Picking equipment, automated warehouse systems

Abstract

To provide a picking device capable of easily manufacturing a mechanism of sucking a load, according to one objective of the present disclosure.SOLUTION: A picking device 10 according to an embodiment comprises a plurality of suction parts 2 arranged in a plurality of rows and columns, that are provided with the rows and the columns that belong thereto; a plurality of row valve mechanisms 31 and a plurality of column valve mechanisms 41 corresponding to the plurality of suction parts 2, respectively; row driving mechanisms 32 for integrally driving the row valve mechanisms 31 that belong to respective rows among the plurality of row valve mechanisms 31; and column driving mechanisms 42 for integrally driving the column valve mechanisms 41 that belong to respective columns among the plurality of column valve mechanisms 41. The suction parts 2 each generate suction force for sucking a load via a channel formed by the row valve mechanisms 31 and the column valve mechanisms 41 corresponding to the suction parts 2, when suction fluid is supplied.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a picking device and an automated warehouse system. [Background technology]

[0002] There are known article transfer devices capable of suction-holding and transferring an article. For example, Patent Document 1 describes an article transfer device that suctions the top surface of an article to be transferred, suspends the article, and moves it to a destination. This device includes a suction unit having a plurality of suction blocks, each having at least one suction pad, and a control device that moves the suction blocks according to the size of at least the top surface of the article. This device moves the suction blocks according to the shape of the top surface of the article to be suctioned. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-040130 Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventors have recognized the following. In a picking device, desired loads may be selectively picked by suction from among multiple loads. To achieve this, it is conceivable to use a suction mechanism in which a large number of suction units, each capable of independently generating a suction force, are arranged in a matrix. With this suction mechanism, the suction units corresponding to the desired loads are selected to generate a suction force, thereby enabling the loads to be selectively picked up in a desired suction pattern.

[0005] However, this suction mechanism has to independently control the on / off of the suction forces of the many suction units, so it has to have the same number of suction force control means as the many suction units. As a result, this picking device has a complex configuration due to the large number of suction force control means, and it cannot be said that its manufacturing workability is good.

[0006] The device described in Patent Document 1 has room for improvement in terms of ease of manufacturing the mechanism for attracting the load.

[0007] The present invention has been made in view of the above-mentioned problems, and one of its objects is to provide a technique for a picking device that can easily manufacture a mechanism for attracting loads. [Means for solving the problem]

[0008] In order to solve the above problems, a picking device according to one aspect of the present invention includes a plurality of suction units arranged in a plurality of rows and a plurality of columns, each having its own row and column, a plurality of row valve mechanisms and a plurality of column valve mechanisms corresponding to the plurality of suction units, a row drive mechanism that integrally controls the row valve mechanisms belonging to each row among the plurality of row valve mechanisms, and a column drive mechanism that integrally controls the column valve mechanisms belonging to each column among the plurality of column valve mechanisms. Each suction unit generates a suction force for suctioning a load when suction fluid is supplied through a flow path formed by the row valve mechanism and the column valve mechanism corresponding to the suction unit.

[0009] Another aspect of the present invention is an automated warehouse system. The automated warehouse system includes shelves having storage units for storing loads, and a picking device for moving the loads from the storage units. The picking device includes a plurality of suction units arranged in a plurality of rows and a plurality of columns, each having its own row and column, a plurality of row valve mechanisms and a plurality of column valve mechanisms corresponding to the plurality of suction units, a row drive mechanism that integrally controls the row valve mechanisms belonging to each row among the plurality of row valve mechanisms, and a column drive mechanism that integrally controls the column valve mechanisms belonging to each column among the plurality of column valve mechanisms. Each suction unit generates a suction force for suctioning the load when suction fluid is supplied through a flow path formed by the row valve mechanism and column valve mechanism corresponding to the suction unit.

[0010] Any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, systems, etc., are also valid aspects of the present invention. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a technique for a picking device that can easily manufacture a mechanism for attracting loads. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a plan view schematically illustrating an automated warehouse system according to an embodiment. [Figure 2] FIG. 1 is a perspective view showing an example of a package in which multiple packages are stacked. [Figure 3] FIG. 1 is a plan view illustrating an example of a picking device according to an embodiment. [Figure 4] FIG. 1 is a front view showing a picking device according to an embodiment. [Figure 5] FIG. 2 is a bottom view showing the picking device of the embodiment. [Figure 6] FIG. 1 is a front view showing a picking device according to an embodiment. [Figure 7] FIG. 1 is a plan view showing a picking device according to an embodiment. [Figure 8] FIG. 10 is a diagram illustrating the operation of the picking device. [Figure 9] FIG. 2 is a plan view showing a suction pattern of the picking device. [Figure 10] 10A and 10B are diagrams illustrating the operation of the picking device of the second example. [Figure 11] FIG. 10 is a plan view showing a suction pattern of a picking device of a second example. [Figure 12] FIG. 10 is a diagram schematically illustrating a supply pattern of a suction fluid. [Figure 13] 10A and 10B are diagrams schematically illustrating another supply pattern of suction fluid. DETAILED DESCRIPTION OF THE INVENTION

[0013] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modifications, identical or equivalent components and members are designated by the same reference numerals, and redundant explanations will be omitted where appropriate. The dimensions of the members in the drawings are enlarged or reduced as appropriate to facilitate understanding. Some members that are not important for explaining the embodiments will be omitted from the drawings.

[0014] Furthermore, terms including ordinal numbers such as first and second are used to describe various components, but these terms are used only to distinguish one component from another and do not limit the components.

[0015] [Embodiment] The configuration of an automated warehouse system 100 equipped with a picking device 10 according to an embodiment will be described with reference to the drawings. Fig. 1 is a plan view schematically showing the automated warehouse system 100 according to the embodiment.

[0016] For ease of explanation, as shown in the figure, an XYZ Cartesian coordinate system is defined in which a certain horizontal direction is the X direction, a horizontal direction perpendicular to the X direction is the Y direction, and a direction perpendicular to both, i.e., the vertical direction, is the Z direction. The X direction is sometimes referred to as the lateral direction, the Y direction as the front-to-back direction, and the Z direction as the up-down direction. These directional notations do not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be used in any configuration depending on the application.

[0017] In this specification, the following terms are used for loads. A case such as a cardboard box containing contents is called a "load." A load may contain multiple items. An empty pallet is simply called a "pallet 11." A single or multiple loads 12 placed on a single pallet 11 is called a "load collection." In the following explanation, when we say "load 12," it includes both a single load 12 and loads 12 mounted on a pallet 11. A load 12 may be the smallest unit handled when picking.

[0018] FIG. 2 is a perspective view showing an example of a package in which multiple packages 12 are stacked. The side that is expected to be opened to remove the contents is called the "opposite bottom side," and the side opposite the opposite bottom side is called the bottom side. FIG. 2 shows package 12 in a state in which the opposite bottom side faces upward and the bottom side faces downward. Package 12 may be inverted by an inverting device (not shown), and the package may be handled, such as picked, in an inverted state in which the bottom side faces upward and the opposite bottom side faces downward. The opposite bottom side may be easier to open than the bottom side, or the bottom side may be stronger than the opposite bottom side. As an example of an indication method, the inverted state may be indicated by characters printed on the side of the case being inverted.

[0019] First, we will explain the overall configuration of the automated warehouse system 100. As shown in Fig. 1, the automated warehouse system 100 mainly includes a shelf 5 having a plurality of storage sections 52 capable of storing items 12, moving means 74, 75, 76 for moving the items 12 to be stored in or removed from the shelf 5, a picking device 10 for holding and moving the items 12, and a control section 78.

[0020] The moving means 74, 75, 76 include a first moving means 74 (e.g., a first carriage), a second moving means 75 (e.g., a second carriage), and a third moving means 76 (e.g., an elevator). The first moving means 74, the second moving means 75, and the third moving means 76 constitute a conveying means for moving the load 12 in the Y direction, the X direction, and the Z direction. The first moving means 74 can move the load 12 along the Y direction. The second moving means 75 can move the load 12 along the X direction. The third moving means 76 can move the load 12 in the Z direction.

[0021] For example, the transport means can remove the load 12 from a storage section 52 on the shelf 5. For example, the transport means can carry the load 12 into a storage section 52 on the shelf 5. For example, the transport means can transport the load 12 from one storage section 52 on the shelf 5 to another storage section 52 on the shelf 5.

[0022] The shelf 5 is a storage space capable of storing a large number of loads 12, and is sometimes referred to as a storage shelf. In this embodiment, the shelf 5 is divided into a shelf 55 on the right side of the drawing and a shelf 56 on the left side of the drawing, separated by the second travel path 73. The configuration of the shelf 5 is not particularly limited as long as it can accommodate and store a plurality of loads 12. The shelf 5 includes a plurality of storage sections 52 arranged along the X direction, Y direction, and Z direction (tier direction). Each storage section 52 is configured to be able to accommodate a load 12.

[0023] The shelf 5 is provided with a first running path 71 (e.g., a first rail) along which the first moving means 74 runs, and a second running path 73 (e.g., a second rail) along which the second moving means 75 runs. The first running path 71 extends in the Y direction between the shelves 55, 56 and the picking space 58. The first moving means 74 can run below each storage section 52. The second running path 73 extends in the X direction adjacent to the shelves 55, 56 and the picking space 58.

[0024] The first moving means 74 has wheels driven by a motor (not shown) and moves along the first running path 71 in the Y direction either empty or loaded with a load 12. The first moving means 74 can be loaded onto and unloaded from the second moving means 75 and the third moving means 76. The second moving means 75 has wheels driven by a motor (not shown) and moves along the second running path 73 in the X direction. The second moving means 75 transports the first moving means 74 when empty or loaded with a load 12. The third moving means 76 is provided adjacent to the second running path 73. The third moving means 76 can raise and lower the first moving means 74 and the load 12 from any storage tier to another storage tier. In the example of FIG. 1, a single loading / unloading section 77 is provided for all tiers, and the third moving means 76 is connected to the loading / unloading section 77.

[0025] In this example, the goods 12 to be stored are carried into the loading / unloading section 77 by external transport means (not shown) such as a forklift, and are transferred to the desired shelf by the third moving means 76. The goods 12 to be unloaded are raised and lowered from the shelf where they were stored to the shelf of the loading / unloading section 77 by the third moving means 76, transferred to the loading / unloading section 77, and then carried out from the loading / unloading section 77 by the external transport means.

[0026] The control unit 78 is configured to include an MPU (Micro Processing Unit) and the like, and controls the movement of the goods 12 for storing, retrieving, carrying out, transporting, etc. based on the results of operations from the user. As an example, the control unit 78 controls the operation of the first moving means 74, the second moving means 75, and the third moving means 76 so as to transport the goods 12 between a storing / retrieving area and a storage unit, or between multiple storage units. The control unit 78 also controls the operation of the picking device 10 to pick the goods 12.

[0027] (Picking device) The picking device 10 will be described with reference to Figures 1, 3, and 4. The picking space 58 is a space for picking using the picking device 10. The picking space 58 may be provided outside the shelf 56, but in this example, it is provided inside the shelf 56. Figure 3 is a plan view showing an enlarged view of the picking device 10. Figure 4 is a front view showing an enlarged view of the picking device 10. In these figures, some pillars, beams, etc. are omitted from the illustration.

[0028] The picking space 58 is provided with a first loading section 521 for loading the loads 12 before picking (hereinafter referred to as the "first load collection 121"), and a second loading section 522 for loading the loads 12 after picking (hereinafter referred to as the "second load collection 122").

[0029] The first placement section 521 and the second placement section 522 do not refer to specific locations within the picking space 58, but rather refer to spaces for temporarily storing the loads 12. Therefore, the positions and ranges of the first placement section 521 and the second placement section 522 in the picking space 58 may change for each picking operation. The first placement section 521 and the second placement section 522 in this embodiment have the same configuration as the storage section 52.

[0030] In the picking space 58 of this embodiment, a first running path 71 extends in the Y direction. A first placement section 521 and a second placement section 522 are provided on the first running path 71. A first moving means 74 can travel underneath the first placement section 521 and the second placement section 522. Before being picked, a first load collector 121 is carried into the first placement section 521 by the first moving means 74. The picking device 10 picks up a predetermined load 12 from the first load collector 121, lifts it up, moves it, and loads it onto the second load collector 122. After being picked, the second load collector 122 is carried out of the second placement section 522 by the first moving means 74.

[0031] The configuration of the picking device 10 will be described. As shown in FIG. 4, the picking device 10 picks one or more loads 12 from a first load collection 121 before picking and transfers them to a second load collection 122. The picking device 10 of this embodiment is supported by a so-called gantry-type crane mechanism 60. The crane mechanism 60 includes a pair of cross beams 63, a cross girder 62, a crane cart 64, and a suspender 66. The pair of cross beams 63 are provided spaced apart on both sides in the Y direction in the upper space of the picking space 58. Both ends of the cross beams 63 are supported by the upper ends of the vertical columns 61.

[0032] The cross beam 62 is a rail-like structure extending in the Y direction and is spanned between a pair of cross beams 63. The cross beam 62 is configured to be self-movable on the cross beams 63 in the X direction. The cross beam 62 is sometimes called a crane girder. The crane cart 64 is a cart that is self-movable on the cross beams 62 in the Y direction. The crane cart 64 is sometimes called a trolley cart. The suspending unit 66 suspends the picking device 10 from the crane cart 64 and can move the picking device 10 up and down in the Z direction. The suspending unit 66 can also rotate the picking device 10 horizontally. The picking device 10 is provided at the tip of the suspending unit 66 and is configured to be able to lift the load 12.

[0033] The crane mechanism 60 supports the picking device 10 so that it can move freely in the horizontal X and Y directions. The crane mechanism 60 also supports the picking device 10 so that it can move in the row direction (Z direction).

[0034] Please refer to Figure 5. Figure 5 is a diagram showing the picking device 10 as viewed from below. As shown in Figure 5, the picking device 10 includes a plurality of suction units 2 and a bracket 15 that supports the plurality of suction units 2. The plurality of suction units 2 are arranged in a matrix at a predetermined interval (pitch) in the row direction (Y direction in this example) and at a predetermined interval (pitch) in the column direction (X direction in this example). In particular, the plurality of suction units 2 are arranged in a plurality of rows and a plurality of columns, each of which has its own row and column.

[0035] (First example) A first example of the picking device 10 will be described with reference to Figures 6, 7, 8, and 9. Figure 6 is a front view showing the picking device 10. Figure 7 is a plan view showing the picking device 10, showing the state without the bracket. Hereinafter, when distinguishing between rows and columns, each row will be assigned an alphabet (A, B, etc.), for example, referred to as row A, and each column will be assigned a number (1, 2, etc.), for example, referred to as column 1.

[0036] Air (hereinafter referred to as "suction fluid") at a pressure lower than atmospheric pressure generated by a vacuum source 88 is passed through the suction unit 2, and the negative pressure generated at the tip of the suction unit 2 generates an adsorption force F for adsorbing the load 12. The vacuum source 88 can be configured to include a vacuum pump, an ejector, a vacuum blower, etc. The suction fluid from the vacuum source 88 is supplied by a pipe 86 to a valve mechanism corresponding to the suction unit 2.

[0037] The underside of the suction part 2 can have a variety of shapes, such as a square or a circle. In this example, the suction part 2 has a suction pad connected to the end of a bellows. When the suction part 2 generates an adhesive force F that can adsorb the load 12, the suction part 2 is said to be in an "on state," and when it is not in an "on state," it is said to be in an "off state."

[0038] As shown in FIG. 7 , the picking device 10 includes a plurality of row valve mechanisms 31, a plurality of column valve mechanisms 41, a row drive mechanism 32, and a column drive mechanism 42. The row valve mechanisms 31 and the column valve mechanisms 41 are collectively referred to as the "valve mechanisms," and the row drive mechanisms 32 and the column drive mechanisms 42 are collectively referred to as the "drive mechanisms." An assembly of a row valve mechanism and a column valve mechanism that correspond to one suction unit and work together may be referred to as a "valve mechanism assembly." A pair of a corresponding valve mechanism assembly 8 and a suction unit 2 may be referred to as a "suction unit." The row drive mechanism 32 integrally drives the row valve mechanisms 31 that belong to each row among the plurality of row valve mechanisms 31. For example, the row drive mechanism 32 for row A integrally drives the plurality of row valve mechanisms 31 that belong to row A. For example, the column drive mechanism 42 for column 1 integrally drives the plurality of column valve mechanisms 41 that belong to column 1.

[0039] For example, it is conceivable to drive M rows and N columns of valve mechanisms, each with an independent drive mechanism. In this case, M x N drive mechanisms (5 x 7 = 35 in the example of Figure 7) are required. In contrast, if multiple valve mechanisms are driven by one drive mechanism as described above, only M + N drive mechanisms (5 + 7 = 12 in the example of Figure 7) are required, reducing the required number.

[0040] The valve mechanism may be any mechanism capable of providing opening, closing, switching, or other functions to the flow path of the suction fluid, and is not limited to typical valve mechanisms known as "valves." The drive mechanism may be any mechanism capable of providing a physical function to the valve mechanism. There are no limitations on the configuration of the drive mechanism, and the drive mechanism may include an electromagnetic drive mechanism (e.g., a motor), a mechanism that converts rotational motion into linear motion (e.g., a ball nut), a hydraulic drive mechanism (hydraulic cylinder), or the like. In the example of FIG. 7, the drive mechanism provides linear motion in the directions indicated by arrows V and W to the moving bodies 36 and 46 of the valve mechanism.

[0041] A plurality of row valve mechanisms 31 and a plurality of column valve mechanisms 41 are provided corresponding to the plurality of suction sections 2, respectively, to form a suction unit 9. That is, one row valve mechanism 31 and one column valve mechanism 41 are provided corresponding to each of the suction sections 2. In the example of FIG. 7, 35 suction units 9 are provided corresponding to each row and each column.

[0042] Each suction unit 2 generates an attraction force F for suctioning a load when a suction fluid is supplied through a flow path formed by the row valve mechanism 31 and the column valve mechanism 41 corresponding to that suction unit 2. In particular, each suction unit 2 generates an attraction force F when the flow paths formed by the row valve mechanism 31 and the column valve mechanism 41 corresponding to that suction unit 2 communicate with each other.

[0043] 7, the picking device 10 has a row moving body 36 that moves in the row direction based on the drive of a row drive mechanism 32, and a column moving body 46 that moves in the column direction based on the drive of a column drive mechanism 42. A plurality of row passages 37 are formed in the row moving body 36 at predetermined intervals, and a plurality of column passages 47 are formed in the column moving body 46 at predetermined intervals.

[0044] The row moving bodies 36 and column moving bodies 46 are collectively referred to as "moving bodies," and the row passages 37 and column passages 47 are collectively referred to as "passages." The moving bodies are rod-shaped members that extend in the row or column direction and have a rectangular cross section. The passages are circular vertical holes that penetrate vertically. The arrangement pitch of the passages is the same as the arrangement pitch of the suction units 2.

[0045] 8 is a diagram schematically illustrating the operations of the adsorption unit 2, the row valve mechanism 31, and the column valve mechanism 41. The row valve mechanism 31 and the column valve mechanism 41 corresponding to the adsorption unit 2 form a flow path 84 for supplying the suction fluid to the adsorption unit 2.

[0046] In the state of FIG. 8(S1), the row passage 37 is shifted to the right with respect to the inlet portion 27 of the suction unit 2, and the column passage 47 is shifted upward in the plane of the paper with respect to the inlet portion 27 of the suction unit 2. In the state of FIG. 8(S2), the row passage 37 is at the same position as the inlet portion 27 of the suction unit 2 in a planar view, and the column passage 47 is shifted upward in the plane of the paper with respect to the inlet portion 27 of the suction unit 2. In the state of FIG. 8(S3), the row passage 37 is shifted to the right with respect to the inlet portion 27 of the suction unit 2, and the column passage 47 is at the same position as the inlet portion 27 of the suction unit 2 in a planar view. In the state of FIG. 8(S4), the row passage 37 is at the same position as the inlet portion 27 of the suction unit 2 in a planar view, and the column passage 47 is at the same position as the inlet portion 27 of the suction unit 2 in a planar view.

[0047] In states S1, S2, and S3, the row passages 37 and the column passages 47 are not connected to each other, and the suction unit 2 is not supplied with suction fluid, so it is in an OFF state in which it does not generate suction force F. In state S4, the row passages 37 and the column passages 47 are connected to each other, and a flow path 84 through which suction fluid is supplied is formed, so that the suction unit 2 is in an ON state in which it generates suction force F.

[0048] A state in which the operation of the row drive mechanism 32 for a certain row causes all row passages 37 for that row to be aligned with the inlets 27 of the suction unit 2 is referred to as the "on state" for that row, and a state in which they are not in the on state is referred to as the "off state." A state in which the operation of the column drive mechanism 42 for a certain column causes all column passages 47 for that column to be aligned with the inlets 27 of the suction unit 2 is referred to as the "on state" for that column, and a state in which they are not in the on state is referred to as the "off state." In this sense, the state in Figure 7 is one in which all rows and columns are in the "off state."

[0049] An example of selectively suctioning a load 12 will now be described. FIG. 9 shows a suction pattern P1 when the suction units 9 in rows A-D are turned on and the suction units 9 in columns 3-5 are turned on. The suction units 9 can generate a suction force F when the row and column to which the suction section 2 belongs are simultaneously turned on. Therefore, the picking device 10 in the example of FIG. 9 can generate a suction force F in the rectangular suction pattern P1 of A3-D5. As a result, the picking device 10 in the first example can selectively suction and lift the load 12(A) and the load 12(B) corresponding to the suction pattern P1.

[0050] (Second example) A second example of the picking device 10 will be described with reference to Figures 10 and 11. Figure 10 is a diagram schematically illustrating the operation of the valve mechanism of the second example. The second example differs from the first example in that the configurations of the valve mechanism and drive mechanism are different, but the other configurations are similar. In the picking device 10 of the second example, at least one of the corresponding row valve mechanism 31 and column valve mechanism 41 is configured to form a specific flow path that can supply suction fluid to the corresponding suction unit 2 regardless of the state of the other valve mechanism. As an example, the specific flow path is a flow path that bypasses the other valve mechanism. Such a valve mechanism can be configured to include a multi-way valve having three or more flow path inlets and outlets.

[0051] In the example of Fig. 10, the valve mechanisms 31, 41 employ three-way valves. The three-way valves may be of a type with a valve element that moves linearly or a type with a valve element that moves rotationally. In the example of Fig. 10, the valve mechanisms 31, 41 have ports A, B, and C as inlets and outlets, and the drive mechanism rotates the valve elements 34, 44 to switch the flow path of the suction fluid. The valve mechanisms 31, 41 have four states: closed, AC communication, AB communication, and BC communication, depending on the rotational position of the valve elements 34, 44.

[0052] Various mechanisms can be used to rotate the valve disc. In the example of Fig. 10, a mechanism is used in which a rotation shaft that rotates the valve disc is rotated by a drive mechanism. Note that the rotation shafts 35, 45 that drive the valve discs 34, 44 are perpendicular to each other, but in Fig. 10, the rotation shafts 35, 45 are shown in the same direction for ease of understanding.

[0053] The A port of the valve mechanism 31 is connected to a pipe 86 that supplies a suction fluid, the C port of the valve mechanism 31 is connected to the A port of the valve mechanism 41, and the C port of the valve mechanism 41 is connected to the inlet 27 of the adsorption unit 2. The B port of the valve mechanism 31 is connected to the adsorption unit 2 through a bypass flow path 39. The B port of the valve mechanism 41 is connected to the pipe 86 through a bypass flow path 49. Therefore, when the valve mechanism 31 is in the AB communication state, the pipe 86 is connected to the adsorption unit 2 regardless of the state of the valve mechanism 41, and when the valve mechanism 41 is in the BC communication state, the pipe 86 is connected to the adsorption unit 2 regardless of the state of the valve mechanism 31.

[0054] 10, both valve mechanisms 31 and 41 are closed and no suction fluid is supplied, so that the adsorption unit 2 is in an OFF state in which no suction force is generated. In S2 of Fig. 10, both valve mechanisms 31 and 41 are in AC communication, a flow path 84 is formed that supplies the suction fluid to the adsorption unit 2 through the valve mechanisms 31 and 41, and the adsorption unit 2 is in an ON state in which suction force is generated.

[0055] In S3 in Fig. 10, the valve mechanism 31 is in the AB communication state, and the valve mechanism 41 is in the closed state. In this state, a flow path 84 is formed that supplies the suction fluid from the bypass flow path 39 through the A and B ports of the valve mechanism 31 to the adsorption unit 2, causing the adsorption unit 2 to generate a suction force. In S4 in Fig. 10, the valve mechanism 31 is in the closed state, and the valve mechanism 41 is in the BC communication state. In this case, a flow path 84 is formed that supplies the suction fluid from the bypass flow path 49 through the B and C ports of the valve mechanism 41 to the adsorption unit 2, causing the adsorption unit 2 to generate a suction force. This state in which the suction fluid is supplied to the adsorption unit 2 regardless of the state of the other valve mechanism is called the bypass state.

[0056] In this way, in the second example, by using the row drive mechanism of any row to put the row valve mechanisms of the entire row into a bypass state, all of the suction units 2 in that row will generate suction force regardless of the state of the column valve mechanisms. Also, by using the column drive mechanism of any column to put the column valve mechanisms of the entire column into a bypass state, all of the suction units 2 in that column will generate suction force regardless of the state of the row valve mechanisms.

[0057] 11 is a plan view showing a second example of a picking device 10. The row drive mechanism 32 can switch all the valve mechanisms 31 in the row to which the row drive mechanism 32 belongs between the on state, the off state, and the bypass state by rotating the rotation shaft 35. The column drive mechanism 42 can switch all the valve mechanisms 41 in the column to which the column drive mechanism 42 belongs between the on state, the off state, and the bypass state by rotating the rotation shaft 45.

[0058] FIG. 11 shows a pickup pattern P2 in which rows A and B are turned on, rows C and E are turned off, columns 1 and 2 are bypassed, columns 3 and 5 are turned on, and columns 6 and 7 are turned off. By turning columns 1 and 2 into the bypass state, all of the pickup units 2 in columns 1 and 2 generate a pickup force F. This allows the picking device 10 in the example of FIG. 11 to generate a pickup force F with the L-shaped pickup pattern P2. In other words, the picking device 10 in the second example can generate a pickup force F with both a rectangular pickup pattern and an L-shaped pickup pattern. As a result, the picking device 10 in the second example can selectively pick up and lift loads 12(C) and 12(D) corresponding to the pickup pattern P2.

[0059] In the above description, an example has been shown in which a single vacuum source 88 supplies suction fluid to all of the adsorption units 2, but the suction fluid may be supplied by a plurality of vacuum sources 88.

[0060] 12 and 13 are diagrams showing schematic diagrams of supply patterns from a plurality of vacuum generation sources 88-1, 88-2, 88-3, and 88-4. Each of the plurality of vacuum generation sources 88 can supply to a block (hereinafter referred to as a "supply block") consisting of a group of adjacent adsorption units 2. FIG. 12 shows schematic diagrams of examples of supply blocks SB1, SB2, SB3, and SB4. Supplying to the supply blocks is preferable because it simplifies piping of the suction fluid.

[0061] For example, if some of the suction units 2 in the supply block SB1 do not adhere to the load 12 and a leak occurs there, the suction force of all of the suction units 2 in the supply block SB1 will decrease, causing the load 12 to become unstable. For this reason, some of the multiple suction units 2 that receive suction fluid from a single vacuum source 88 can be arranged discretely. Each of the multiple vacuum sources 88 supplies fluid to a discrete area (hereinafter referred to as a "discrete supply area") consisting of multiple suction units 2, including the discretely arranged suction units 2. Figure 13 shows an example of discrete supply areas DA1, DA2, DA3, and DA4. In this case, even if a leak occurs in some of the suction units 2 in the discrete supply area DA2, the load can still be attracted by other adjacent discrete supply areas DA1, DA3, and DA4, thereby stabilizing the load's holding state.

[0062] The features of the picking device 10 of the embodiment configured as above will be described. The picking device 10 of one aspect includes a plurality of suction units 2 arranged in a plurality of rows and a plurality of columns, each having its own row and column, a plurality of row valve mechanisms 31 and a plurality of column valve mechanisms 41 corresponding to the plurality of suction units 2, a row drive mechanism 32 that integrally drives the row valve mechanisms 31 belonging to each row among the plurality of row valve mechanisms 31, and a column drive mechanism 42 that integrally drives the column valve mechanisms 41 belonging to each column among the plurality of column valve mechanisms 41. Each suction unit 2 generates a suction force F for suctioning a load when suction fluid is supplied through a flow path formed by the row valve mechanism 31 and column valve mechanism 41 corresponding to that suction unit 2.

[0063] According to this configuration, the number of drive mechanisms required is calculated as the sum of the number of rows and the number of columns, so the number of drive mechanisms required can be reduced compared to when each suction unit 2 is driven by an independent drive mechanism. Because the number of drive mechanisms can be reduced, the workability of manufacturing can be improved accordingly.

[0064] In the picking device 10, each suction unit 2 generates an attraction force F when the flow paths formed by the row valve mechanism 31 and the column valve mechanism 41 corresponding to that suction unit 2 communicate with each other. In this case, the drive mechanism and the valve mechanism assembly can be simply configured.

[0065] The picking device 10 has a plurality of row passages 37 formed at predetermined intervals, a row moving body 36 that moves in the row direction based on the drive of a row drive mechanism 32, and a plurality of column passages 47 formed at predetermined intervals, a column moving body 46 that moves in the column direction based on the drive of a column drive mechanism 42. Each suction unit 2 generates an attraction force F when the row passage 37 and column passage 47 corresponding to that suction unit 2 communicate with each other. In this case, a valve mechanism assembly can be easily configured by the row moving body and the column moving body.

[0066] In the picking device 10, at least one of the corresponding row valve mechanisms 31 and column valve mechanisms 41 can form specific flow paths 39, 49 that can supply suction fluid to the corresponding suction unit 2 regardless of the state of the other valve mechanism. In this case, suction force can be generated by a rectangular suction pattern and an L-shaped suction pattern.

[0067] In the picking device 10, the specific flow paths 39 and 49 are flow paths that bypass the other valve mechanism. In this case, the valve mechanism assembly can be easily configured.

[0068] In the picking device 10, one of the valve mechanisms includes a multi-way valve having three or more flow path inlets and outlets. In this case, a bypass flow path can be easily configured.

[0069] In the picking device 10, the row drive mechanism 32 and the column drive mechanism 42 include an electromagnetic drive mechanism, a mechanism that converts rotary motion into linear motion, or a hydraulic drive mechanism to integrally drive the valve mechanisms 31 and 41. In this case, the configuration is simplified and the workability of manufacturing can be improved.

[0070] The above describes in detail exemplary embodiments of the present invention. The above-described embodiments merely illustrate specific examples of implementing the present invention. The content of the embodiments does not limit the technical scope of the present invention, and many design modifications, such as changes, additions, and deletions of components, are possible within the scope of the inventive concept defined in the claims. In the above-described embodiments, content that allows such design modifications is described using notations such as "in the embodiment" or "in the embodiment," but this does not mean that design modifications are not permitted in content that does not have such notations. Furthermore, hatching in the drawings does not limit the material of the hatched object.

[0071] (Variation) The following describes the modified examples. In the drawings and descriptions of the modified examples, the same or equivalent components and members as those in the embodiment are denoted by the same reference numerals. Explanations that overlap with the embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the embodiment.

[0072] In the description of the embodiment, an example was shown in which the mechanism for rotating the valve disc rotates the rotary shaft of the valve disc, but the present invention is not limited to this. For example, as the mechanism for rotating the valve disc, a configuration can be adopted in which a lever for rotating the valve disc is provided, this lever is linked to a moving body (rod-shaped body), and this moving body is moved forward and backward by a drive mechanism.

[0073] In the description of the embodiment, an example was shown in which the picking device 10 is composed only of pickup units arranged in a matrix, but the present invention is not limited to this. For example, another pickup unit can be arranged between the pickup units arranged in a matrix. For example, a first pickup unit group arranged in a matrix and a second pickup unit group arranged in a different matrix and shifted diagonally by half a pitch in the surface direction can be arranged on the same surface.

[0074] In the description of the embodiment, an example was shown in which the picking device 10 is applied to an automated warehouse, but the present invention is not limited to this. For example, the picking device of the present invention can also be applied to depalletizing devices and palletizing devices that use arm robots in places other than automated warehouses.

[0075] In the description of the embodiment, an example has been shown in which the picking space 58 is provided integrally with the shelf 5, but the present invention is not limited to this, and the picking space 58 may be provided outside the shelf 5. In this case, the load 12 may be transported between the shelf 5 and the picking space 58 by a transport mechanism such as a forklift.

[0076] In the description of the embodiment, an example has been shown in which the picking space 58 is provided on the same plane as the shelf 5, but the present invention is not limited to this, and the picking space 58 may be provided on a different plane from the shelf 5. Also, a part of the picking device 10 may be provided on the same plane as the shelf 5, and another part may protrude outside the planar range of the shelf 5.

[0077] In the description of the embodiment, an example was shown in which the second moving means 75 and the third moving means 76 are provided separately, but this is not limiting. As the second moving means, a moving means (for example, a stacker crane) capable of moving the load 12 in the row and column directions may be used. In this case, the stacker crane may be one that cannot mount the first moving means, or one that can mount the first moving means together with the load 12.

[0078] In the description of the embodiment, an example has been shown in which a single loading / unloading section 77 is provided for all shelves and the third moving means 76 is connected to the loading / unloading section 77, but this is not limiting. Each shelf may be provided with its own loading / unloading section, and goods to be loaded and unloaded may be loaded into and unloaded from the loading / unloading section of each shelf by a forklift. Also, the loading / unloading section may be divided into an loading section and an unloading section.

[0079] In the description of the embodiment, an example was shown in which the picking device 10 is supported from the ceiling side by a gantry-type crane mechanism 60, but the present invention is not limited to this. For example, the picking device may be supported by an articulated robot or a support means with a different configuration. Furthermore, the picking device may be attached to a side wall on the side and supported from the side.

[0080] Each of these modifications provides the same functions and effects as the embodiment.

[0081] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the combined embodiments and modifications. [Explanation of symbols]

[0082] 2 suction unit, 10 picking device, 12 load, 31 row valve mechanism, 32 row drive mechanism, 36 row moving body, 37 row passage, 39, 49 specific flow path (bypass flow path), 41 row valve mechanism, 42 row drive mechanism, 46 row moving body, 47 row passage, 100 automated warehouse system.

Claims

1. a plurality of suction units arranged in a plurality of rows and a plurality of columns, each having a corresponding row and column; a plurality of row valve mechanisms and a plurality of column valve mechanisms corresponding to the plurality of suction units, respectively; a row drive mechanism that integrally controls the row valve mechanisms that belong to each row among the plurality of row valve mechanisms; a column drive mechanism that integrally controls the column valve mechanisms that belong to each column among the plurality of column valve mechanisms; Equipped with The row valve mechanism has a row moving body having a plurality of row passages formed at predetermined intervals, The column valve mechanism has a column moving body having a plurality of column passages formed at predetermined intervals, each of the suction units generates an attraction force for attracting a load when a suction fluid is supplied by communicating the row passage and the column passage, which are flow paths formed by the row valve mechanism and the column valve mechanism corresponding to the suction unit, with each other; Picking device.

2. A plurality of suction units arranged in a plurality of rows and a plurality of columns, each having a corresponding row and column; a plurality of row valve mechanisms and a plurality of column valve mechanisms corresponding to the plurality of suction units, respectively; a row drive mechanism that integrally controls the row valve mechanisms that belong to each row among the plurality of row valve mechanisms; a column drive mechanism that integrally controls the column valve mechanisms that belong to each column among the plurality of column valve mechanisms; Equipped with a row moving body having a plurality of row passages formed at predetermined intervals and moving in a row direction under the control of the row driving mechanism; a row moving body that is formed with a plurality of row passages at predetermined intervals and moves in the row direction under the control of the row driving mechanism; and A picking device in which each of the suction sections generates a suction force for suctioning an article when the row passage and the column passage corresponding to the suction section communicate with each other.

3. The picking device according to claim 1 or 2, wherein the row drive mechanism and the column drive mechanism include an electromagnetic drive mechanism, a mechanism for converting rotary motion into linear motion, or a hydraulic drive mechanism for integrally driving the valve mechanisms.

4. An automated warehouse system comprising: a shelf having a storage section for storing goods; and a picking device for moving goods in the storage section, The picking device is a plurality of suction units arranged in a plurality of rows and a plurality of columns, each having a corresponding row and column; a plurality of row valve mechanisms and a plurality of column valve mechanisms corresponding to the plurality of suction units, respectively; a row drive mechanism that integrally controls the row valve mechanisms that belong to each row among the plurality of row valve mechanisms; a column drive mechanism that integrally controls the column valve mechanisms that belong to each column among the plurality of column valve mechanisms; Equipped with the row valve mechanism has a row moving body having a plurality of row passages formed at predetermined intervals; the column valve mechanism has a column moving body having a plurality of column passages formed at predetermined intervals; each of the suction units generates an attraction force for attracting a load when a suction fluid is supplied by communicating the row passage and the column passage, which are flow paths formed by the row valve mechanism and the column valve mechanism corresponding to the suction unit, with each other; Automated warehouse system.

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