim 2 .

Images