JP3128358B2 - Automatic picking method and apparatus for stacking sheet packages - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic picking method and apparatus for stacking sheet packages. More specifically, a flexible sheet-like package of paper, film, fabric, etc., stacked on pallets stored in a rack warehouse or the like in a variety of types, is automatically set to an arbitrary type and quantity for each package. The present invention relates to a method and an apparatus for automatically picking stacked sheet-like packages, which can be picked, sorted according to shipping destination, loaded on a pallet, and stacked.

[0002]

2. Description of the Related Art In the present invention, a paper package will be described as a typical example. In Japan, 1000 sheets of plain finished paper,
In paperboard, 100 sheets are called one ream, which is the basic unit of transaction. Normal format reams shipped from manufacturers usually have several tens of reams of the same product type on a single pallet with 800 to 1200 kg (1,500 in height).
(About 1,800 mm), stacked and stored in a warehouse, and sequentially shipped according to a shipping request from a customer. It is usual to avoid long-term stock in the warehouse of the customer at the customer, such as a store, and therefore, a large number of varieties are divided into small lots and ordered. Therefore, the manufacturer has to ship various types of products mixed on one pallet, and in an extreme case, picks various types of products by one ream manually.

[0003]

In a flat-loading warehouse, a large number of loads are usually loaded in close contact with each other. Therefore, in order to pick a desired flat-format ream, the surrounding load is once taken out and a space for a forklift to enter. Need to be taken.
Therefore, there is a problem that a lot of loads come into contact with each other during this operation, causing damage to the load, and that the operation takes a long time.

[0004] In an automatic rack warehouse, a pallet filled with a plain ream is picked out once for picking, the desired ream is picked by human power, and the rest is re-entered, which greatly increases the operating rate of the stacker crane. There is a possibility that shipment of a predetermined amount may not be in time. For this reason, it is necessary to reduce the number of shelves facing the cranes to 1/3 or less, to greatly increase the number of cranes per number of shelves, and to require a large space for installing a picking line, Human power has also increased significantly, and the benefits of automation have been diminished.

[0005] For general-purpose paper such as high-quality paper, there are few varieties and small lots and many kinds of varieties are ordered with extremely few fractions.
On the other hand, there are many cases of ordering one brand of ream for each brand, such as fancy paper or special paper, by color, basis weight, or pattern. In a general multi-storey flat storage warehouse, general-purpose paper has a storage capacity of 4 tons per tsubo, whereas fancy paper and specialty paper require more space in the forklift entrance aisle, and half of that can be stored. It is difficult, and damage to the cargo occurs frequently. Further, even in an automatic rack warehouse, it is difficult to operate economically with fancy paper or special paper, the number of shelves is relatively small, and on a small scale, twin-type stacker cranes are used only in part.

An object of the present invention is to solve the problems described above. That is, the present invention overcomes the technical difficulties described above and stores a plurality of dozens of reams of the same product type in an automatic rack warehouse. In accordance with the input, the required number of varieties of the required brands are automatically picked for each ream one by one, and a method and an apparatus for arranging the varieties on a pallet for each shipping customer, stacking the pallets, and discharging the goods are obtained. That is the task.

[0007]

DETAILED DESCRIPTION OF THE INVENTION The present invention will be described with reference to the drawings illustrated in FIGS. The present invention is a method of automatically picking an arbitrary product type and quantity from an arbitrary stacked sheet-like package stored in a rack shelf, one by one, and stacking the packages, which has a traveling function. Mechanism (A)
A conveyor (D) comprising a suction pad having a suction function and a ream grip having a gripping and retraction function, and a conveyor and a ream stopper having one or more dispensing cutouts having a retraction and stacking function on a substantially rectangular parallelepiped body having (E) and an automatic picking mechanism (D + E) of a substantially rectangular parallelepiped shape integrated in the upper and lower stages, and the automatic picking mechanism is vertically movably suspended by a mechanism (B) by a lifting drive device having a lifting and lowering inching function. The telescopic fork (6) is mounted on the lifting frame (2) via a lifting holding frame, and is further moved forward and backward by a fork driving device (7) via a lifting device (8) on the lifting frame (2). ) Having a pallet pull-in function, which is vertically movable. The empty pallet is lifted and pulled in by the draw-in mechanism, and the sheet-like packages stacked on the rack shelf are sucked and gripped one by one by the suction pad and the ream grip, and are also fixed in position by the conveyor and the ream stopper. A method of automatically picking up stacked sheet-like packages, characterized by dispensing and stacking on the empty pallet while aligning the sheets.

[0008] Further, the present invention provides a method of manufacturing a package, comprising:
This is a method of automatically picking an arbitrary product type and quantity and stacking it on a substantially rectangular frame having a mechanism (A) having a traveling function, and having a suction pad having a suction function and a gripping and retracting function. An automatic picking mechanism of a substantially rectangular parallelepiped in which a mechanism (D) using a ream grip and a mechanism (E) using a ream stopper and a conveyor having one or more dispensing notches having a pull-in and stacking function are integrated in upper and lower stages. D + E), the automatic picking mechanism can be moved up and down by a mechanism (B1 ′) having an elevating function, and another mechanism (B
A mechanism (C) having a pallet pull-in function consisting of a telescopic fork (6) that moves forward and backward by a fork driving device (7) is installed on an elevating frame (2) suspended vertically so as to be able to move up and down by 2 '), and a rack shelf is provided. The above-mentioned sheet-like package stacked on top of one another is separated by the suction pad and the ream grip into one.
Each of the automatic picking mechanisms (D + E) and the mechanism (C) having a pallet pull-in function are each independently provided with a lifting / lowering function.
It is lowered by a height ratio of approximately 1: 2 of the thickness of the package, and is dispensed while being aligned at a fixed position by the mechanism (E) including the conveyor and the ream stopper, and is put on the empty pallet pulled in by the mechanism (C) having the pallet retraction function. An automatic picking method for stacked sheet-like packages, characterized by stacking one package at a time.

Further, the present invention provides a method for manufacturing a package comprising:
A device that automatically picks an arbitrary product type and quantity and stacks it on a substantially rectangular frame-shaped frame having a mechanism (A) having a traveling function that enables traveling between upper and lower tracks by a traveling drive device. A suction pad having a suction function connected to a vacuum source and an expansion / contraction driving device, a mechanism (D) using a reaming grip having a gripping / pulling function in cooperation with an expansion / contraction driving / oscillating device, and at least one package having a drawing / stacking function The conveyor having a dispensing notch and a mechanism (E) using a ream stopper are an automatic picking mechanism (D + E) of a substantially rectangular parallelepiped integrated in upper and lower stages, and the automatic picking mechanism is a lifting / lowering drive device having a lifting / lowering inching function. And a lifting frame (2) suspended vertically by the mechanism (B). And a mechanism (C) having a pallet retraction function comprising a telescopic fork (6) that moves forward and backward by a fork driving device (7) via a lifting device (8) via a lifting device (8). The empty pallet is lifted and pulled in, and the sheet-like packages stacked on the rack shelf are sucked and gripped one by one by the suction pad and the ream grip, and are brought into position by the conveyor and the ream stopper. An automatic picking device for stacked sheet-like packages, characterized in that payout is stacked on a pallet.

[0010] Further, the present invention provides a method of manufacturing a package comprising:
A device for automatically picking and arbitrarily picking an arbitrary product type and quantity, and having a mechanism (A) having a traveling function, a mechanism (B) having a lifting / lowering inching function, and a mechanism (C) having a pallet retraction function. On a stacker crane having a mechanism in which each of the three members is connected, a suction pad having a suction function connected to a vacuum source and a telescopic drive device, and a ream grip mechanism having a gripping and retracting function cooperating with a telescopic drive and rocking device. (D), a conveyor having one or more dispensing cut-out portions having a draw-in and stacking function and a mechanism (E) formed by a ream stopper, and a substantially rectangular solid automatic picking device (D + E) integrated in upper and lower stages; The automatic picking mechanism is vertically movably suspended by a mechanism (B) using a lifting drive having a lifting inching function. An elevating fork (6) is installed on the elevating frame (2) via an elevating holding frame, and further moves forward and backward by a fork driving device (7) via a lifting device (8) on the elevating frame. A mechanism (C) having a pallet retraction function is suspended,
The empty pallet is lifted and pulled by the pallet pull-in mechanism, and the sheet-like packages stacked on the rack shelf are sucked and pulled one by one by the suction pad and the ream grip, and are fixed in position by the conveyor and the ream stopper. An automatic picking apparatus for stacking sheet-like packages, characterized in that the sheets are dispensed and stacked on the empty pallet while being aligned.

[0011] Further, the present invention provides a method of manufacturing a package comprising:
A device that automatically picks an arbitrary product type and quantity and stacks it on a substantially rectangular frame-shaped frame having a mechanism (A) having a traveling function that enables traveling between upper and lower tracks by a traveling drive device. A suction pad having a suction function connected to a vacuum source and an expansion / contraction driving device, a mechanism (D) using a reaming grip having a gripping / pulling function in cooperation with an expansion / contraction driving / oscillating device, and at least one package having a drawing / stacking function A mechanism (B1 ') having an automatic picking mechanism (B1') in which a conveyor having a dispensing notch and a mechanism (E) using a reaming stopper are integrated into an upper and lower stage as a substantially rectangular parallelepiped automatic picking mechanism (D + E). On a lifting frame (2) suspended vertically by another mechanism (B2 ') having a lifting function. A mechanism (C) having a pallet pull-in function including a telescopic fork (6) that moves forward and backward by a driving device (7) is installed, and the sheet-like packages stacked on a rack shelf are separated by the suction pad and the ream grip. Each of the automatic picking mechanisms (D + E) and the mechanism (C) having a pallet pull-in function have a lifting / lowering function, and each of the automatic picking mechanisms (D + E) and the mechanism having a pallet pull-in function (C) have a height of approximately 1: 2 of one package thickness. Lowering by ratio, paying out while aligning to the fixed position by the mechanism (E) by the conveyor and the ream stopper, and stacking one package at a time on the empty pallet pulled in by the mechanism (C) having the pallet retraction function. This is an automatic picking device for stacked sheet-like packages.

Further, according to the present invention, as the mechanism (B1 ') having an elevating function of the automatic picking mechanism, an automatic picking mechanism comprising an elevating chain and a chain wheel driven by an automatic picking device elevating drive device (37').
(D + E) is connected so as to be able to move up and down, and as another mechanism (B2 ') having the above-mentioned lifting function, the lifting frame (2) is moved by a lifting chain and a chain wheel driven by a lifting frame lifting drive (37). The automatic picking apparatus for stacked sheet-like packages according to claim 5, wherein the apparatus is connected so as to be able to move up and down.

Further, the present invention provides a mechanism (B1 ') having a function of raising and lowering the automatic picking mechanism, wherein the automatic picking device is lifted and lowered along a frame having a rectangular frame-like structure having the mechanism (A) having a running function. Driving device (3
An automatic picking mechanism (D + E) is connected by a lifting chain and a chain wheel driven by 7 ') so as to be able to move up and down, and a mechanism (B2') having the other lifting function.
The lifting frame (2) is suspended under an automatic picking mechanism (D + E) by a lifting chain and a chain wheel driven by a lifting frame lifting drive device (46). 6. The automatic picking device for stacked sheet-like packages according to claim 5.

Further, according to the present invention, a positioning sensor is provided in the automatic picking mechanism, the height of the top of the sheet-like packages being stacked is detected by the sensor, and a mechanism (B1 ') having an elevating function of the automatic picking mechanism is provided. )When,
8. The automatic picking device for stacked sheet-like packages according to claim 5, wherein the device is stopped at a designated position by the other mechanism having a lifting function (B2 ′).

FIG. 1 is an overall side view of an example of an automatic picking apparatus for stacked sheet-like packages according to the present invention, and FIG. 2 is a mechanism D having a suction gripping / pulling function and a mechanism having a pulling / stacking function. E is an enlarged front view of an example of the automatic picking device E, FIG. 3 is an overall side view of an example of an automatic picking device for stacked sheet-like packages, and FIG. 4 is an automatic picking device of FIG. And X
FIG. 5 is a bird's-eye view looking upward from below in the direction of arrow X;
FIG. 4 is an overall front view of another example of the automatic picking device for stacked sheet-like packages.

In FIG. 1, a mechanism A having a traveling function includes an upper rail 38 and a lower rail 3 above and below a pair of vertical frames 1 before and after a stacker crane.
3 is supported by an upper guide roller 39 and a lower guide roller 34, respectively, and the traveling wheel 35 is driven by a traveling driving device 36, and can be stopped at a designated position by a positioning sensor such as an infrared light emitting / photoelectric tube light receiving device.

In the mechanism B having the lifting / lowering inching function,
A pair of vertical frames 1 before and after the stacker crane are connected to each other up and down to form a single rectangular structure, and the upper and lower sides of the elevating frame 2 are vertically looped by an endless elevating chain 47. 1
Along with the lifting / lowering frame lifting / lowering driving device 37 via a chain wheel 48, and can be stopped at a designated position by a positioning sensor such as an infrared light emitting / photoelectric tube receiving device.

The lifting and lowering frame (1) 3 integrates an automatic picking device comprising a lifting frame 2 and a mechanism D having a suction gripping / pulling function installed thereon and a mechanism E having a pulling / stacking function. In the case of simultaneously raising and lowering in a synchronized manner, the sheet-like package 10 sucked and grasped and pulled is stacked via the stacker conveyor 29 on the top of the sheet-like package in the middle of stacking the pallets 9 on the telescopic fork device 6 thereunder. The height of the top is detected by a positioning sensor such as infrared light emission / photoelectric tube reception, and the lifting device 8 having an independent lifting and lowering inching function is driven to be able to stop at a designated position.

The lifting device 8 is moved up and down by a lifting drive device such as a hydraulic cylinder by two or more stages of lifting arms.

Unlike the above-described method, the lifting device 8 is omitted, and the lifting frame 2 and a mechanism D installed on the upper portion thereof are omitted.
In order to raise and lower the automatic picking device consisting of E and E separately, as shown in FIG. 5, the upper and lower sides of the picking frame 12 are connected by a lifting chain 47 ′ separately from the lifting and lowering inching of the lifting frame to form a loop. The front and rear are connected to another automatic picking device elevating driving device 37 'via the elevating chain wheel 48' along the vertical frame 1 and driven, and designated by a positioning sensor such as an infrared light emitting / phototube receiving device. Stop at the position.

As another example of the lifting / lowering inching function in which the lifting device 8 is omitted, the lifting of the picking frame 12 is performed by the lifting / lowering driving device 37 ′.
And suspended at four corners of a lifting platform 49 by a lifting chain 44 as shown in FIGS. 3 and 5, and directly suspended by a chain wheel 45 provided on the upper part of the picking frame 12, thereby raising and lowering the lifting frame. The driving device 46 is driven to move up and down independently of the automatic picking device, and can be stopped at a designated position by a positioning sensor such as infrared light emission / photoelectric tube light reception.

In the mechanism C having a pallet retraction function, when the lifting device 8 is used on the elevating frame 2, the telescopic fork device 6 is set directly above the lifting device 8, and is omitted in the drawing. The two or more forks are connected to and driven by a plurality of fork chains on a loop and a fork driving device 7 via upper, middle and lower via a chain wheel, respectively. Stop at the left end, middle point, right end and designated position.

A mechanism D having a suction gripping and retracting function
Then, when the lifting device 8 is used on the lifting frame 2, the picking frame 12 and the lifting frame 2 are directly connected and integrated by the lifting holding frame 3. When the lifting device 8 is omitted, the lifting device 8 and the lifting device 8 are separated from each other to provide a separate lifting / lowering function. As shown in FIGS. 2 and 4, a picking telescopic frame (1) traveling drive device 14 is installed in the center of the picking frame 12, and two picking telescopic frames (1) 13 are provided before and after the picking telescopic frame (1). Picking telescopic frame (1) on the traveling support roller 15 connected to the
4 and connected to the drive ends, respectively, and can be stopped at a left end, an intermediate point, a right end and a designated position by a positioning sensor such as an infrared light emission / photoelectric tube reception or proximity switch.

Under the picking telescopic frame (1) 13, two picking telescopic frames (2) 16
A driving roller 18 is connected to both ends, and a picking telescopic frame (2) is connected to the driving end of the driving device 17 for driving, and a positioning sensor such as an infrared light emitting / photoelectric tube light receiving or proximity switch is connected. To stop at the left and right picking start, picking completion point, intermediate point, and designated position.

Two front and rear picking telescopic frames (2)
16, a suction pad 19 is provided at a symmetrical position in front and rear.
Is directly connected to the pad expansion / contraction driving device 20, the traveling roller 23 is connected to the center portion side, the traveling support rail 22 installed below the picking extension / contraction frame (2) 16, and the pad traveling driving device is attached to both ends. Driven by connecting to the drive end of No. 21 and a positioning sensor such as an infrared light emission / phototube reception or proximity switch. The left picking completion point, the same start point, the middle point, the right picking completion point, the same start point and the designated position Can be stopped at The up and down movement of the suction pad 19, the vacuum operation and the release operation drive the pad expansion / contraction drive device 20 and the vacuum ejector (not shown in the drawing) at the designated positions, respectively, by the interaction of signals operating in cooperation with each other. Do it by doing.

The front and rear two picking frames (2) 16
Below, at a slightly eccentric position of the grip turning table 27 directly connected to the grip turning device 28 at the front and rear symmetric positions,
The ream grip 24 is directly connected to the grip expansion / contraction drive device 25 and is rotatably installed.
Thereby, the ream grip 24 can release the grip of the sheet-shaped package 10 upward in the pulling-in direction. The turning of the ream grip 24 can be stopped at specified positions, such as leftward and rightward, by a positioning sensor such as a proximity switch, depending on the picking direction of the left and right, and opening and closing of the ream grip 24 is coordinated with each signal that operates in cooperation. By
The operation is performed by driving the grip expansion / contraction drive device 25 at the designated positions.

The fixed lower plate of the ream grip 24 is provided with an outlet for compressed air to provide a stack of sheet-like packages 10.
It is preferable to reduce the friction between closely packed packages by injecting compressed air between the package and the lower package when gripping and pulling the package. Further, the ream grip 24 may be pushed up and down by the grip swing drive device 26. Alternatively, a small-diameter roll may be provided with a step at the entrance of the stacker conveyor 29, and the sheet-like package may be pulled in while being slightly lifted to reduce the friction between the package.

In the mechanism E having a retracting and stacking function, the stacker conveyor 29 is installed inside the both side surfaces of the picking frame 12 via a chain wheel 30 in a loop shape. It can be driven reversibly in both directions. On the other hand, a centering device 42 is installed via a centering drive device 43 on both sides parallel to the operating direction on the top surface of the stacker conveyor 29 and on both sides of the picking frame 12.

Further, on the top surface of the stacker conveyor 29,
A reaming stopper 31 is provided below the picking frame 12 via a stopper turning device 32 at the center in the left-right direction of both ends perpendicular to the operating direction. In this case, one set is installed on each pallet, and it is made to fall from the cutout portion of the stacker conveyor 29 so that it can be loaded on the pallet 9. The mechanism A having a traveling function can be run while suspended from the upper part of the overhead crane system, or for products with a small number of warehouses, the shelves can be stored as moving shelves to save space. The picking work may be performed by moving only at the time of loading and unloading to take up a running space.

The mechanism A having a traveling function is fixed without running on the upper and lower rails by a driving device shown in the drawing as an example, and is stacked on a shelf of a fixed rack type warehouse shown in the drawing. The sheet-like package may be run.

[0031]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in more detail with reference to FIGS. FIG. 1 shows a device corresponding to the first embodiment, and has a lifting device 8 as a mechanism having a lifting / lowering inching function. FIG. 2 shows a device corresponding to the first embodiment. In the second and third embodiments, the lifting device 8 is not provided, and the lifting platform 49 is directly connected under the telescopic fork device 6. FIG. 3 shows a device corresponding to the second and third embodiments. In the second embodiment, a device B1 'composed of an elevating chain 47' and an automatic picking device elevating drive device 37 ', an elevating chain 44 and an elevating frame elevating drive device 46 are used. B2 '. In the third embodiment, the lifting chain 47 '
B comprising the automatic picking device lifting drive 37 '
1 'and B2' composed of the lifting chain 47 and the lifting frame lifting drive 37. In FIG. 4, the lifting chain 47 is the case of the first embodiment. In the second embodiment, this is 47 ′. In the third embodiment, two more lifting chains 47 are provided.
Increase. FIG. 5 shows a device corresponding to the second embodiment. In the third embodiment, as shown in FIG. 3, the number of the lifting chains 47 and the lifting frame lifting drive 37 are increased, and the lifting chains 44 and the lifting frame lifting drive 46 become unnecessary. .

[0032]Example 1  FIGS. 1 to 4 are examples for implementing the method of the present invention.
However, in the mechanism A having a traveling function, the stacker clay
Vertical frame 1 that is one set before and after
The upper and lower sides are connected at right angles to form a rectangular integrated frame.
Double-row racks connected back to back
In the gap between the shelves 11 of the warehouse, upper and lower rails 38
The upper guide roller 39 is attached to the lower rail 33 respectively.
And the lower guide roller 34 to support the lower guide roller.
The driving wheel 35 is driven by the driving
It can move and move at a fixed interval with the rack 11
Specified by positioning sensor such as infrared emission / phototube reception
Stop at the position.

In the mechanism B having the lifting / lowering inching function,
In the method of using a lifting device 8, a vertical frame 1, which is one set each before and after the stacker crane, is connected to the upper and lower sides at right angles to form a rectangular integrated frame structure, and as shown in FIG. Frame 2
A pair of right and left lifting holding frames (1) 3 sliding on the vertical frame 1 with the lifting support rollers 5 at both ends in the front-rear direction of FIG.
Thus, a mechanism D having a suction gripping / pulling function installed on the upper part thereof and an automatic picking device including a mechanism E having a pulling / stacking function are integrated, and both ends are attached to upper and lower ends of the lifting / lowering holding frame (1) 3 by hanging metal fittings. The lifting / lowering chain 47 is fixed in a rectangular integrated frame, and the tension can be adjusted via a chain wheel 48.
The lifting frame lifting drive device 37 is provided in pairs in a loop.
The height of the sheet-like package 10 is detected by a positioning sensor such as infrared light emission / photoelectric tube light reception, and can be stopped at an accurate designated position.

On the lifting frame 2, a pair of left and right lifting holding frames (2) 4 at both ends in the front-rear direction are provided so as to reinforce the lifting / lowering holding frame (1) 3.
There is provided a lifting device 8 having a lifting arm of more than one step and capable of moving up and down by a lifting drive device such as a hydraulic cylinder.

When one or more stacked packaged sheets 10 are picked on the same shelf 11 of a rack warehouse, the automatic picking device is operated by an elevating frame elevating driving device 37 every time when it is pulled in and stacked. To the height of about one package, and the top of the stacked sheet-like package is driven by the lifting device 8 to automatically lower the height of about two packages, so that the height of each package is automatically reduced. Outside light emission /
A positioning sensor such as a phototube light receiver can be stopped based on the top surface of the target sheet-shaped package 10.

When moving to the next shelf after picking on the same shelf is completed, the traveling drive unit 36 and the lifting / lowering frame elevation drive unit 37 are driven to reach the next shelf position designated by the computer. Move to start the next picking operation. Normally, when sheet-like packages of various brands are loaded on a pallet to a height of about 1.5 m inside and outside of the same pallet, the work is completed and the vehicle travels to the exit to exit the warehouse.

In the mechanism C having a pallet retraction function, the telescopic fork device 6 is installed on the lifting frame 8 when it is used, and directly on the telescopic fork device 6 when it is not used. Usually, in the telescopic fork device 6, the upper, lower, upper and lower fork plates, which are omitted in the drawing, are supported by the upper, lower, left and right telescopic support rollers so as to be extendable and contractible without contact. Each of the fork plates has its terminal, and in the middle, one of the three telescopic chains connected via a chain wheel is driven by a fork driving device 7 to move the three fork plates from the bottom to the middle and top. In order to be able to stop at the left end, the middle point, the right end and the designated position by a positioning sensor such as infrared emission / photoelectric tube reception which expands and contracts sequentially to the left or right. In the automatic picking operation, the empty pallet 9 is pulled from the rack shelf prior to picking, and when no picking is required at all, the stacked sheet-like package 1 fully loaded on the pallet 9
0 is pulled in and traveled to the exit and exits.

A mechanism D having a suction gripping / pulling-in function
Then, an automatic picking device composed of a vertically holding frame (1) 3 and a picking frame 12 having a substantially cubic shape centered on the vertical frame 1 is provided via a vertically supporting roller 5 fixed to the holding frame (1) 3 in front, rear, left and right directions. The vertical frame 1 is slidably mounted on the vertical frame 1 so that it can be freely moved up and down, and the mechanism B having the above-described vertical inching function can be stopped at a level conforming to the top surface of the sheet-like package 10 requiring picking. On the lower surface of the top of the picking frame 12, a fixed side of the picking telescopic frame (1) traveling drive unit 14 is mounted at the center thereof in parallel with the direction in which the load is drawn in, and two picking units are mounted between both sides. The telescopic frame (1) 13 is inserted, connected to the drive end of the traveling drive device at the center, and slidably installed at both ends with the traveling support rollers 15 mounted on both upper surfaces of the picking frame 12. According to the instruction from the computer terminal, the shelf 1 of the rack warehouse at the designated address of the stacker crane body
While traveling to 1 and while ascending and descending to the designated height, the picking telescopic frame (1) drives the traveling drive unit 14 to detect the position of the left end and the middle point with a positioning sensor such as an infrared light emission / photoelectric tube reception or proximity switch. And stop at the right end and the designated position.

Under the picking telescopic frame (1) 13, two picking telescopic frames (2) 16 are arranged in front and back of the picking telescopic frame (1) 13 in the front and rear direction in parallel with the direction in which the load is drawn. With its fixed side down,
The picking telescopic frame (2) is connected to the driving end of the traveling driving device 17, and the running rollers 18 are connected at both ends to enable sliding in the groove type rails provided inside the both ends of the picking telescopic frame (1) 13. And a position sensor such as an infrared light emitting / photoelectric tube light receiving device or a proximity switch, which can be stopped at the left and right picking start points, picking completion points, intermediate points, and designated positions.

Under the picking telescopic frame (2) 16, two parallel front and rear ends are provided in parallel with the direction in which the load is drawn.
The suction pad 19 of the table is connected on both sides to the driving end of the pad traveling drive device 21 having its fixed side mounted below the picking telescopic frame (2) 16 and the traveling roller 23 is connected on the center side. The inside of the groove-shaped traveling support rail 22 provided on the lower side of the picking telescopic frame (2) 16 is slidable, and a positioning sensor such as an infrared light emitting / photoelectric tube light receiving or proximity switch is used. After confirming the part, it is possible to stop at the left picking start point, the same completion point, the middle point, the right picking completion point, the same start point and the designated position.

In accordance with an instruction from the computer terminal, the suction pad 19 which has previously traveled to the foremost portion of the picking extendable frame (2) 16 is placed on the upper part of the sheet-like package 10 requiring picking on the shelf 11 of the rack warehouse. When the picking start point is reached, as shown in FIG. 4, the sheet-like package 10 is temporarily stopped at a corner picking start point of the sheet-like package 10 (indicated by a dotted line to indicate the outer edge of the leading end) (the ream grip 24 is in front of the picking start point). (Stopped), the pad expansion / contraction drive device 20 directly connected to the suction pad 19 and installed on the top thereof is driven, and the suction pad 19 is lowered to reach the top of the sheet-like package 10, which is omitted in the drawing. The vacuum ejector is operated to perform a vacuum operation, the solenoid valve is opened, and the suction pad 19 is opened.
The inside is decompressed to adsorb the sheet-like package, and then the pad expansion / contraction driving device 20 is reversely operated by the solenoid valve to be raised,
The sheet-shaped package 10 is stopped at a position where the lower end of the ream grip 24 can enter sufficiently below the lower end.

The ream grip 24 is used for the sheet-like package 10
As well as the suction pad 19
Is the same distance as the approach distance of the ream grip 24 in the opposite direction,
The pad traveling drive device 21 is driven to reversely travel and stop (the picking completion point). Picking telescopic frame (2)
16 and other pad running drive devices 2 installed on this
1. The stop position of the picking start point of the ream grip 24 and the like is indicated by a chain line, and the picking completion point is indicated by a solid line.
Shown in

Under the picking telescopic frame (2) 16, a ream grip 24 is provided at a symmetrical position on the front and rear center portions in parallel with the direction in which the load is drawn in. Swivel device 28
It is installed so as to be able to turn left and right to pull in the load, and can be stopped at the specified position as leftward and rightward with a positioning sensor such as a proximity switch. In addition, below the grip turning table 27, an inverted F-type grip fixing frame is provided above which the fixed end of the grip expansion / contraction drive device 25 is installed, and a movable lip for grasping the outer edge of the leading end of the sheet-like package 10 is provided.
It is connected to the drive rod of the grip expansion / contraction drive device 25 and is mounted so that it can move up and down, so that the ream grip 24 can be opened and closed. Further, the upper end of the inverted F-type fixed frame is directly connected to a grip swing drive device 26 fixed below the grip turning table 27 at both ends thereof, so that the ream grip 24 is pulled in the sheet-like package 10 in the drawing direction. At the same time as releasing the sheet-like package by opening the grip expansion / contraction drive device 25, the grip swinging device is driven to escape obliquely upward, and the sheet-like package 10 can be advanced by the stacker conveyor 29 as it is.

Although not shown in the drawing, another turning method of the ream grip will be described.
The fixed end of the grip extendable drive device is fixed to the drive end of the turning drive device such as a rotary actuator, and the drive end of the swing drive device is directly connected to the casing on the fixed side of the swing drive device. Can be directly installed below the picking telescopic frame (2) 16.

When the ream grip 24 which has been turned in advance in the traveling direction reaches the end of the sheet-like package requiring picking on the rack warehouse 11 according to an instruction from the computer terminal, as shown in FIG. Next, the suction pad 1 is temporarily stopped at the end of the sheet-like package 10 (the dotted line indicates the outer edge of the leading end) (picking start point), and
If 9 sucks and sucks the sheet-like package 10,
The picking telescopic frame (1) travel driving device 14 is driven again to jog the picking telescopic frame (1) 13, and the ream grip 24 directly connected to this is also jogged,
The lower end of the inverted F-type grip fixing frame is positioned below the sheet-like package 10, and the movable lip enters the upper side to stop (the picking completion point), and the grip expansion / contraction drive device 25 is operated to move the ream grip 24. As "closed", both ends of the sheet-like package 10 can be gripped. It is preferable that a limit switch be installed inside the ream grip 24 to close the ream grip 24 after detecting that the ream grip 24 has reliably contacted the sheet-like package 10. Also, reverse F
An outlet for compressed air is provided at the lower end of the grip fixing frame of the mold, and the ream grip 24 is driven by the telescopic frame traveling drives 17 and 14 to pull the ream grip 24 onto the stacker conveyor 29 while holding the sheet-like package 10. At this time, it is preferable to blow compressed air between the lower and upper sheet-like packages 10 to reduce the surface frictional resistance between the upper and lower sheet-like packages 10.

The mechanism E having a pulling-in / stacking function is an automatic picking device comprising a picking frame 12 having a substantially rectangular parallelepiped centering on the vertical frame 1 described above, and a mechanism D having a sucking / gripping / pulling-in function (mainly a suction pad 19 and a ream grip 24). On the lower side, on the inside of both sides of the picking frame 12, there are a portion having a bar slightly longer than the length of the substantially stacked sheet-like package 10, and a missing portion without a bar. A set of stacker conveyors 29
It is installed in a loop through (a tension can be adjusted), and can be driven reversibly and intermittently in both left and right directions by a chain drive device omitted in the drawing.
Positioning sensors, such as proximity switches, can be used to stop at the designated positions of the left and right start points.

On the other hand, a ream stopper 31 is attached to the picking frame 12 through a stopper rotating device 32 (or a vertically movable lifting device) at a right angle to the top surface of the stacker conveyor 29 and substantially at the center of the stacker conveyor 29 at the center thereof. Picking telescopic frame (I) traveling drive device 1 provided under
A set is installed under the fixing part of 4 at the end in the drawing direction to the left or right respectively. When picking the stacked sheet-like packages 10 from the shelf 11 of the rack warehouse on the left side in FIG. 1 or FIG. 3, the ream stopper 31 at the left end is flipped up, and the sheet-like package 10 The ream stopper 31 at the right end is vertical so that the loading of the sheet-like package 10 is stopped, the stacker conveyor 29 is dropped from a cutout of a bar longer than the length of at least one package, and the lower pallet thereof. 9 can be loaded.

Further, the width of the centering device 42 is adjusted by driving the width of the centering device 42 by the centering drive device 43 on both sides of the top surface of the stacker conveyor 29 parallel to the direction in which the load is drawn and inside the both sides of the picking frame 12. By matching the width of the stacked sheet packages 10 so as not to shift back and forth, each end face of the four stacked sheet packages 10 stacked on the pallet 9 is vertical without unevenness. It is possible to configure a simple plane.

The stacker conveyor 2 is attached to the link plates of the two endless chains at each end face in the front-rear direction.
Nine crossbars are connected at both sides thereof, and the length of the sheet-like package body 10 which is substantially stacked is slightly longer than the length, and the rest is formed as a set without any crossbars. In the picking operation, as described above, the sheet-like package 10 held by the suction pad 19 and the ream grip 24 is
The picking telescopic frame driving drives 14 and 17 are driven to be brought on the stacker conveyor 29, and when almost half of them are on the stacker conveyor,
The ream grip 24 is swung to “open” to swing upward and escape, and the sheet-like package 10 is drawn on the conveyor 29 as it is, advances, collides with the ream stopper 31 and stops. The stacker conveyor 29 on the lower side is proceeding as it is, and the cross section is eventually lost and only the chains on both sides are provided, so that the sheet-like package 10 falls below the bottom in the traveling direction, and On the pallet 9.

The stacker conveyor 29 is driven by a positioning sensor such as a proximity switch or the like. The cross section of the conveyor is moved in the direction of pulling in the load into and out of the chain (from the position immediately before the load is drawn onto the conveyor 29).
Stop at the start point). At the same time as the pull-in operation of the sheet-like package 10 is started as described above, the driving of the stacker conveyor 29 is started, and at the same time as the sheet-like package 10 is dropped onto the pallet 9 by the stopper 31, the automatic Picking device is about 1
The pallet 9 lowers the height of the ream by about 2 reams.
Reference numeral 9 indicates that the missing portion of the beam is secured by a positioning sensor such as an infrared light emitting / photoelectric tube, and then the beam is continuously run and stopped at the start point. If the missing portion is not secured, the chain drive is stopped to make an emergency stop or decelerate, and after confirming that the missing portion is secured, restart.

[0051]Example 2  2 to 5 show another example for implementing the method of the present invention.
However, in the mechanism B having the lifting and lowering inching function,
Lifting and inching function of picking mechanism consisting of D and E
Of the pallet pull-in mechanism comprising the mechanisms B1 'and C
And a mechanism B2 'having a lifting inching function.
Its main purpose is to exclude the lifting device 8 of the first embodiment.
As a result, a load can be placed on the lowest stage of the shelf 11 of the rack warehouse.
It is possible to load.

In a mechanism B1 'having a lifting and inching function of a picking mechanism composed of D and E, as shown in FIG. 5, the vertical frame 1 is connected to the upper and lower sides thereof at right angles to form a rectangular integrated frame structure. An automatic picking device comprising a mechanism D having a gripping / pulling function and a mechanism E having a pulling / stacking function, and connected to and integrated with the lifting / lowering holding frame 3 at a center portion sliding with the vertical frame 1, is provided with a lifting / lowering holding frame. As shown in FIG. 4, an elevating support roller 5 is provided on the sliding side of the vertical frame 1 so as to cope with the front, rear, left and right directions.
7 ', connected to the center line of the vertical frame 1 inside the rectangular integrated frame to form a loop so that the tension can be adjusted.
A series of elevating chains 47 'are connected to and driven by an automatic picking device elevating drive device 37' via an elevating chain wheel 48, and can be stopped at a designated position by a positioning sensor such as an infrared light emitting / photoelectric tube light receiving device.

In the automatic picking device described above, the picking frames 12 are connected at right angles to form a rectangular parallelepiped,
At its center, it is connected to and integrated with the lifting and lowering frame 3, but the lifting and lowering frame 3 at both ends in the front-rear direction includes:
Elevating support rollers 5 corresponding to front, rear, left and right are installed, and slide with the vertical frame 1 to enable ascending and descending. The object shown in the first embodiment is integrated with the lifting and lowering holding frame 3 so as to be raised and lowered at the same time. However, in the second embodiment, the object is divided so that it can be raised and lowered independently.

As shown in FIGS. 3 and 5, the pallet pull-in mechanism B2 'having a lifting / lowering inching function made of C slides on the upper end of the lifting / lowering frame 2 with the vertical frame 1 in the traveling direction of the stacker crane. In the left-right direction, a lifting platform 49 slightly larger than the pallet 9 and the telescopic fork device is installed, and four corners thereof are hung by the lifting chain 44 so that the picking frame 12
It is directly connected to the upper part by a chain wheel 45 and suspended,
When the automatic picking device lowers the height of about one package by driving the elevating frame elevating drive device 46 to move up and down independently of the automatic picking device, the elevating frame 2
Lowers the height of about two packages,
The height of the sheet-shaped package body 10 is detected by a positioning sensor such as a phototube light-receiving device, so that the sheet-shaped package body 10 can be stopped accurately at a specified position.

The vertical holding frame 3 is provided on the vertical holding frame 3 at both ends in the front-rear direction of the vertical platform 49 for the automatic picking device. At the same time, a sufficient space for the elevating chain 47 is provided.

[0056]Example 3  2 to 5 show another example for implementing the present invention.
You. In FIG. 2, the mechanism B is described in the first embodiment.
Others are the same. FIG. 3 and FIG. 5 are used for the second and third embodiments.
, And both are indicated by symbols. Pick consisting of D and E
The mechanism B1 'having the raising / lowering function of the king mechanism is the same as that of the second embodiment.
Similarly, the pallet pull-in mechanism consisting of C
And a mechanism B2 'having a chucking function.

In a mechanism B2 'having a vertical inching function of a pallet retraction mechanism made of C, the vertical frame 1 is connected to each other at right and left at right angles to form a rectangular integrated frame structure, and both ends of the vertical frame 1 in the front-rear direction. At the upper and lower ends of the elevating holding frame 3, which can be slid up and down by the elevating support roller 5 by the elevating support roller 5, a pair of hanging brackets not shown in the drawing are provided. The lifting / lowering frame raising / lowering driving device 37 is divided into two loops, one of which is a round-trip system and the other is a short-circuiting system, and is loop-shaped so that the tension can be adjusted via a lifting chain wheel 48 in a rectangular integrated frame. Then, both ends are connected to the hanging bracket through a chain wheel, and the lifting frame lifting drive 37 is driven to form an automatic picking device. When the automatic picking device lowers the height of about one package by raising and lowering it vertically, the lifting frame 2 lowers the height of about two packages by positioning sensors such as infrared emission / photoelectric tube reception. Then, the height of each sheet-like package 10 is detected, and it is possible to stop at an accurate designated position.

A mechanism B1 'having a lifting and inching function of a picking mechanism composed of D and E, and a mechanism B2' having a lifting and inching function of a pallet retraction mechanism composed of C.
In each case, the two elevating chains are respectively raised and lowered by the elevating frame elevating driving devices 37 and 37 'in a loop shape so that the tension can be adjusted through a chain wheel in a rectangular integrated frame. Then, the lifting / lowering holding frames 3 are connected to the upper and lower ends of the lifting / lowering holding frames 3 by means of hanging metal fittings, respectively, so that the lifting / lowering chains are independently raised and lowered.
, It is necessary to distribute them to the center line of the vertical frame, it is necessary to increase the width dimension of the vertical frame, and as shown in FIG. It is necessary to provide a sufficient space for the elevating chain 47 or 47 'that moves up and down in opposition.

As described above, the present invention provides a driving device using various sensors and servomotors, and a pneumatic or hydraulic driving device. It is organically connected and integrated by an equal sequence circuit, and a hydraulic source and an air source are installed in each body. As an example, in the lifting device 8 shown in FIG. 1, a hydraulic source is installed at the bottom of the lifting device 8 and the compressed air generator 40 shown in FIG.
The compressed air tank 41 and the compressed air tank 41 are installed on the picking telescopic frame (1) B, and are supplied to the respective driving devices by flexible hoses.

[0060]

According to the conventional method of automatically unloading stacked sheet-like packages loaded on one pallet, which is adopted in an automatic warehouse, the load once loaded on the pallet is reduced. In order to pick up the required number of packages manually and re-enter the rest, orders for small lots and many types are not enough for existing stacker cranes due to the operating rate, and are eventually scattered in flat storage warehouses by type. There was no other way. Even in the case of flat loading, in order to pick a specific type, it is necessary to temporarily remove the load around it with a forklift to make room for space, and during that time it will contact many loads and cause damage to the load, It takes a long time and is likely to lose the timing of sales. In addition, it wasted a lot of manpower and time, and was a bottleneck in warehouse operations.

By adopting the method and apparatus for automatically picking up stacked sheet-like packages according to the present invention, an input from a computer terminal allows an integrated automatic picking stacker crane equipped with an automatic picking device to be designated at the designated address. The shelves of the rack warehouse of the height automatically run and ascend and descend, stop, pick up the specified number of packages for each type of package one by one, load them on the pallets for each shipping customer, and instruct Until the picking of all the packages is completed, the operation is automatically continued in the rack warehouse by the automatic operation, and the pallets for each shipping customer loaded with the specified packages can be unloaded in a short time. Therefore, as compared with the conventional method, the speed of product delivery to the customer is increased, the labor of the warehouse is reduced, the damage to the load is reduced, and the conventionally required picking place (picking place) is reduced. Yes, its ripple effect is extremely large. If the specified product type is not on the rack shelf in the row, it is taken out of the rack once the picking of the rack shelf in the row is completed, and re-entered on the rack shelf in the row with the product type required by the entry / exit traverser. (All at the direction of the computer) and allow automatic driving to continue.

Conventionally, when picking is performed in an automatic warehouse and re-entered, the number of pallets with a small load gradually increases due to picking and shipping of a number of packages, so that the inventory relative to the capacity of the warehouse is increased. The amount will be greatly reduced. In order to cope with this, it is necessary to unload a large number of specific pallets with reduced loads and load and refill other similar types of packages manually, which consumes a lot of manpower, time and space. Had become. By adopting the method and the apparatus of the present invention, the load on the pallet reduced to a certain amount or less can be mutually replenished by software preliminarily input to the computer at a free time such as at night or on a holiday, so that the load in the separate rack warehouse can be reduced. However, the automatic operation can be integrated by connecting and unloading the traversers, and the mutual load can be unmanned and unified, and the economic effect is significantly increased.

[Brief description of the drawings]

FIG. 1 is an overall side view of an example of an automatic picking device for stacked sheet-like packages.

FIG. 2 is a mechanism D having a suction gripping / pulling-in function.
FIG. 2 is an enlarged front view of an example of an automatic picking device including a mechanism E having a retraction stacking function.

FIG. 3 is an overall side view of an example of an automatic picking device for stacked sheet-like packages.

FIG. 4 is a bird's-eye view of the automatic picking device of FIG. 2 as viewed from above in the direction of arrows XX.

FIG. 5 is an overall front view of an example of an automatic picking device for stacked sheet-like packages.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Vertical frame 2 Elevating frame 3 Elevating holding frame (1) 4 Elevating holding frame (2) 5 Elevating support roller 6 Telescopic fork device 7 Fork driving device 8 Lifting device 9 Pallet 10 Stacked sheet-like package 11 Rack shelves in a rack warehouse 12 Picking frame 13 Picking telescopic frame (1) 14 Picking telescopic frame (1) Traveling drive device 15 Traveling support roller 16 Picking telescopic frame (2) 17 Picking telescopic frame (2) Traveling drive device 18 Traveling roller 19 Suction pad 20 Pad telescopic Drive 21 Pad running drive 22 Running support rail 23 Running roller 24 Ream grip 25 Grip telescopic drive 26 Grip swing drive 27 Grip turning table 28 Grip turning device 29 Star Car conveyor 30 Chain wheel 31 Ream stopper 32 Stopper turning device 33 Lower rail 34 Lower guide roller 35 Traveling wheel 36 Travel drive 37 Elevating frame elevating drive 37 'Automatic picking device Elevating drive 38 Upper rail 39 Upper guide roller 40 Compressed air Generator 41 Compressed air tank 42 Centering device 43 Centering drive device 44 Elevating chain 45 Chain wheel 46 Elevating frame elevating drive device 47 Elevating chain 48 Elevating chainwheel 49 Elevating platform A Mechanism with traveling function B Elevating and inching function Mechanism B1 'A mechanism having a lifting function of a picking mechanism composed of D and E B2' A mechanism having a lifting function of a pallet retraction mechanism composed of C C Pallet retraction A mechanism having a suction function D A mechanism having a suction gripping / pulling function E A mechanism having a pulling / stacking function

Continuation of the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B65G 1/00-1/20 B65G 57/03 B65G 59/02

Claims (8)

(57) [Claims] 1. A method of automatically picking an arbitrary product type and quantity from an arbitrary stacked sheet-like package stored in a rack shelf, one by one, and stacking the packages.
A mechanism (D) using a suction pad having a suction function and a ream grip having a gripping / pulling function on a substantially rectangular parallelepiped body having a mechanism (A) having a traveling function;
The conveyor (E) having one or more dispensing cut-out portions having a draw-in and stacking function and a mechanism (E) using a ream stopper is a substantially rectangular parallelepiped automatic picking mechanism (D + E) integrated in the upper and lower stages. A lifting device (B) having a lifting / lowering inching function, a mechanism (B), and a lifting device (2) suspended vertically so as to be mounted on the lifting frame (2) via a lifting holding frame, and a lifting device (2) on the lifting frame (2). 8), a mechanism (C) having a pallet retraction function, which comprises a telescopic fork (6) that moves forward and backward by a fork driving device (7), is suspended vertically, and the empty pallet is lifted and retracted by the pallet retraction mechanism. so,
The sheet-like packages stacked on the rack shelves are sucked up by the suction pad and the ream grip, one by one, gripped and pulled in, and are also arranged in the same position by the above-mentioned conveyor and the ream stopper. Automatic picking method for stacked sheet-like packages. 2. A method for automatically picking and arbitrarily selecting an arbitrary type and quantity from an arbitrary stacked sheet-like package stored in a rack shelf, one package at a time.
A mechanism (D) using a suction pad having a suction function and a ream grip having a gripping and retraction function on a substantially rectangular frame having a mechanism (A) having a traveling function;
An automatic picking mechanism (D + E), which is a substantially rectangular parallelepiped automatic picking mechanism (D + E) in which a conveyor having one or more dispensing cut-out portions having a draw-in stacking function and a reaming stopper and a mechanism (E) are integrated in upper and lower stages. A fork driving device (7) moves forward and backward on a lifting frame (2) suspended vertically by a mechanism (B1 ') having a lifting function and vertically movable by another mechanism (B2') having a lifting function. A mechanism (C) having a pallet pull-in function including a telescopic fork (6) is installed, and the sheet-like packages stacked on the rack shelf are pulled up by the suction pad and the ream grip while being gripped one by one and pulled in. , Automatic picking mechanism (D + E)
And a mechanism having a pallet pull-in function (C) having an elevating / lowering function are each independent of one package thickness of about 1
Lowered by a height ratio of 2: 2, dispensed while aligning to the fixed position by the mechanism (E) by the conveyor and the ream stopper, and stacked one package at a time on the empty pallet pulled in by the mechanism (C) having the pallet retraction function. Automatic picking method for stacked sheet-like packages. 3. An apparatus for automatically picking an arbitrary product type and quantity from an arbitrary stacked sheet-like package stored in a rack shelf, one by one, and stacking the packages.
A suction pad having a suction function connected to a vacuum source and a telescopic drive device and a telescopic drive, on a substantially rectangular frame-like body having a mechanism (A) having a running function that allows the travel drive device to travel between the upper and lower tracks. And a mechanism (D) using a ream grip having a gripping / pulling function cooperating with the swinging device, and a mechanism (E) using a conveyor and a ream stopper having at least one package with a pulling-out notch having a pulling and stacking function. An automatic picking mechanism (D + E) having a substantially rectangular parallelepiped shape integrated in the lower stage, and the automatic picking mechanism is moved up and down on an elevating frame (2) suspended vertically by a mechanism (B) by an elevating drive device having an elevating inching function. It is installed via a holding frame, and is further mounted on a lifting frame via a lifting device (8). A mechanism (C) having a pallet retraction function including a telescopic fork (6) that moves forward and backward by a driving device (7) is suspended, and the empty pallet is lifted and retracted by the pallet retraction mechanism, and sheets stacked on a rack shelf are stacked. The suction packing and the reaming grip are used to draw and pack the packings one by one by the suction pad and the ream grip, and the stacks are discharged and stacked on the pallet while being aligned at a fixed position by the conveyor and the ream stopper. Automatic picking device for sheet-like packages. 4. An apparatus for automatically picking and arbitrarily selecting an arbitrary product type and quantity from an arbitrary stacked sheet-like package stored in a rack shelf, one package at a time,
A vacuum source and a telescopic unit are mounted on a stacker crane having a mechanism in which a mechanism (A) having a traveling function, a mechanism (B) having a lifting / lowering inching function, and a mechanism (C) having a pallet retraction function are connected. A mechanism (D) of a suction pad having a suction function connected to a driving device and a ream grip having a gripping / pulling function cooperating with a telescopic drive and swinging device, and a dispensing portion of one or more packages having a pulling / stacking function. The conveyor having the reaming stopper and the mechanism (E) with a ream stopper are an automatic picking device (D + E) of a substantially rectangular parallelepiped integrated in the upper and lower stages, and the automatic picking mechanism is provided by a mechanism (B) using a lifting drive device having a lifting inching function. When installed on an elevating frame (2) suspended vertically so that it can be A mechanism (C) having a pallet retraction function, comprising a telescopic fork (6) that moves forward and backward by a fork driving device (7), is further suspended on the lifting frame (8) via a lifting device (8). The empty pallet is lifted and pulled in, and the sheet-like packages stacked on the rack shelf are sucked and gripped one by one by the suction pad and the ream grip, and are brought into position by the conveyor and the ream stopper. An automatic picking device for stacked sheet-like packages, characterized in that the sheets are discharged and stacked on empty pallets. 5. An apparatus for automatically picking and arbitrarily selecting an arbitrary product type and quantity from an arbitrarily stacked sheet-like package stored in a rack shelf, one by one, comprising:
A suction pad having a suction function connected to a vacuum source and a telescopic drive device and a telescopic drive, on a substantially rectangular frame-like body having a mechanism (A) having a running function that allows the travel drive device to travel between the upper and lower tracks. And a mechanism (D) using a ream grip having a gripping / pulling function cooperating with the swinging device, and a mechanism (E) using a conveyor and a ream stopper having at least one package with a pulling-out notch having a pulling and stacking function. As a substantially rectangular parallelepiped automatic picking mechanism (D + E) integrated in the lower stage, the automatic picking mechanism can be moved up and down by a mechanism (B1 ') having an elevating function, and a mechanism (B
Elevating frame (2) suspended vertically by 2 ')
A mechanism (C) having a pallet pull-in function including a telescopic fork (6) that moves forward and backward by a fork driving device (7) is installed thereon, and the sheet-like package stacked on a rack shelf is attached to the suction pad. The automatic picking mechanism (D + E) and the mechanism (C) having a pallet pull-in function are independently lifted and lowered by one package at a time, and each of the mechanisms having a lifting / lowering function is independently paired about one package thickness. 2 is lowered by a height ratio of 2, and the packages are dispensed while being aligned at a fixed position by a mechanism (E) including a conveyor and a ream stopper, and are stacked one by one on an empty pallet pulled in by a mechanism (C) having a pallet retraction function. An automatic picking device for stacked sheet-like packages, characterized in that: 6. An automatic picking mechanism (B1 ') having an elevating function of the automatic picking mechanism, wherein the automatic picking mechanism (D + E) is moved up and down by an elevating chain and a chain wheel driven by an automatic picking device elevating drive device (37'). A lifting frame lifting / lowering drive device (37) as a mechanism (B2 ′) that is connected as possible and has the other lifting function;
6. The automatic picking device for stacked sheet-like packages according to claim 5, wherein the lifting frame (2) is connected so as to be able to move up and down by a lifting chain and a chain wheel driven by a drive source. 7. An automatic picking device lifting / lowering drive device (B1 ') having a mechanism (A) having the traveling function as a mechanism (B1') having an elevating function of the automatic picking mechanism. 37 '), an automatic picking mechanism (D + E) is connected so as to be able to move up and down by a chain and a chain wheel driven by a driving source, and the mechanism (B2') having the other lifting function is a lifting frame lifting drive ( The stacking sheet according to claim 5, characterized in that the lifting frame (2) is suspended under an automatic picking mechanism (D + E) so that the lifting frame (2) can be raised and lowered by a lifting chain and a chain wheel driven by (46). Automatic picking device for packages. 8. A mechanism (B1 ′) having a positioning sensor provided in the automatic picking mechanism, detecting a height of a top portion of the sheet-like packages being stacked by the sensor, and having a lifting function of the automatic picking mechanism. 8. The automatic picking device for stacked sheet packages according to claim 5, wherein the device is stopped at a designated position by the other mechanism having a lifting function (B2 ').