Removal device, removal system, and storage box arrangement unit

Abstract

To provide a take-out apparatus, a take-out system and a storage box arrangement part which can improve efficiency in work for taking out / storing an article from / in a storage box of a conveyance shelf.SOLUTION: According to one embodiment, a take-out apparatus comprises a holding part, a holding part moving device, a housing, a detection device, a notification device, an operation part, and a control device. The holding part moving device moves the holding part between work positions where take-out / storage work of an article from / to a conveyance shelf and a storage box is performed. The detection device detects a positional deviation of the storage box at the work position from an initial position when it has been moved. When the positional deviation of the storage box from the initial position exceeds an allowable range on the basis of a detection result of the detection device, the control device causes the notification device to notify a direction in which the positional deviation from the initial position exceeds the allowable range.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] SUMMARY OF THE INVENTION Embodiments of the present invention relate to a removal device, a removal system, and a bin arrangement. [Background technology]

[0002] A technology has been known for some time in which a transport shelf equipped with storage boxes for storing items such as luggage is moved by an automated transport vehicle to a location where the items are removed from the storage boxes or stored in the storage boxes, and the removal or storage work is performed by a human operator.

[0003] Such a transport shelf has storage boxes arranged on each of its tiers, from the lowest to the highest. A worker uses, for example, stairs to remove a storage box from a higher tier and performs a removal or placement operation on the storage box. The worker also uses, for example, stairs to return the storage box to the higher tier of the transport shelf. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 4423616 Summary of the Invention [Problem to be solved by the invention]

[0005] The problem to be solved by the present invention is to provide a take-out device, a take-out system, and a storage box arrangement unit that can improve the efficiency of the work of taking out and storing articles from storage boxes on a transport shelf. [Means for solving the problem]

[0006] According to one embodiment, the removal device includes a holding unit, a holding unit moving device, a housing, a detection device, a notification device, an operation unit, and a control device. The holding unit holds a storage box that stores an item and is placed on a transport shelf. The holding unit moving device is configured to move the holding unit between the transport shelf and a work position where the item is removed from or stored in the storage box, and moves the storage box from the transport shelf to the work position and returns the storage box from the work position to the transport shelf. The housing supports the holding unit and the holding unit moving device. The detection device detects a positional deviation of the storage box at the work position from its initial position. The notification device notifies the user of the positional deviation of the storage box. An operation to complete the removal or storage operation is input to the operation unit. The control device, based on the detection result of the detection device, notifies the user of the direction in which the positional deviation from the initial position exceeds the tolerance range when the positional deviation from the storage box exceeds the tolerance range. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic diagram showing a take-out system according to a first embodiment. [Figure 2] FIG. 2 is a schematic diagram showing stations and transport shelves of the take-out system. [Figure 3] FIG. [Figure 4] FIG. 2 is a front view of the ejection device as seen from the housing side of the ejection device. [Figure 5] FIG. [Figure 6] FIG. 2 is a block diagram showing the electrical configuration of the take-out system. [Figure 7] 7 is a cross-sectional view showing the configuration of the transport shelf taken along line F7-F7 shown in FIG. 3. [Figure 8] FIG. [Figure 9] 4 is a flowchart showing an example of the operation of the take-out system. [Figure 10] FIG. 4 is an explanatory diagram showing an example of the operation of the take-out system. [Figure 11]FIG. 10 is a perspective view showing a take-out device and a transport shelf according to a second embodiment. [Figure 12] FIG. 4 is a plan view showing the storage box placement section and the storage boxes of the take-out device. [Figure 13] FIG. 2 is a plan view schematically showing the storage box arrangement section and the storage boxes. [Figure 14] FIG. 2 is a plan view schematically showing the storage box arrangement section and the storage boxes. [Figure 15] FIG. 2 is a plan view schematically showing the storage box arrangement section and the storage boxes. [Figure 16] FIG. 2 is a plan view schematically showing the storage box arrangement section and the storage boxes. [Figure 17] FIG. 4 is an explanatory diagram showing an example of the operation of the take-out device. [Figure 18] FIG. 10 is a perspective view showing the configuration of a take-out device according to a third embodiment. [Figure 19] FIG. 10 is a perspective view showing the configuration of a modified example of the take-out device of the second embodiment. [Figure 20] FIG. 10 is a front view showing the configuration of a modified example of the take-out device of the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A take-out system 1 according to a first embodiment will be described with reference to FIGS. Fig. 1 is a schematic diagram showing a take-out system 1. Fig. 2 is a schematic diagram showing a station 2 and a transport shelf 3 of the take-out system 1. Fig. 3 is a side view showing a take-out device 11 and a transport shelf 3 of the take-out system 1. Here, the side view is a view seen from the side with respect to the direction in which the take-out device 11 takes out a storage box 81. In Fig. 3, a holding unit 23 and a moving device 25, which will be described later and which are arranged at a work position P, are indicated by two-dot chain lines.

[0009] FIG. 4 is a front view showing the take-out device 11 as seen from the housing 21 side of the take-out device 11. FIG. 5 is a perspective view showing the take-out device 11. FIG. 6 is a block diagram showing the electrical configuration of the take-out system 1. FIG. 7 is a cross-sectional view showing the configuration of the transport shelf 3. Here, the cross-sectional view of the transport shelf 3 is a cross-sectional view of the transport shelf 3 taken along a cutting plane perpendicular to the vertical direction between two shelf portions 86 arranged vertically. FIG. 8 is a front view showing the main parts of the transport shelf 3.

[0010] For example, the take-out system 1 takes out a storage box 81 storing items 7 that is placed on a transport shelf 3 from the transport shelf 3 that has been transported to the station 2. The take-out system 1 moves the taken-out storage box 81 to a work position where a worker performs a take-out operation or a storage operation of storing the items 7 in the storage box 81. The worker performs a take-out operation or a storage operation of storing the items 7 in the storage box 81 that has been moved to the work position P. Here, the take-out operation is an operation of taking out the items 7 from the storage box 81, and the storage operation is an operation of storing the items 7 in the storage box 81, both of which are performed by the worker.

[0011] In this embodiment, an example will be described in which the take-out system 1 is configured such that an automated guided vehicle 4 transports a transport shelf 3 from a waiting location to a station 2, and also moves the transport shelf 3 from the station 2 to the waiting location. The automated guided vehicle 4 is an example of a transport device that transports the transport shelf 3. Note that the transport shelf 3 is not limited to being transported by the automated guided vehicle 4. For example, the transport shelf 3 may be transported between the waiting location and the station 2 by a transport device other than the automated guided vehicle 4. Alternatively, the transport shelf 3 may be transported between the waiting location and the station 2 by an operator.

[0012] As shown in FIGS. 1 and 6, the take-out system 1 includes, for example, a plurality of stations 2, a plurality of transport shelves 3, a plurality of automated guided vehicles 4, an automated guided vehicle controller 5, and a host system 6.

[0013] In the take-out system 1 of this embodiment, one selected transport shelf 3 from a plurality of transport shelves 3 is transported to station 2 by one automatic transport vehicle 4. At station 2, a take-out device 11 takes out a storage box 81 containing items 7 from the transport shelf 3, and moves it to a work position P where a worker performs a take-out operation or a storage operation.

[0014] 2, the station 2 includes a predetermined area on the floor of a warehouse or the like, and a take-out device 11. The station 2 is installed in a predetermined area on the floor of a warehouse or the like.

[0015] 3 to 5, the take-out device 11 takes out a storage box 81 that is the target of a take-out operation or a storage operation from the transport shelf 3 among the multiple storage boxes 81 on the transport shelf 3. Furthermore, the take-out device 11 moves the taken-out storage box 81 to a work position P where an operator can perform the take-out operation or the storage operation. In this embodiment, the work position is a predetermined height position within the elevator shaft 114 through which the holding unit 23 and the moving device 25 of the housing 21, which will be described later, move up and down, and is a height position where an operator can perform the take-out operation or the storage operation.

[0016] The take-out device 11 includes, for example, a housing 21, a holding unit 23, a lifting device 24, a moving device 25, a sensor 27, a display device 29, and a take-out device controller 28.

[0017] Here, examples of the up-down direction, front-rear direction, and width direction of the take-out device 11 are defined. The up-down direction is defined with the direction of gravity as the downward direction. The front-rear direction is defined with the direction perpendicular to the up-down direction and from the take-out device 11 toward the transport shelf 3 as the forward direction. The width direction is defined as a direction approximately perpendicular to both the up-down direction and the front-rear direction. Here, the direction approximately perpendicular to both the up-down direction and the front-rear direction includes a direction perpendicular to both the up-down direction and the front-rear direction, as well as a direction slightly inclined relative to the direction perpendicular to both the up-down direction and the front-rear direction. A slight inclination refers to an inclination caused, for example, by an error in the placement position of the transport shelf 3 relative to the take-out device 11, an error in the direction of movement of the holder 23 by the moving device 25, etc.

[0018] The housing 21 includes, for example, a bottom portion 31, pillar portions 32, and a ceiling portion 33. 5, the bottom 31 is formed, for example, in the shape of a rectangular frame. The bottom 31 is provided, for example, with a plurality of legs 34. For example, four legs 34 are provided, and each leg is fixed to a corner of the lower surface of the bottom 31.

[0019] The pillar portion 32 is provided on the bottom portion 31. The pillar portion 32 has, for example, four pillar members 35. Two of the pillar members 35 are fixed, for example, to a pair of adjacent corners of the bottom portion 31. The remaining two pillar members 35 are fixed, for example, to the corner of the bottom portion 31 to which the pillar member 35 is fixed, and to a corner between the corner and an adjacent corner to which the pillar member 35 is fixed.

[0020] The ceiling portion 33 is fixed to the upper ends of the pillar portions 32. The ceiling portion 33 is configured, for example, in a plate shape. The ceiling portion 33 is formed, for example, in a rectangular shape with the upper ends of the four pillar members 35 arranged at or near the four corners. The housing 21 configured in this manner constitutes the elevator shaft 114 for the holding unit 23 and the moving device 25 .

[0021] The holder 23 detachably holds the storage box 81. In this embodiment, as shown in Fig. 5, the holder 23 includes an arm, and holds the storage box 81 by placing the storage box 81 on the arm. The holder 23 includes, for example, one or more arms 23a and a stopper 23b.

[0022] The arms 23a have sufficient strength to hold the storage box 81. The number of arms 23a used is sufficient to stably hold the underside of the storage box 81; in this embodiment, three arms are provided. The arms 23a are, for example, formed into a rod shape that is long in the front-rear direction. The three arms 23a are spaced apart in the width direction. The upper surfaces of the arms 23a are, for example, formed into a flat surface, and the cross sections perpendicular to the longitudinal direction of the arms 23a are, for example, formed into a rectangular shape. Here, the number that can stably hold the storage box 81 refers to the number of arms 23a that will not cause the storage box 81 to fall off the arms 23a even when the holding unit 23 is raised and lowered by the lifting device 24 and moved by the moving device 25 with the storage box 81 placed on the arms 23a. In this embodiment, the two outer arms 23a in the width direction support both widthwise ends of the underside of the storage box 81, and the center arm 23a in the width direction supports the widthwise center of the underside of the storage box 81.

[0023] Stopper 23b is configured to be able to come into contact with the surface of storage box 81 that faces removal device 11 when holder 23 is moved forward by moving device 25. Stopper 23b is fixed to, for example, the upper surface of arm 23a. The front surface of stopper 23b is formed, for example, in a plane that is perpendicular to the front-rear direction.

[0024] The lifting device 24 is configured to be able to raise and lower the holding unit 23 and the moving device 25 between a position where the holding unit 23 takes the storage box 81 in and out of the lowest level of the transport shelf 3 and a position where the holding unit 23 takes the storage box 81 in and out of the highest level of the transport shelf 3. The lifting device 24 is also configured to be able to move the storage box 81 taken out from the transport shelf 3 by the holding unit 23 and the moving device 25 to a work position P. The work position P is a position where a worker can perform the take-out and storage work. In this embodiment, the work position P is set at a height position within the elevator shaft 114 that makes it easy for the worker to work. The lifting device 24 is provided in the housing 21. The lifting device 24 includes, for example, a rail 51, a lifting unit 52, and a drive unit 53.

[0025] The rails 51 are provided on, for example, the pillar portions 32 of the housing 21. For example, one rail 51 is provided on each of two pillar members 35 arranged side by side in the width direction.

[0026] The lifting section 52 is supported on the rails 51 so as to be movable up and down. For example, one lifting section 52 is provided for each of the two rails 51.

[0027] The driving unit 53 is configured to be able to move the lifting unit 52 in the up and down direction. The driving unit 53 includes, for example, a motor 54 and a transmission mechanism 55.

[0028] The motor 54 is fixed, for example, between the two pillar members 35 at the rear end of the bottom 31. The motor 54 is, for example, a motor, such as a servo motor, that can control the vertical position of the holder 23 and detect the vertical position of the lifting unit 52. The motor 54 is electrically connected to the take-out device controller 28.

[0029] The transmission mechanism 55 is configured to be able to convert the rotation of the motor 54 into vertical movement of the lifting unit 52. The transmission mechanism 55 includes, for example, a shaft 56 that is engaged with the output shaft of the motor 54 and rotates in accordance with the rotation of the output shaft, a pair of first pulleys 57, a pair of second pulleys 58, and a pair of belts 59.

[0030] The shaft 56 is rotatably supported on the bottom 31, for example, in an orientation parallel to the width direction. A pair of first pulleys 57 are fixed to both ends of the shaft 56 and rotate integrally with the shaft 56. The pair of second pulleys 58 are rotatably supported on, for example, the ceiling 33. The pair of second pulleys 58 are disposed, for example, at positions opposing the pair of first pulleys 57 in the up-down direction. A pair of belts 59 are passed around the first pulleys 57 and the second pulleys 58. The pair of belts 59 are fixed to the lifting unit 52.

[0031] With the drive unit 53 configured in this manner, the pair of first pulleys 57 rotate in accordance with the rotation of the motor 54, causing the pair of second pulleys 58 and the pair of belts 59 to operate, and the holding unit 23 and the moving device 25 move up and down via the lifting unit 52 fixed to the pair of belts 59.

[0032] The moving device 25 moves the holding unit 23 in a uniaxial direction that intersects with the up-down direction. In this embodiment, the moving device 25 moves the holding unit 23 in a front-to-rear direction that is perpendicular to the up-to-down direction. The moving device 25 also moves the holding unit 23 in the front-to-rear direction between a position where the holding unit 23 holds a storage box 81 stored on the transport shelf 3 and a position where removal of the storage box 81 has been completed.

[0033] The position at which the container box 81 is held is, for example, the position at which the stopper 23b abuts against the container box 81.

[0034] The moving device 25 includes, for example, a base 61, a moving unit 62, and a driving unit 63. The base 61 supports the moving part 62 so that the moving part 62 can move in the front-rear direction. The base 61 is fixed to the two lifting parts 52 of the lifting device 24.

[0035] The holding unit 23 is fixed to the moving unit 62. The moving unit 62 is supported on the base 61 so as to be movable in the front-rear direction, for example, by a transmission mechanism 65 (described later) of the driving unit 63. Note that a rail may be provided on the upper surface of the base 61 to support the movement of the moving unit 62 in the front-rear direction.

[0036] The drive unit 63 includes a motor 64 and a transmission mechanism 65 . The motor 64 is provided, for example, on the base 61. The motor 64 is, for example, a motor, such as a servo motor, that can control and detect the position of the holder 23 in the front-rear direction. The motor 64 is electrically connected to the take-out device controller 28. The transmission mechanism 65 is configured to be able to convert the rotation of the motor 64 into forward and backward movement of the moving part 62. As shown in Fig. 3, the transmission mechanism 65 may be configured to include, for example, a screw 66 that is rotated by the motor 64, and a nut 67 that is provided on the moving part 62 and threaded onto the screw 66.

[0037] Another example of the transmission mechanism 65 may include a belt that converts the rotation of the motor 64 into forward and backward movement of the moving unit 62. In this example, the transmission mechanism 65 includes a shaft that is engaged with the output shaft of the motor 64 and rotates in accordance with the rotation of the output shaft, a third pulley that is fixed to the shaft and rotates integrally with the shaft, a fourth pulley that is rotatably provided at the front end of the base 61, and a belt that is passed around the third pulley and the fourth pulley and to which the moving unit 62 is fixed.

[0038] According to the transmission mechanism 65 configured in this manner, the third pulley, the fourth pulley, and the belt 59 rotate in accordance with the rotation of the motor 64, causing the moving part 62 fixed to the pair of belts to move in the forward and backward directions, and the holding part 23 moves in the forward and backward directions via the moving part 62.

[0039] The lifting device 24 and the moving device 25 configured in this manner constitute an example of a holder moving device that moves the holder 23 to the work position P.

[0040] The sensor 27 is an example of a detection device that detects a positional deviation of the storage box 81 from its initial position at the work position P. Here, the positional deviation of the storage box 81 refers to a positional deviation in a plane perpendicular to the up-down direction from the initial position, which is the position of the storage box 81 when it is moved to the work position P by the moving device 25 and the lifting device 24. In this embodiment, the sensor 27 detects a positional deviation in, for example, the width direction. The sensor 27 is, for example, a distance sensor that detects the distance to the storage box 81 in the width direction. The sensor 27 is installed on the pillar portion 32 of the housing 21 as shown in FIG. 4. The sensor 27 transmits the detection result to the take-out device controller 28.

[0041] The display device 29 is an example of a notification device that notifies of a positional deviation of the storage box 81 from its initial position at the work position P. The display device 29 is also an example of a device that notifies of permission for the worker at the work position P to remove the item 7 from the storage box 81, and permission for the worker at the work position P to store the item 7 in the storage box 81.

[0042] The display device 29 is electrically connected to the take-out device controller 28. When the positional deviation of the storage box 81 at the work position P from its initial position exceeds the allowable range, the display device 29 displays the direction in which the positional deviation exceeding the allowable range has occurred relative to the storage box 81 at its initial position. The display device 29 also displays permission for the take-out operation and the storage operation for the storage box 81 at the work position P.

[0043] The allowable range is the range of positional deviation that allows the storage box 81 to be returned to the transport shelf 3. In this embodiment, the storage box 81 is returned to the transport shelf 3 by being moved forward from within the elevator shaft 114 of the housing 21 by the moving device 25. For this reason, if the storage box 81 is shifted in the width direction at the work position P and the degree of deviation becomes large, the storage box 81 cannot be returned to the transport shelf 3. In other words, there is a risk that the storage box 81 moved forward by the moving device 25 will interfere with the configuration of the transport shelf 3 around the position where the storage box 81 is placed, making it impossible to return the storage box 81 to the transport shelf 3. The allowable range is the range of positional deviation that allows the storage box 81 to be returned to the transport shelf 3 even if a positional deviation occurs with respect to the storage box 81 in its initial position.

[0044] The display device 29 is disposed in a position where it can be seen by a worker working on the storage box 81 disposed at the work position P. The display device 29 is disposed in a position where it can be seen by a worker positioned, for example, at the rear of the housing 21. The display device 29 has, for example, a plurality of display units 29a. The display units 29a are configured to be able to turn on and off light of one color. The display device 29 indicates, by a combination of turning on and off the plurality of display units 29a, in which direction the positional deviation from the initial position of the storage box 81 at the work position P has exceeded the allowable range.

[0045] The display device 29 includes, for example, a first display unit 29a1 and a second display unit 29a2. The first display unit 29a1 is provided, for example, on a pillar member 35 at the rear of the housing 21. The second display unit 29a2 is arranged on the opposite side of the first display unit 29a1 in the width direction, across the storage box 81 arranged at the work position P. The second display unit 29a2 is supported, for example, on the bottom 31 of the housing 21 via a support member 29b.

[0046] For example, when storage box 81 is moved to work position P, display device 29 lights up first display unit 29a1 and second display unit 29a2. When storage box 81 is shifted to the left in the width direction from its initial position and the shift exceeds an allowable range compared to the initial position, display device 29 lights up first display unit 29a1 and turns off second display unit 29a2. When storage box 81 is shifted to the right in the width direction from its initial position and the shift exceeds an allowable range, display device 29 turns off first display unit 29a1 and turns on second display unit 29a2.

[0047] The combination of lighting and extinguishing of the plurality of display units 29a, which indicates the direction in which the positional deviation exceeding the allowable range has occurred, is determined in advance and stored in the storage unit of the take-out device controller 28, for example.

[0048] Furthermore, the display device 29 indicates, by a combination of lighting and extinguishing of the plurality of display units 29a, that it is possible for the worker to perform the removal work or the storage work on the storage box 81 at the work position P. As an example of the indication that this is possible, the display device 29 displays at least one of the plurality of display units 29a, and in this embodiment, at least one of the first display unit 29a1 and the second display unit 29a2.

[0049] It should be noted that the display device 29 is not limited to a configuration including a plurality of display units 29a. In another example, the display device 29 may be a monitor configured to display, by means of letters, pictures, or the like, the direction in which the positional deviation has exceeded the allowable range and the fact that the worker is in a state in which the worker can perform the removal or storage operation on the storage box 81 at the work position P. The notification device is also not limited to the display device 29. In another example, the notification device may be a speaker that notifies by sound the direction in which the positional deviation has exceeded the allowable range and the fact that the worker is in a state in which the worker can perform the removal or storage operation on the storage box 81 at the work position P.

[0050] The operation unit 30 is provided, for example, at a position where it can be operated by a worker performing a removal or storage operation on the storage box 81 at the work position P. The operation unit 30 is provided, for example, on a column member 35 arranged at the rear of the housing 21. The operation unit 30 is operated by the worker when the worker has completed the removal or storage operation at the work position P. The operation unit 30 may be, for example, a button. The operation unit 30 is electrically connected to the removal device controller 28. When the operation unit 30 is operated, it transmits, for example, a signal to the removal device controller 28.

[0051] The take-out device controller 28 is provided in, for example, the housing 21. However, the take-out device controller 28 is not limited to being provided in the housing 21. The take-out device controller 28 can be realized, for example, by one computer or a combination of multiple computers. The take-out device controller 28 communicates with the host system 6 via wire or wirelessly. The take-out device controller 28 controls the lifting device 24 and the moving device 25 by controlling the motor 54 of the lifting device 24 and the motor 64 of the moving device 25 based on signals from the host system 6 and on signals from the operating unit 30 (in this embodiment, a signal from the operating unit 30) that the operating unit 30 has been operated.

[0052] In addition, the removal device controller 28 controls the holding unit 23 to hold the storage box 81 and the moving device 25 to move the holding unit 23 in the forward and backward directions, and then controls the holding unit 23, the moving device 25, and the lifting device 24 so that the lifting device 24 moves to the working position P.

[0053] Furthermore, the take-out device controller 28 detects a positional deviation of the storage box 81 at the work position P based on the detection result of the sensor 27, i.e., the distance in the width direction from the sensor 27 to the storage box 81. Furthermore, when the positional deviation of the storage box 81 at the work position P from its initial position exceeds an allowable range, the take-out device controller 28 controls the display device 29 to display the direction in which the positional deviation exceeds the allowable range. The take-out device controller 28 compares the positional deviation of the storage box 81 at the work position P from its initial position with a threshold value and detects that the positional deviation has exceeded the allowable range.

[0054] Furthermore, when the operation unit 30 is operated, the take-out device controller 28 controls the lifting device 24 and the moving device 25 so as to return the storage box 81 from the work position P to the transport shelf 3 if the positional deviation of the storage box 81 from its initial position at the time the operation unit 30 was operated is within an allowable range. Furthermore, the take-out device controller 28 may not return the storage box 81 to the transport shelf 3 if the positional deviation of the storage box 81 from its initial position at the time the operation unit 30 was operated exceeds the allowable range. For example, when the positional deviation of the storage box 81 at the time the operation unit 30 was operated exceeds the allowable range, the take-out device controller 28 may notify the display device 29 that the storage box 81 cannot be returned to the transport shelf 3. This notification may be, for example, the same as or a different display as the display for the state in which the positional deviation of the storage box 81 exceeds the allowable range.

[0055] In this embodiment, the holder 23 holds the storage box 81 by placing the storage box 81 on the arm 23a. That is, in this embodiment, controlling the holder 23 to hold the storage box 81 is equivalent to controlling the moving device 25 and the lifting device 24 so that the storage box 81 is placed on the arm 23a. In other words, in this embodiment, the holder 23 is indirectly controlled by controlling the moving device 25 and the lifting device 24.

[0056] Note that, for example, if the holding unit 23 is configured to include a suction pad and to suck and hold the storage box 81 by creating a negative pressure inside the suction pad with a pump, controlling the holding unit 23 means controlling the pump. Alternatively, if the holding unit 23 is configured to include a clamping unit and a drive unit that drives the clamping unit and to hold the storage box 81 by clamping the storage box 81 with the clamping unit, controlling the holding unit 23 means controlling the drive unit. In this way, if the holding unit 23 is configured to include a drive unit such as a pump or a motor, controlling the drive unit means controlling the holding unit 23.

[0057] 3, the transport shelf 3 is configured so that a plurality of storage boxes 81 can be arranged in the vertical direction. The transport shelf 3 is configured so that it can be moved by an automatic transport vehicle 4. The transport shelf 3 includes, for example, a transport shelf main body 82 and a plurality of storage boxes 81 stored in the transport shelf main body 82.

[0058] The transport shelf body 82 is configured to be able to take in and out the storage boxes 81 along the direction of movement of the holder 23 by the moving device 25. The transport shelf body 82 includes, for example, a shelf bottom plate 83, legs 84, support members 85, and a plurality of shelf portions 86.

[0059] The shelf bottom plate 83 forms a shelf bottom 83a that contacts the automated guided vehicle 4. The shape of the legs 84 relative to the shelf bottom plate 83 is appropriately formed. The legs 84 extend downward, for example, from a corner of the shelf bottom 83a of the shelf bottom plate 83. The length of the legs 84 (the height below the shelf (the height from the floor to the shelf bottom 83a of the shelf bottom plate 83)) is slightly longer than the minimum height of the automated guided vehicle 4. In other words, the legs 84 have a height that allows the automated guided vehicle 4 to be positioned below the shelf bottom plate 83 by passing between the legs 84. The legs 84 are spaced apart by a length that allows the automated guided vehicle 4 to be positioned below the shelf bottom plate 83 by passing between the legs 84 of the transport shelf 3. Therefore, the automated guided vehicle 4 can get under the shelf of the transport shelf 3 by passing between the legs 84 of the transport shelf 3.

[0060] In this embodiment, an example will be described in which four or more legs 84 extend downward from the shelf bottom 83a at the corner of the shelf bottom plate 83 so that the transport shelf 3 can stand upright stably on the floor surface. The number of legs 84 may be three as long as the transport shelf 3 can stand upright stably on the floor surface. Five or more legs 84 are also preferable.

[0061] The support members 85 are fixed to the shelf bottom plate 83, and a plurality of shelf plate portions 86 are fixed thereto. In this embodiment, for example, four support members 85 are used. As shown in FIG. 6, the four support members 85 are provided at the four corners of the shelf bottom 83a. The four support members 85 are, for example, members that are formed with an L-shaped cross section and are long in one direction.

[0062] The space between the pair of rear support members 85 and the space between the pair of front support members 85 are wide enough for the storage box 81 to pass through.

[0063] The multiple shelf portions 86 are fixed to the support member 85 at intervals in the vertical direction. The shelf portion 86 is large enough to place one or multiple storage boxes 81 on it. In this embodiment, as shown in FIGS. 2 and 6, the shelf portion 86 is formed in the shape of a rectangular plate large enough to accommodate two storage boxes 81 in the front-to-rear direction. The four corners of the multiple shelf portions 86 are fixed to the four support members 85.

[0064] 7 and 8, grooves 87, into which the arms 23a of the holder 23 can be placed, are formed in the upper surface 89 of the shelf portion 86, the number of which is the same as the number of arms 23a. The grooves 87 are formed so that the holder 23 can be inserted. The rear ends of the grooves 87 are open. The depth of the grooves 87 is set to be longer than the thickness of the arms 23a.

[0065] The groove 87 has a length that allows the arm 23a to be inserted to a position where the storage box 81 can be stably placed on the arm 23a. For example, the groove 87 has a length that allows the arm 23a to enter until the stopper 23b abuts against the storage box 81. The width of the groove 87 is set to a dimension that is larger than the width of the arm 23a. The width of the groove 87 has a movement allowance that allows the holding part 23 to move in the width direction when all of the arms 23a are inserted into all of the grooves 87.

[0066] The groove 87 thus configured may be formed, for example, by fixing a plurality of rod members 88b to the plate member 88a. Alternatively, the groove 87 may be formed by performing cutting or the like on the upper surface 89 of the shelf board portion 86.

[0067] The plurality of storage boxes 81 are placed on an upper surface 89 of a shelf portion 86 of a transport shelf main body 82. The plurality of storage boxes 81 are configured so that they can store items 7 therein. The storage boxes 81 are configured so that an operator can take out or store items 7 therein. The storage boxes 81 are configured, for example, in the shape of a rectangular storage box that is open at the top.

[0068] 1 and 3, the automated guided vehicle 4 is configured to be able to move the transport shelf 3. The automated guided vehicle 4 is, for example, a self-propelled robot having a shelf lift mechanism 91 and wheels 92.

[0069] The shelf lift mechanism 91 has a top plate 91a and a drive unit 91b that pushes up the top plate 91a. When the drive unit 91b extends upward, it pushes up the top plate 91a. When the drive unit 91b retracts, it lowers the top plate 91a.

[0070] Based on a control signal from the automatic guided vehicle controller 5, the automatic guided vehicle 4 moves to a recovery position (for example, directly below the transport shelf 3) corresponding to the target transport shelf 3, recovers the target transport shelf 3 at the recovery position, and travels toward the placement position of the transport shelf 3. Based on a control signal from the automatic guided vehicle controller 5, the automatic guided vehicle 4 places the target transport shelf 3 at the placement position of the target transport shelf 3.

[0071] The automated guided vehicle controller 5 can be realized by, for example, one computer or a combination of multiple computers. The automated guided vehicle controller 5 communicates with a higher-level system 6 via wired or wireless communication, and controls the automated guided vehicle 4.

[0072] The host system 6 acquires information about the item 7 to be taken out from an external device. The host system 6 can be realized, for example, by one computer or a combination of multiple computers. The host system 6 communicates with the take-out device controller 28 and the automated guided vehicle controller 5 via wired or wireless communication, and controls the take-out device 11 and the automated guided vehicle 4.

[0073] The upper system 6 also stores, for example, item information on items such as item 7, shelf information on transport shelves 3 that store one or more items, AGV information on automated guided vehicles 4, and map data for stations 2. The item information includes item IDs (identification information), etc., and each item is assigned an item ID. The shelf information includes shelf IDs, etc., and each transport shelf 3 is assigned a shelf ID. The AGV information includes AGV IDs, etc., and each automated guided vehicle 4 is assigned an AGV ID.

[0074] The take-out device controller 28, the automated guided vehicle controller 5, and the upper system 6 each include a control unit and a storage unit. The control unit is, for example, a processor. The processor is, for example, configured with a CPU (Central Processing Unit). The storage unit is, for example, a memory or a storage. The memory includes a ROM (Read Only Memory), which is a read-only data memory, or a RAM (Random Access Memory), which temporarily stores data. The storage may be a large-capacity storage such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The memory or storage stores control programs and various data.

[0075] For example, the storage unit of the take-out device controller 28 stores a threshold value for detecting whether or not the positional deviation of the container 81 at the work position P from its initial position exceeds an allowable range.

[0076] In this embodiment, as an example, the width of the placement location of the storage box 81 on the transport shelf 3 is larger than the width of the storage box 81. Therefore, the position of the storage box 81 in the width direction on the transport shelf 3 is not a predetermined fixed position but falls within a predetermined range. Therefore, the threshold value for detecting positional deviation is determined based on the width direction range of the placement location on the transport shelf 3 where the storage box 81 is placed.

[0077] In another example, when the placement position of the storage box 81 on the transport shelf 3 is a fixed position in the width direction, the threshold value may be determined based on the dimensions of the storage box 81. Alternatively, the placement position of the storage box 81 on the transport shelf 3 may be detected by a device such as a sensor, and the threshold value may be determined based on the detected position of the storage box 81.

[0078] The processor performs various processes based on programs stored in the memory or storage, that is, the processor executes various programs as a software function unit.

[0079] For example, the control unit of the take-out device controller 28 detects a positional deviation of the storage box 81 at the work position P from its initial position based on the detection result of the sensor 27. Then, the control unit of the take-out device controller 28 compares the positional deviation with a threshold value stored in the memory unit, and when it detects that the positional deviation has exceeded the threshold value, it controls the display device 29. When the positional deviation exceeds the threshold value, it means that the positional deviation has exceeded the allowable range. The memory unit of the take-out device controller 28 stores a threshold value used to detect whether the positional deviation of the storage box 81 at the work position P from its initial position is within the allowable range, and the control unit of the take-out device controller 28 uses this threshold value to detect whether the positional deviation is within the allowable range.

[0080] The control units of the take-out device controller 28, the automatic guided vehicle controller 5, and the upper system 6 may use an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array) as a hardware functional unit instead of a CPU.

[0081] Next, we will explain an example of the operation of the take-out system 1. The take-out system 1 repeatedly performs a predetermined cycle. This cycle includes, for example, a box take-out process A, a work process B, and a box return process C. These processes A, B, and C are performed in order.

[0082] In the box removal process A, the removal device 11 removes the storage box 81 from the transport shelf 3 and moves the removed storage box 81 to the work position P.

[0083] In work process B, a worker performs an operation of removing or storing items 7 from or in storage box 81 at work position P. Also, in work process B, based on the detection result of sensor 27, removal device controller 28 detects the distance to storage box 81 in its initial position, detects a positional deviation of storage box 81 from its initial position, and, if the positional deviation exceeds an allowable range, controls display device 29 to display the direction in which the positional deviation exceeds the allowable range.

[0084] In the box returning process C, the take-out device 11 returns the storage box 81 from the work position P to the transport shelf 3, and then moves the holder 23 to the initial position.

[0085] Next, an example of one operation cycle of the take-out system 1 will be described with reference to Fig. 9 and Fig. 10. Fig. 9 is a flow chart showing an example of the operation of the take-out device 11, and Fig. 10 is an explanatory diagram explaining an example of the operation of the take-out device 11.

[0086] As shown in FIGS. 9 and 10, first, before starting one cycle of operation, the take-out device controller 28 performs origin search and origin movement for each motor, that is, initializes each motor (step ST1).

[0087] Next, if the take-out device controller 28 does not receive a signal indicating completion of the work from the upper system 6 (NO in step ST2), it waits until it receives a take-out signal from the upper system 6 (NO in step ST3). Here, the take-out signal includes information about the height of the storage box 81 that contains the items 7 to be taken out. For example, the take-out signal may be information about one item 7, or may be information about multiple items 7 and the order in which these multiple items 7 are to be taken out.

[0088] When the take-out device controller 28 receives a signal from the host system 6 to take out the article 7 from the transport shelf 3 (YES in step ST3), the take-out device controller 28 starts the box take-out process A.

[0089] Specifically, the take-out device controller 28 controls the lifting device 24 to move the holder 23 to the arm insertion height (step ST4). The arm insertion height is a height at which the arm 23a of the holder 23 can be inserted into the groove 87 of the shelf 86 on which the storage box 81 to be taken out is placed by moving the arm 23a forward using the moving device 25. The arm insertion height is a position at which the upper surface of the arm 23a is lower than the lower surface of the storage box 81. Therefore, the arm 23a does not come into contact with the storage box 81.

[0090] Next, the take-out device controller 28 controls the moving device 25 to move the holding unit 23 forward, thereby inserting the arm 23a into the groove 87 of the shelf unit 86 on which the storage box 81 to be taken out is placed (step ST5). The arm 23a is inserted into the groove 87 until, for example, the stopper 23b abuts against the storage box 81.

[0091] Next, the take-out device controller 28 controls the lifting device 24 and the moving device 25 to take out the storage box 81 (step ST6). Specifically, the lifting device 24 is controlled to move the holder 23 upward to place the storage box 81 on the arm 23a, and further moves the storage box 81 upward until it is separated from the shelf portion 86. The take-out device controller 28 then controls the moving device 25 to move the holder 23 and the storage box 81 backward, thereby taking them out of the transport shelf main body 82.

[0092] Next, the take-out device controller 28 controls the lifting device 24 to move the storage box 81 to the working position P (step ST7). When the take-out device controller 28 detects that the storage box 81 has moved to the working position P based on the encoder value of the motor 54 of the lifting device 24, it stops the operation of the lifting device 24. In this way, the take-out device 11 performs steps ST3 to ST7, thereby completing the take-out process A.

[0093] Next, the take-out device controller 28 detects the initial position of the storage box 81 at the work position P based on the detection result of the sensor 27. The initial position is, for example, the distance from the sensor 27 to the storage box 81. When the storage box 81 reaches the work position P, the worker performs a take-out operation to take out the items 7 from the storage box 81. Alternatively, the worker performs a storage operation to store the items 7 in the storage box 81.

[0094] Furthermore, while the worker is performing the taking-out or storing operation, the take-out device controller 28 detects the positional deviation of the storage box 81 from its initial position based on the detection result of the sensor 27. When the positional deviation of the storage box 81 from its initial position exceeds the allowable range, the take-out device controller 28 controls the display device 29 to display the direction in which the positional deviation exceeds the allowable range.

[0095] The worker checks the display device 29 and, when it is determined that the positional deviation has exceeded the allowable range, manually moves the position of the storage box 81 to bring the storage box 81 within the allowable range relative to the initial position (step ST7).

[0096] That is, when the worker moves the storage box 81, the distance from the sensor 27 to the storage box 81 changes. Then, the sensor 27 transmits the detection result to the take-out device controller 28. The take-out device controller 28 detects the positional deviation of the moved storage box 81 from its initial position, and if there is a positional deviation, compares this positional deviation with a threshold value. If the positional deviation exceeds an allowable range, the take-out device controller 28 controls the display device 29 to display the direction in which the positional deviation exceeds the allowable range. While moving the storage box 81, the worker moves the storage box 81 to a position within the allowable range from the initial position by checking whether the first display unit 29a1 and the second display unit 29a2 of the display device 29 are lit or off.

[0097] When the worker completes the take-out or storing operation, he operates the operating unit 30 (step ST8). In this way, the worker performs the operation of step ST8, and work process B is completed.

[0098] When the take-out device controller 28 detects that the work process B has been completed based on the operation of the operation unit 30, it starts the box returning process C. Specifically, the take-out device controller 28 controls the lifting device 24 to move the storage box 81 to the storage box returning height (step ST9). The storage box returning height is a position where the lower surface of the article 7 held by the holding unit 23 is higher than the upper surface of the shelf unit 86 on which the storage box 81 was placed.

[0099] Next, the take-out device controller 28 controls the moving device 25 to return the storage box 81 to the shelf section 86 (step ST10). Specifically, the take-out device controller 28 controls the moving device 25 to move the holder 23 and the article 7 above the shelf section 86, and then controls the lifting device 24 to place the storage box 81 on the shelf section 86 and lower the holder 23 until the arm 23a is separated from the bottom surface of the storage box 81.

[0100] Next, the take-out device controller 28 controls the moving device 25 to pull out the arm 23a of the holder 23 from the groove 87 (step ST11). In this way, the take-out device controller 28 operates the moving device 25 and the lifting device 24 to perform steps ST9, ST10, and ST11, thereby completing the return process C.

[0101] Next, the take-out device controller 28 returns to step ST2. When the take-out device controller 28 receives a signal indicating completion of the work from the upper system 6 (YES in step ST2), it controls the lifting device 24 and the moving device 25 to move the holder 23 to the initial position (step ST12).

[0102] In this way, one cycle is completed, in which the storage box 81 is removed from the transport shelf 3, the item 7 is removed from or stored in the storage box 81, and the storage box 81 is returned to the transport shelf 3.

[0103] According to the take-out system 1 configured as described above, the take-out device 11 takes out the storage box 81 to be worked on from the transport shelf 3, and moves it to the work position P where the worker will work. Then, when the take-out device controller 28 detects that the positional deviation of the storage box 81 has exceeded the allowable range, the display device 29 displays the direction in which the positional deviation that exceeded the allowable range has occurred, thereby notifying the worker that the positional deviation of the storage box 81 has exceeded the allowable range. Then, when the worker completes the take-out or storage work, the worker operates the operation unit 30, and the return operation of returning the storage box 81 to the transport shelf 3 is started.

[0104] Therefore, the worker can work at work position P, which is a height position that makes it easy to perform the removal or storage operation on the storage box 81. Furthermore, even if the positional deviation of the storage box 81 during the removal or storage operation exceeds the allowable range, the worker can return the storage box 81 to a position where it can be returned to the transport shelf 3 by checking the display on the display device. Furthermore, the worker can return the storage box 81 to the transport shelf 3 by operating the operation unit 30. As a result, the removal system 1 can improve the efficiency of the removal and storage operation on the storage box 81.

[0105] Furthermore, the display device 29 is used as a notification device that notifies that the positional deviation of the storage box 81 at the work position P has exceeded the allowable range. Therefore, the worker can easily recognize that the positional deviation of the storage box 81 has exceeded the allowable range. Furthermore, by providing the display device 29 at the rear of the housing 21, which is a position that is easily visible to the worker performing the removal or storage work on the storage box 81 at the work position P, the worker can easily recognize that the positional deviation of the storage box 81 has exceeded the allowable range. Furthermore, since the display device 29 is configured to include multiple display units 29a, the configuration of the display device 29 can be simplified.

[0106] As described above, according to this embodiment, it is possible to provide a take-out device 11 that can improve the efficiency of the work of taking out and storing the articles 7 from the storage boxes 81 on the transport shelf 3.

[0107] Next, a take-out system 1A according to a second embodiment will be described with reference to Figures 11 to 17. The take-out system 1A of this embodiment differs from the take-out system 1 of the first embodiment in that the work position P is provided outside the elevator shaft 114 of the moving device 25 and the holding unit 23 using the elevator device 24. Note that in the take-out system 1A of the second embodiment, components having the same functions as those of the take-out system 1 described in the first embodiment are designated by the same reference numerals as those of the take-out system 1 of the first embodiment, and descriptions thereof will be omitted.

[0108] Fig. 11 is a perspective view showing the take-out device 11A and the transport shelf 3 of the take-out system 1A. Fig. 12 is a plan view showing the storage box arrangement section 110 of the take-out device 11A, when the storage box arrangement section 110 is aligned with the storage box arrangement section 110 in the direction in which the housing 21 and the storage box arrangement section 110 are aligned, that is, in the front-to-rear direction in this embodiment, and is viewed facing the storage box arrangement section 110. Figs. 13 to 16 are plan views schematically showing the storage box arrangement section 110. Fig. 17 is an explanatory diagram illustrating an example of the operation of the take-out device 11A.

[0109] The take-out system 1A includes, for example, a plurality of stations 2A, a plurality of transport shelves 3, a plurality of automated guided vehicles 4, an automated guided vehicle controller 5, and a host system 6.

[0110] 11, the station 2A includes a predetermined area on the floor of a work area such as a warehouse, and a take-out device 11A. The take-out device 11A is installed in a predetermined area on the floor of a work area such as a warehouse.

[0111] The removal device 11A includes, for example, a housing 21, a holding unit 23, a lifting device 24, a moving device 25, a sensor 27, a display device 29, an operation unit 30, a storage box placement unit 110, a detection device 111, an emergency stop button 112, and a removal device controller 28.

[0112] The moving device 25 is configured to be able to move the storage box 81 to the outside of the hoistway 114 of the housing 21. The moving device 25 is configured to be able to move the storage box 81 from inside the housing 21 to the working position P of the storage box placement section 110. For example, the moving device 25 is supported such that the moving section 62 is movable in the front-to-rear direction relative to the base 61 so that the storage box 81 held by the holding section 23 can be moved to the outside of the hoistway 114.

[0113] The storage box placement section 110 is provided, for example, on the opposite side of the transport shelf 3 from the take-out device 11A. At the storage box placement section 110, a worker performs work of taking out or storing items 7 from the storage box 81. A work position P is set at the storage box placement section 110.

[0114] The container placement section 110 includes a frame section 110a, a support section 110b, and a restriction section 110c. As shown in FIG. 12, the frame 110a is formed in the shape of a frame-shaped plate, and the storage box 81 is placed inside the frame 110a. The space inside the frame 110a, in which the storage box 81 can be placed, becomes the work position P. The space inside the frame 110a is large enough to accommodate the holding portion 23 and the storage box 81 held by the holding portion 23. The space inside the frame 110a is defined, for example, by a pair of edges 110a1 parallel to the front-rear direction and an edge 110a2 parallel to the width direction. The width dimension of the inside space is set to a size that allows the storage box 81 to move slightly in the width direction.

[0115] The frame 110a has, for example, a pair of first portions 110a3 parallel to each other in the front-rear direction and a second portion 110a4 connected to the rear ends of the pair of first portions 110a3 and extending in the width direction. The storage box 81 moves from the housing 21 to the working position P or moves from the working position P to the housing 21 through an opening between the front ends of the pair of first portions 110a3.

[0116] The support portion 110b supports the frame portion 110a at a predetermined height relative to the floor surface of the station 2A. The predetermined height is a height at which a worker can perform a removal operation or a storage operation on the storage box 81 placed at the work position P inside the frame portion 110a.

[0117] 11, the restricting portion 110c is configured to restrict the upward movement of the lifting device 24 when the holding portion 23 and the storage box 81 held by the holding portion 23 are in the working position P. The restricting portion 110c is provided, for example, above the front end of the frame portion 110a. The restricting portion 110c comes into contact with the moving device 25 to stop the moving device 25 from moving upward.

[0118] The restricting portion 110c is provided, for example, at the entrance to the space inside the frame portion 110a. The restricting portion 110c is formed in a frame shape. The restricting portion 110c has a bar extending from one end to the other in the width direction of the entrance to the space inside the frame portion 110a. For example, when the moving portion 62 has moved rearward from the elevator shaft 114 and the storage box 81 is located at the working position P, the base portion 61 or the moving portion 62 is located below the bar of the restricting portion 110c. When the moving device 25 is moved upward by the lifting device 24, the base portion 61 or the moving portion 62 comes into contact with the restricting portion 110c, thereby stopping the holding portion 23 and the storage box 81 from moving upward from the working position P.

[0119] The restricting portion 110c may be configured to abut against the moving device 25 in the vertical direction when the storage box 81 is located at the working position P. In this configuration, even if the lifting device 24 is driven when the storage box 81 is located at the working position P, the restricting portion 110c abuts against the moving device 25, so that the storage box 81 does not move upward from the working position P.

[0120] Alternatively, the restricting portion 110c may be configured to come into contact with the moving device 25 when the storage box 81 moves upward a predetermined distance from the state where the storage box 81 is at the working position P. Here, the predetermined distance is a distance that ensures the safety of the worker during the work of removing or storing the items 7 from or in the storage box 81.

[0121] The display device 29 is provided, for example, on the frame portion 110a of the storage box arrangement portion 110. The display device 29 includes, for example, a first display portion 29a1 and a second display portion 29a2. The first display portion 29a1 is disposed, for example, at the left end of the frame portion 110a. The second display portion 29a2 is disposed, for example, at the right end of the frame portion 110a.

[0122] The operation unit 30 is provided, for example, on the frame 110a. The operation unit 30 is provided, for example, on the right end of the frame 110a.

[0123] The detection device 111 detects a positional deviation of the receiving box 81 from its initial position at the work position P. The detection device 111 includes, for example, a first sensor 111a and a second sensor 111b.

[0124] The first sensor 111a detects a deviation in the width direction of the storage box 81 from the initial position at the work position P. The first sensor 111a is, for example, a distance sensor that detects the distance to the storage box 81. The first sensor 111a is provided, for example, on the frame portion 110a. The first sensor 111a is, for example, disposed on one side of the work position P in the width direction, for example, on the right side.

[0125] The second sensor 111b detects a deviation in the front-rear direction from the initial position of the storage box 81 at the work position P. The second sensor 111b is, for example, a proximity sensor that detects whether the distance to an object is within a predetermined distance. The second sensor 111b is provided, for example, on the stopper 23b of the moving device 25. The second sensor 111b detects an object when the object is within, for example, 3 cm. When the storage box 81 and the holding unit 23 are at the work position P, the second sensor 111b is disposed behind the storage box 81. In other words, the second sensor 111b is provided in a position aligned with the storage box 81 in the direction from the housing 21 to the work position P.

[0126] In another example, the second sensor 111b may be provided on the frame portion 110a. In this configuration, the second sensor 111b is arranged at a position aligned with the working position P in the direction from the housing 21 toward the working position P, and is provided on, for example, the second portion 110a4.

[0127] The emergency stop button 112 is electrically connected to the take-out device controller 28. When the emergency stop button 112 is operated, it transmits, for example, a signal to the take-out device controller 28. The emergency stop button 112 is operated to stop the operation of the take-out device 11A. The emergency stop button 112 is provided, for example, in a position where it can be operated by an operator during the take-out operation or the storing operation of the storage box 81 placed at the work position P. The emergency stop button 112 is provided, for example, on the right end of the frame portion 110a.

[0128] Next, an example of the operation of the display device by the take-out device controller 28 will be described with reference to Fig. 13 to Fig. 16. The take-out device controller 28 controls the display device based on the detection results of the first sensor 111a and the second sensor 111b of the detection device 111.

[0129] Specifically, the take-out device controller 28 turns on the first display unit 29a1 and the second display unit 29a2 when the storage box 81 is placed at the work position P. At this time, the take-out device controller 28 detects the distance to the storage box 81 in the width direction based on the detection result of the first sensor 111a.

[0130] The take-out device controller 28 changes the display pattern of the display device 29 when the position of the storage box 81 is displaced due to, for example, an operator's work of taking out or storing the article 7 from the storage box 81 and the positional displacement exceeds an allowable range.

[0131] For example, as shown in FIG. 14, the removal device controller 28 detects the storage box 81 based on the detection result of the second sensor 111b, and when it detects based on the detection result of the first sensor 111a that the distance to the storage box 81 has become longer than the storage box 81 in its initial position and that the difference exceeds the allowable range, it outputs to the display device that the storage box 81 has shifted to the left and that the positional shift has exceeded the allowable range.

[0132] When the removal device controller 28 detects that the storage box 81 has moved to the right of its initial position and that the positional deviation has exceeded the allowable range, it turns off the second display unit 29a2, which is the display unit on the right side, and turns on the first display unit 29a1, which is the display unit on the left side.

[0133] For example, as shown in FIG. 15, the removal device controller 28 detects the storage box 81 based on the detection result of the second sensor 111b, and when it detects based on the detection result of the first sensor 111a that the distance to the storage box 81 has become shorter compared to the storage box 81 in its initial position and that the difference exceeds the allowable range, it outputs to the display device that the storage box 81 has shifted to the right and that the positional shift has exceeded the allowable range.

[0134] When the removal device controller 28 detects that the storage box 81 has moved to the left relative to its initial position and that the positional deviation has exceeded the allowable range, it turns off the first display unit 29a1, which is the display unit on the left side, and turns on the second display unit 29a2, which is the display unit on the right side.

[0135] 16, for example, the take-out device controller 28 detects that the distance to the storage box 81 is within an allowable range relative to the initial position based on the detection result of the first sensor 111a, and detects that the storage box 81 has moved forward relative to the initial position when the second sensor 111b no longer detects the storage box 81. When the take-out device controller 28 detects that the storage box 81 has moved forward relative to the initial position, it turns off the first display unit 29a1 and the second display unit 29a2.

[0136] Furthermore, when the take-out device controller 28 detects that the emergency stop button 112 has been operated, in this embodiment, upon receiving a signal from the emergency stop button 112, it stops the take-out device 11A.

[0137] Next, an example of the operation of the take-out device 11A will be described with reference to Fig. 17. The example of the operation of the take-out device 11A is similar to that of Fig. 9, which is a flowchart used to explain the example of the operation of the take-out device 11 of the first embodiment, except for steps ST7 and ST9. Therefore, the example of the operation of the take-out device 11A will be described with reference to Figs. 9 and 17.

[0138] 9 differs from the operation of the take-out device 11. In step ST7, the take-out device controller 28 of the take-out device 11A controls the lifting device 24 based on the detection result of the sensor 27 to move the storage box 81 to the same height as the work position P. Then, the take-out device controller 28 controls the moving device 25 to move the storage box 81 to the work position P, which is the space inside the frame portion 110a of the storage box placement section 110.

[0139] Furthermore, the specific operation of the take-out device 11A in step ST9 is different from that of the take-out device 11. In step ST9, the take-out device controller 28 of the take-out device 11A controls the moving device 25 to move the storage box 81 from the work position P into the elevator shaft 114 of the housing 21. Then, the take-out device controller 28 controls the elevator 24.

[0140] In the take-out device 11A configured in this manner, the working position P is set outside the elevator shaft 114 of the housing 21. This allows for a large range of movement of the worker's arms, etc. at the working position P. That is, when the working position P is set inside the elevator shaft 114, the worker performs work by placing his / her arms, etc. inside the elevator shaft 114. In this case, the range of movement of the worker's arms may be limited depending on the configuration of the housing 21.

[0141] However, by providing the work position P outside the elevator shaft 114, the range of movement of the worker's arms and the like during work can be increased. As a result, the efficiency of the work of taking out or storing into the storage box 81 can be improved.

[0142] Furthermore, the storage box placement section 110 is provided with a restricting section 110c, which restricts upward movement of the storage box 81 while the worker is taking out or storing the item 7, thereby further improving the safety of the worker taking out or storing the item 7.

[0143] Furthermore, the take-out device 11A includes a storage box placement section 110. Therefore, the storage box placement section 110 serves as a landmark indicating the location where the worker will perform the work. Furthermore, the presence of the storage box placement section 110 can prevent the worker from approaching the housing 21 during work. Therefore, the safety of the worker performing the work of taking out or storing the item 7 can be further improved.

[0144] Furthermore, the storage box placement section 110 has a frame section 110a, and the display device 29, operation section 30, and detection device 111 are provided on the frame section 110a. This makes it easy for the worker to check the display device 29 and operate the operation section 30. Furthermore, since there is no need to provide a separate installation location for the detection device 111, the configuration of the take-out device 11A can be simplified.

[0145] As described above, according to this embodiment, a take-out device 11A that can improve the efficiency of the work of taking out and storing the articles 7 from the storage boxes 81 of the transport shelf 3 can be provided.

[0146] Next, a take-out system 1B according to a third embodiment will be described with reference to Fig. 18. The take-out system 1B can take out a storage box 81 using the take-out device 11 of the first embodiment or the take-out device 11A of the second embodiment, and can also allow an operator to take out the storage box 81 directly from the transport shelf 3. In this embodiment, as an example, the take-out system 1B includes the take-out device 11A of the second embodiment. Fig. 18 is a perspective view showing the take-out device 11A of the take-out system 1B.

[0147] The take-out system 1B includes, for example, a plurality of stations 2A, a plurality of transport shelves 3, a plurality of automated guided vehicles 4, an automated guided vehicle controller 5, an operation unit 120, and a host system 6.

[0148] The operation unit 120 is operated by a worker at the second position P2 when the worker directly takes out a storage box 81 from the transport shelf 3, performs a take-out or storage operation on the storage box 81, and then completes the operation of returning the storage box 81 to the transport shelf 3. The operation unit 120 is provided, for example, in the station 2A. The operation unit 120 is, for example, a button. The operation unit 120 is electrically connected to the upper system 6. When operated by the worker, the operation unit 120 transmits, for example, a signal. In other words, the operation unit 120 is an operation unit that transmits the completion of the operation to the upper system 6.

[0149] When the height of a storage box 81 that is the target of a take-out or take-out operation and that is placed on the transport shelf 3 is higher than a predetermined height, the host system 6 controls the automated guided vehicle 4 via the automated guided vehicle controller 5 to move the transport shelf 3 to a first position P1 that faces the take-out device 11A. Here, the predetermined height is the upper limit of the height at which a worker can directly and safely take out the storage box 81 from the transport shelf 3. Information about the predetermined height and information about the height position at which the storage box 81 is placed on the transport shelf 3 are stored, for example, in a memory unit provided in the host system 6.

[0150] When the height of a storage box 81 that is the target of a removal or storage operation and is placed on the transport shelf 3 is equal to or less than a predetermined height, the upper system 6 controls the automated guided vehicle 4 via the automated guided vehicle controller 5 to move the automated guided vehicle 4 to a second position P2 that ensures a working space where a worker can remove the storage box 81 from the transport shelf 3. The second position P2 is, for example, a position to the side of the first position P1.

[0151] In this embodiment, when the upper system 6 detects that the operation unit 120 has been operated and receives a signal from the operation unit 120, it controls the automatic guided vehicle 4 via the automatic guided vehicle controller 5 to move the transport shelf 3 from the second position P2 to a waiting location.

[0152] According to this take-out system 1B, if the storage box 81 is at a height position where it can be safely taken out, the worker can directly take out the storage box 81, thereby improving the efficiency of the work of taking out the storage box 81.

[0153] As described above, according to this embodiment, a take-out system 1B that can improve the efficiency of the work of taking out and storing the articles 7 from the storage boxes 81 on the transport shelf 3 can be provided.

[0154] In the above example, the height of the housing 21 of the take-out device 11 and the take-out device 11A is such that the storage box 81 arranged on the top shelf of the transport shelf 3 can be taken out. For example, as shown in FIG. 19 , when the height of the transport shelf 3 is higher than the height of the transport shelf 3 used in the first and second embodiments, the height of the housing 21 is configured to be higher according to the height of the transport shelf 3.

[0155] In the above examples, the first embodiment has been described as using the sensor 27 as a detection device for detecting a positional deviation of the storage box 81 from its initial position at the work position P, and the second embodiment has been described as using the detection device 111 as a detection device for detecting a positional deviation of the storage box 81 from its initial position at the work position P. However, the present invention is not limited to this. In other examples, a camera may be used as a detection device for detecting a positional deviation of the storage box 81 from its initial position at the work position P. As an example of using a camera as a detection device, an example in which the removal device 11 of the first embodiment is provided with a camera 26 instead of the sensor 27 as a detection device will be described with reference to FIG. 20 .

[0156] As shown in FIG. 20 , the camera 26 is an example of a detection device that detects a positional deviation of the storage box 81 from its initial position at the work position P. The camera 26 is installed, for example, on the ceiling part 33 of the housing 21. The camera 26 transmits data of the captured image to the take-out device controller 28. Note that the number of cameras 26 is not limited to one. A plurality of cameras 26 may be used.

[0157] Furthermore, multiple types of devices may be used as the detection device, such as the first sensor 111a and the second sensor 111b described in the second embodiment, or the sensor 27 and the camera 26 described in the first embodiment and the modified example of the first embodiment.

[0158] In the above example, a configuration has been described in which the display device 29 is used as an alarm device that notifies of a positional deviation of the storage box 81 and as a device that notifies that a state in which the storage box 81 is ready for removal or storage at the work position P. That is, a configuration has been described in which a single device notifies of a positional deviation and that a state in which the storage box 81 is ready for removal or storage is performed. However, this is not limited to this. In another example, the alarm device and the device that notifies of the permitted state may each be separate devices.

[0159] According to at least one of the embodiments described above, it is possible to provide a take-out device and a take-out system that can improve the efficiency of the work of taking out or storing the items 7 in the storage box 81.

[0160] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0161] 1...removal system, 1A...removal system, 1B...removal system, 2...station, 2A...station, 3...transport shelf, 4...automated guided vehicle, 5...automated guided vehicle controller, 6...host system, 7...item, 11...removal device, 11A...removal device, 21...housing, 23...holding section, 24...lifting device, 25...moving device, 26...camera, 28...removal device controller, 29...display device, 29a...display section, 29a1...first display section, 29a2...second display section, 29b...support member, 30...operation section, 81...storage box, 110...storage box placement section, 110a...frame section, 110b...support section, 110c...regulation section, 111...detection device, 111a...first sensor, 111b...second sensor, 112...emergency stop button, 114...hoistway.

Claims

1. a holder for holding a storage box that stores items and is placed on the transport shelf; a holder moving device configured to be able to move the holding unit between the transport shelf and a work position where the item is taken out of or stored in the storage box, and which moves the storage box from the transport shelf to the work position and returns the storage box from the work position to the transport shelf; a housing supporting the holder and the holder moving device; a detection device for detecting a positional deviation of the container at the work position from an initial position; an alarm device that notifies of positional deviation of the storage box; an operation unit into which an operation for completing the removal operation or the storage operation is input; a control device that, when a positional deviation of the initial position with respect to the container exceeds an allowable range based on a detection result of the detection device, notifies the notification device of a direction in which the positional deviation with respect to the initial position exceeds the allowable range; A take-out device comprising:

2. The removal device according to claim 1, wherein when an operation is input to the operation unit, the control device returns the storage box from the work position to the transport shelf using the holding unit moving device if the positional deviation of the storage box is within the allowable range based on the detection result of the detection device.

3. The removal device according to claim 1, wherein the detection device detects positional deviation of the storage box relative to the initial position in a uniaxial direction including a direction from the transport shelf toward the housing and a direction opposite to this direction, and in a width direction approximately perpendicular to both the up and down directions.

4. a frame portion provided outside the elevator shaft of the holding unit in the housing at a predetermined height from an installation location of the housing, the frame portion having an arrangement space inside which the storage box serving as the work position is arranged; The holding unit moving device includes a moving device that moves the holding unit in a direction intersecting the up-down direction, and an elevating device that moves the holding unit and the moving device in the up-down direction within the elevator shaft. The ejection device according to claim 1 .

5. The ejection device according to claim 4 , wherein the detection device, the operation unit, and the notification device are provided on the frame.

6. The removal device according to claim 4 or 5, wherein the detection device is provided at a position aligned with the work position in a width direction of the frame portion that is approximately perpendicular to both the direction from the housing toward the work position and the up-down direction, and includes a distance sensor that detects the distance to the storage box.

7. The removal device according to any one of claims 4 to 6, wherein the detection device is provided on the holding portion or the frame portion in a position aligned with the storage box placed at the work position in a direction from the housing toward the work position, and includes a proximity sensor that detects the storage box when the distance to the storage box is less than a predetermined distance.

8. 2. The removal device according to claim 1, wherein the notification device is a display device that has a plurality of display units and indicates the direction in which the positional deviation of the storage box from the initial position that exceeds the allowable range by a combination of lighting and extinguishing of the plurality of display units.

9. The take-out device according to claim 1 ; a transport device that transports the transport shelf; a control device for a transport device that, when the height of the storage box that is the object of a take-out operation or a storage operation and that is disposed on the transport shelf exceeds a predetermined height position, controls the transport device to move the transport shelf to a first position where the take-out device takes out the storage box, and, when the height of the storage box is equal to or less than the predetermined height position, controls the transport device to move the transport shelf to a second position different from the first position where the storage box is taken out by an operator; A take-out system comprising:

10. a holding unit that holds a storage box; a holding unit moving device that is configured to be able to move the holding unit between a transport shelf and a work position where an item is taken out of or put into the storage box, and that moves the storage box from the transport shelf to the work position and returns the storage box from the work position to the transport shelf; and a housing that supports the holding unit and the holding unit moving device, the housing of the removal device having a frame that is located outside an elevator path along which the holding unit and the holding unit moving device move up and down and at a predetermined height from the installation location of the housing, and has an arrangement space inside which the storage box that serves as the work position is arranged; a detection device provided on the frame portion to detect a positional deviation of the container box from an initial position in the placement space; an alarm device provided in the frame portion and configured to notify of positional deviation of the storage box; an operation unit provided on the frame unit, into which an operation for completing the removal operation or the storage operation is input; A storage box arrangement section comprising:

Images