WO2022255551A1

WO2022255551A1 - Automatic picking system and box storing and releasing method using same

Info

Publication number: WO2022255551A1
Application number: PCT/KR2021/013428
Authority: WO
Inventors: 김호연
Original assignee: 주식회사 가치소프트
Priority date: 2021-05-31
Filing date: 2021-09-30
Publication date: 2022-12-08

Abstract

Disclosed are an automatic picking system and a box stacking and releasing method using same. An automatic picking system according to an embodiment includes: a box picking device including multiple boxes vertically stacked without a separate a stacking rack, a box lifter for vertically lifting at least one box within a row of the vertically stacked boxes, and a box picker which approaches a space created by lifting of at least one box by the box lifter and takes out the box placed in the space or loads a box in the space; and a box buffer part taking out a box and carrying a box to be loaded. In addition, disclosed also is a product picking method for directly picking up a product in a box instead of taking out the box.

Description

Automatic picking system and box warehousing and shipping method using the same

The present invention relates to an automatic picking system.

Demand for automated warehouse systems for automating tasks of storing and handling various items, such as product boxes, tote boxes, and storage boxes, is increasing. A typical automated warehouse system has a disadvantage in that it cannot dynamically respond to increases or decreases in storage capacity because it requires large-scale fixed equipment such as pallets and racks. If the volume is less than the predicted volume, equipment is wasted, and if the volume is greater than the volume, it is not easy to secure additional space and additional costs are incurred. Therefore, there is a need for a method that can flexibly change the loading space and requires a low initial investment cost.

According to an embodiment, an automatic picking system capable of loading more boxes in a smaller space and efficiently taking out the loaded boxes and a box warehousing and warehousing method using the same are proposed. In addition, a method of taking out one of boxes such as storage containers or tote boxes that are densely stacked in a small space or picking an item therein is proposed.

An automatic picking system according to an embodiment includes a vertical stacking box vertically stacked without a separate stacking rack; And, a box lift that lifts at least one box among a row of vertical stacking boxes in a vertical direction; and a box picker that accesses the space created by being lifted by the box lift, takes out a box placed in the space, or loads a new box into the space; A box picking device comprising a; includes

The box picking device, in the mode for taking out the first box from the vertical stacking box, lifts the second box above the first box using a box lift and uses the box picker to lift the first box below it in a horizontal direction. In the mode for adding the first box to the vertical stacking box, the second box to be loaded above the first box to be added is lifted using a box lift, and the space generated by being lifted by the box lift is accessed. So, the first box can be put in a horizontal direction using a box picker.

The box picking device includes a movable body, a vertical frame mounted vertically on both sides of the body and vertically moving up and down, a box holder mounted on the vertical frame and vertically lifting the side of the second box, It may include a box picker mounted on the frame to take out or insert the side of the first box in a horizontal direction.

The box picking device can lift the second box after hanging the upper second box using the box holder, and pull the first box below using the box picker to take it out.

The box picking device includes a movable body, a vertical frame mounted vertically on both sides of the body and moving vertically, a box lift mounted on the vertical frame and vertically lifting the lower surface of the second box, It may include a box picker mounted on the frame to take out or insert the lower surface of the first box in a horizontal direction.

The box lifter can put both arms into the second box, and the box picker can put both arms into the first box.

The box lift has a multi-stage structure including a first lift and a second lift extendable from the first lift, and the second lift can be extended from the first lift to enter the second box, and the box picker is composed of the first picker and the second lift. It is a multi-stage structure including a second picker expandable from the first picker, and the second picker can be extended from the first picker to enter the inside of the first box.

The box picking device may further include an article picker mounted on the box picking device to take out a predetermined item from the box taken out through the box picking device and load it into a separate container.

The box picking device may include a vision camera mounted on the transport system to photograph and recognize an item in order to take out a predetermined item from a box taken out through the box picking device.

The box picking device loads and stores at least one box to be supplied to the vertical stacking box through the box picking device to be supplied to the box picking device, or loads and stores at least one box picked through the box picking device, or A simple loading unit for loading and storing at least one item picked in the box picked through may be further included.

The box picking device can vertically load boxes on the simple loading unit, transport the loaded boxes, and stack another box on top of the loaded boxes.

The automatic picking system loads and stores at least one box to be supplied to a vertical stacking box through a box picking device to be supplied to the box picking device, or loads and stores at least one box picked through the box picking device, or a box picking device. A simple loading unit for loading and storing at least one item picked in the box picked through the box may further include a box conveying device for transporting the box loaded in the simple loading unit.

Each box may include an insertion hole through which at least one of a box lift and a box picker is inserted.

The automatic picking system includes a management server that stores box location information including a box coordinate value and a loaded stage height matched with identification information of a box and an article in the box, and when a first article must be taken from a vertical stacking box, 1 may further include a control unit for querying the management server for the first box containing the article and acquiring box location information including coordinate values of the searched first box and the height of the loaded stage from the management server.

A box loading method using an automatic picking system includes the step of obtaining, by a recognition unit, identification information on an article to be newly stocked and a first box in which the article is loaded, and a box picking device using the acquired identification information to obtain identification information. Step of picking 1 box, step of determining, by a control unit, a position to load the first box in the vertical stacking box, and step of, by a box picking device, lifting the second box above the first box using a box lift And, using the box picker, the box picking device accesses the space created by being lifted by the box lift and loads the first box in the space, and the storage unit stores the loaded position information. do.

A box release method using an automatic picking system includes the step of obtaining, by a recognition unit, identification information on an item to be newly shipped and a first box loaded with the item, and a control unit using the acquired identification information to obtain a first box to be shipped. Retrieving the position of the loaded boxes, using the box lift to lift the second box above the first box, by the box picking device, using the box picker, by the box lift Approaching the space created by lifting and picking a first box stacked in the space, and moving the picked box to a box buffer unit by a box picking device.

An article release method using an automatic picking system includes the step of acquiring, by a recognition unit, identification information on an article to be newly shipped and a first box loaded with the article; Retrieving the position of the loaded boxes, using the box lift to lift the second box above the first box, by the box picking device, using the box picker, by the box lift The step of approaching the space created by lifting and picking the first box loaded in the space, the step of recognizing the article in the first box through the recognition unit, and the box picking device taking out the recognized article through the article picker and loading a corresponding box among the boxes in the box buffer unit.

An automatic picking system according to an embodiment and a box loading and shipping method using the same can load more boxes in a small vertical stacking box space and efficiently take out the loaded boxes. For example, since a plurality of boxes are arranged in multi-layers above and below, and space for taking out boxes required for a drawer type is not required, the vertical stacking box can be used more widely and space efficiency can be increased. In addition, since boxes can be freely stacked without a separate stacking rack, the layout can be easily changed, and the vertical stacking boxes can be moved or expanded to a wider area.

Furthermore, various applications are possible because not only boxes can be picked using the box picking device, but also items inside the box can be picked.

1 is a view showing the appearance of an automatic picking system according to an embodiment of the present invention;

2 is a diagram showing an operation of a box picking device according to an embodiment of the present invention to take out a predetermined box from a vertical stacking box;

3 is a view showing the appearance of the box picking device of FIG. 2 according to an embodiment of the present invention;

4 is a view showing an example in which a box picking device moves to a vertical stacking box according to an embodiment of the present invention;

5 is a view showing an operation of removing a box using a box picking device according to an embodiment of the present invention;

6 is a view showing a box holder of the box picking device of FIG. 5 according to an embodiment of the present invention;

7 is a view showing the appearance of an automatic picking system according to another embodiment of the present invention;

8 is a view showing an operation process of the automatic picking system of FIG. 7 according to an embodiment of the present invention;

9 is a view showing an example of removing a box using a box picker of a box picking device according to an embodiment of the present invention (a) and an example of putting a box in (b);

10 is a view showing the structure of a box lift according to an embodiment of the present invention;

11 is a view showing boxes loaded in a vertical loading box according to an embodiment of the present invention;

12 is a view showing the two-stage box of FIG. 11 according to an embodiment of the present invention;

13 is a view showing an automatic picking system in which the box picking device according to an embodiment of the present invention further includes an integrated simple loading unit;

14 is a view showing an automatic picking system in which the box picking device according to an embodiment of the present invention further includes a detachable simple loading unit;

15 is a view showing an automatic picking system capable of loading a plurality of boxes on a simple loading unit according to an embodiment of the present invention;

16 is a view showing an automatic picking system further comprising a box transporter having a simple loading unit according to an embodiment of the present invention;

17 is a view showing an example in which the box picking device according to an embodiment of the present invention moves vertically stacked boxes or stacks boxes thereon;

18 is a diagram showing the flow of a box stocking method using an automatic picking system according to an embodiment of the present invention;

19 is a diagram showing the flow of a box shipping method using an automatic picking system according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs It is provided to fully inform the holder of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

In describing the embodiments of the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted, and the terms described later will be used in the embodiments of the present invention. These terms are defined in consideration of the functions of and may vary depending on the user's or operator's intention or custom. Therefore, the definition should be made based on the contents throughout this specification.

In addition, each block or each step may represent a module, segment, or portion of code that includes one or more executable instructions for executing specified logical functions, and in some alternative embodiments may refer to blocks or steps. It should be noted that it is also possible for functions to occur out of order. For example, two blocks or steps shown in succession may in fact be performed substantially concurrently, or the blocks or steps may be performed in the reverse order of their corresponding functions, if necessary.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiments of the present invention exemplified below may be modified in many different forms, and the scope of the present invention is not limited to the embodiments described below. The embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art.

1 is a view showing the appearance of an automatic picking system according to an embodiment of the present invention.

Referring to FIG. 1 , an automatic picking system 1 includes a vertical stacking box 10 and a box picking device 12 .

The vertical stacking box 10 is one in which a plurality of boxes are vertically stacked. At this time, note that the vertical stacking box 10 stacks only the box itself without a separate stacking rack. The box includes not only a normal box, but also a tote box, a storage box, and the like. The box may be in the form of a package, or may be in the form of an open top. A plurality of items may be stacked in each box.

The box picking device 12 picks and takes out a predetermined box from the vertical stacking box 10 and brings it to the exit, or picks a box from the entrance and loads it into the vertical stacking box 10 .

Typically, automated warehouses require huge racking facilities. For example, it is necessary to find and bring a necessary box after storing a box, but a large rack facility is required because a shuttle rack or a bogie moves along the rail and brings the box. However, the box picking device 12 according to an embodiment allows boxes to be stored in the vertical stacking box 10 more flexibly and necessary boxes to be brought without the aforementioned large-scale rack facility. At this time, the box picking device 12 must be able to freely take out an arbitrary box from the boxes stacked in order or stack the box in an arbitrary position.

Referring to FIG. 1, when a plurality of boxes are stacked, in the case of the conventional method, to take out a predetermined box in the middle, all of them must be lowered. However, the automatic picking system 1 according to an embodiment grabs or lifts the box above the box to be taken out by the box picking device 12 among the vertically stacked boxes in one line, and takes out only the box below it horizontally. You can take out any box you want. Therefore, even if boxes are piled up, a desired box can be taken out through the box picking device 12.

A separate space is required when items are vertically stacked and loaded on shelves or drawers and taken out. For example, in the case of a shelf, the height of the shelf must be secured to take out the shelf inside. In the case of a drawer type, since the space in the front is required, more than twice the space in which the boxes are loaded is required.

However, since the automatic picking system according to an embodiment can load and take out boxes without the aforementioned separate space, space can be efficiently used. At this time, the automatic picking system can load many types of boxes in a small space or take out the loaded boxes. For example, an automatic picking system stacks boxes vertically, but stacks them with no space to unload them. In order to take out a box, the automatic picking system creates a space by lifting at least one box vertically stacked above a predetermined box, and then takes out the box in the created space.

2 is a view showing an operation of a box picking device according to an embodiment of the present invention taking out a predetermined box from a vertical stacking box, FIG. 3 is a view showing the appearance of the box picking device of FIG. 2, and FIG. is a view showing an example in which the box picking device moves to the vertical stacking box.

2 to 4, the box picking device 12 slightly moves the upper boxes including the second box above the first box to take out the first box located in the middle from the vertical stacking box 10 in one row. Lift it up, take out the first box from the space created by lifting the second box, and then put the upper boxes including the second box on top back down.

Hereinafter, the structure of box picking device 12 is demonstrated. Box picking device 12 according to an embodiment includes a body 121, a vertical frame 122, a transport system 129, a box holder 123 and a box picker 124.

Wheels are mounted on the body 121 to be movable. The vertical frame 122 is a frame vertically mounted on both sides of the body 121 . The transport system 129 is mounted on the vertical frame 122 and moves up and down to lift or move the box. The transport system 129 is composed of multiple stages and can move up and down.

The box holder 123 is mounted on the carrying system 129 and vertically grabs and lifts the side of the second box. The box holder 123 may have an arm structure in which arms are extended in both forward directions or can be extended so as to prevent the center of the box from going over when the box is lifted.

The box may have a structure in which the box holder 123 is easy to hold. For example, a groove may be formed on a side surface to insert the box holder 123, a protruding part like a handle may be formed between the top and bottom boxes are stacked, or a hole may be formed.

A crate picker 124 is mounted on the conveying system 129 to take out or put the first crate sideways in a horizontal direction. As shown in FIG. 2 , the box picker 124 may include a box picking rail for guiding movement of boxes in a horizontal direction. At this time, the box picker 124 takes out or puts the box in the horizontal direction along the box picking rail. As another example, the box picker 124 may have a long arm structure or an extendable arm structure.

The box picking device 12 may further include a recognition unit and a control unit. The recognition unit recognizes the identification information of the box and the article in the box. Since the box and a plurality of items in the box each have identification information such as a barcode or RFID, the recognition unit recognizes the identification information. The recognition unit may be a scanner, a vision camera, a barcode reader, an RFID reader, and the like. The recognition unit may be located in the conveying system 129 of the box picking device 12 . In particular, the vision camera may be mounted on the transport system 129 to photograph and recognize an item in order to take out a predetermined item from a box taken out through a box picking device.

When the control unit needs to bring the first article from the vertical stacking box, the control unit queries the management server for the first box containing the first article, and the box location information including the coordinate value of the first box and the height of the loaded stage. can be obtained from the management server. In the management server, box location information that matches identification information of the box and the article in the box is stored. That is, information about which box is located at which position of the vertical stacking box and which article is loaded in the box is included.

Hereinafter, an operation of taking out a first box from the vertical stacking box 10 using the box picking device 12 having the above structure will be described later.

First, when the control unit of the box picking device 12 needs to bring the first article from the vertical stacking box, the first box containing the first article is retrieved from the management server, and the location information (coordinate value) of the first box is retrieved. and loaded stage height) from the management server. Then, the box picking device 12 moves to the position of the first box by using the box location information.

Next, the box picking device 12 recognizes the box through the recognition unit, and confirms whether the recognized box matches the first box. If so, the box picking device 12 lifts the second box above the first box via the box holder 123. At this time, all upper boxes above the second box are lifted at once.

Subsequently, the box picking device 12 takes out the first box in a horizontal direction through the box picker 124, and vertically puts the upper boxes including the second box on top through the box holder 123 and stacks them again.

Subsequently, the box picking device 12 may discharge the first box taken out of the vertical stacking box to the discharge chute. Furthermore, the box picking device 12 may pick a predetermined product in the first box using the product picking device and then discharge the picked product to the discharge chute. At this time, if the goods remain in the first box, the first box is returned to its original position, and the second box does not need to be placed vertically.

In the case of the box picking device 12 of FIGS. 2 to 4 , it is possible to manually operate the box picking device 12 by a user, such as using a forklift, as well as an automatic method.

5 is a view showing an operation of removing a box using a box picking device according to an embodiment of the present invention, and FIG. 6 is a view showing a box holder of the box picking device of FIG. 5 .

5 and 6, the box picking device 12 according to an embodiment includes a body 121, a vertical frame 122, a transport system 129, a box holder 123 and a box picker 124. include

The box holder 123 is mounted on the carrying system 129 to hold and lift the side of the second box 52 in a vertical direction. The box holder 123 may be composed of two long arms, as shown in FIG. 5, and may have a stretchable structure. The box holder 123 may have an arm structure in which arms extend or extend in both forward directions in order to prevent the center of the second box 52 from going over when the second box 52 is lifted. The box holder 123 holds the second pedestal 125 temporarily supporting the side of the second box 52, and when the second box 52 is lifted up, the second box 52 is held so that the second box 52 does not go down. The main may include a first fixing member 126 . The second pedestal 125 may be a shelf.

The crate picker 124 is mounted on the conveying system 129 to take out or put the side of the first crate 51 in a horizontal direction. The box picker 124 may be composed of two long arms as shown in FIG. 5, and the two arms may have a structure that can be extended. The box picker 124 includes a first pedestal 127 that temporarily supports the lower surface of the first box 51 and a second fixing member that holds the second box 52 so that the first box 51 can be pulled. (128). The first pedestal 127 may be a shelf.

Instead of lifting the second box 52 vertically, the box holder 123 can push it up. Here, pushing up means opening a gap, placing the first pedestal 127 on the first box 51 directly below the second box 52, and allowing the box holder 123 to hold the first box 51. It means to push up as if opening a gap. The two arms of the box holder 123 are configured so that when a person lifts a box, the arms from both sides slightly pull the box and hang the box on top, just as a person holds the box with both arms and supports and lifts the box with the stomach. The box picking device 12 uses the box holder 123 to span the upper second box 52 and then slightly lifts the second box 52, and uses the box picker 124 to lift the lower first box 52. Pull the box 51 out to remove it. In this way, the first box 51 can be taken out even if there is no gap between the handles on both sides of the first box 51 in the middle.

7 is a view showing the appearance of an automatic picking system according to another embodiment of the present invention.

Referring to FIG. 7, the automatic picking system 1 includes a vertically loaded loading box 10 and a box picking device 12, and the box picking device 12 includes a body 121 and a vertical frame 122 , a conveying system 129, a box lift 71 and a box picker 72.

The body 121 is equipped with wheels and is movable. The vertical frame 122 is a frame vertically mounted on both sides of the body 121 . The transport system 129 is mounted on the vertical frame 122 and moves up and down to lift or move the box. The transport system 129 is composed of multiple stages and can move up and down.

The box lift 71 is mounted on the transport system 129 and vertically grabs and lifts the lower surface of the second box positioned above the first box to be taken out or put in. The box holder 123 described above with reference to FIGS. 5 and 6 has a structure of holding and raising the side of the second box, but the box lift 71 lifts the lower end of the second box without holding the side of the second box. way to raise In the case of the box holder 123, the left and right positions must be aligned for holding the box, the width must be adjusted to correspond to the size of the second box, and the stop position must be precisely controlled. However, since the box lift 71 only needs to lift the second box, precise control is not required, so the operation is simple.

The box picker 72 is mounted on the transport system 129 to take out or put in the lower surface of the first box 51 to be taken out or put in in a horizontal direction.

In the structure of FIG. 7, since the box lift 71 and the box picker 72 are identically tied to a structure that lifts the box up, separate power may not be used. However, when the box is lifted, the lower first box 51 may be slightly lowered to make it easier to take out the lower first box 51.

When adding the first box 51 to the vertical stacking box 10, it may be placed under the second box 52 or above the second box 52, but the take-out position may be arbitrary. can After taking out the first box 51 from the vertical stacking box, the box picker 72 recognizes the item identification information of the item in the first box 51 through the recognition unit 73, and uses the item picker 74. Thus, the recognized item can be taken out and put into a separate container. The recognition unit 73 may be a scanner, camera, or the like.

8 is a diagram illustrating an operation process of the automatic picking system of FIG. 7 according to an embodiment of the present invention.

Referring to FIGS. 7 and 8 , in the automatic picking system, the box picking device 12 searches for the position of the first box 51 loaded with items to be picked up, and approaches the position of the searched first box 51. (a). At this time, the box lift 71 of the box picking device 12 is adjusted up and down to a position where the second box 52 above the second box 52 can be heard, and the box picker 72 lifts the first box 51 ) is adjusted up and down to a position where it can be pulled out.

Subsequently, in the box picking device 12, the two arms of the box lift 71 enter the second box 52 and lift the second box 52 (b). When the second box 52 is lifted, all the boxes above the second box 52 are lifted at once.

Subsequently, in the box picking device 12, the two arms of the box picker 72 enter the first box 51, lift the first box 51, and take it out (c).

As shown in FIG. 8, the two arms of the box lift 71 can go inside the second box 52, and the two arms of the box picker 72 can go inside the first box 51, but the box It is also possible to enter the inside of the second box 52 by increasing the lift of the lift 71, and to enter the inside of the first box 51 by increasing the picker of the box picker 72. For example, the box lift 71 includes a first lift and a second lift extendable from the first lift, extending the second lift from the first lift to enter the second box 52 . The box picker 72 includes a first picker and a second picker extendable from the first picker, and extends the second picker from the first picker to enter the first box 51 .

As shown by reference numeral 80 in FIG. 8, it can be confirmed that the gap is automatically widened by the weight of the box.

9 is a diagram illustrating an example of removing a box using a box picker of a box picking device according to an embodiment of the present invention (a) and an example of inserting a box (b).

Referring to FIG. 9, the box picking device 12 moves the two arms of the box picker 72 in the horizontal direction to the opposite side of the vertical stacking box 10 to pick the first box 51 from the vertical stacking box 10. It can be pulled out (a), and the first box 51 can be put in the vertical loading box 10 by moving the two arms of the box picker 72 in the horizontal direction in the direction of the vertical loading box 10 (b).

10 is a diagram showing the structure of a box lift according to an embodiment of the present invention.

Referring to FIG. 10, the box lift 71 has a multi-stage structure in which a plurality of lifts are connected and a predetermined lift among them can be extended. At this time, the extended lift extends and enters the inside of the second box to be lifted. Since the box lift only needs to lift the bottom surface of the second box to be lifted, it is unnecessary to align the left and right positions required when holding it, and it does not have to be precise.

11 is a view showing boxes loaded in a vertical stacking box according to an embodiment of the present invention, and FIG. 12 is a view showing the two-stage box of FIG. 11 .

Referring to FIGS. 11 and 12 , an insertion hole 110 is made under the box like a flat pallet commonly used in distribution systems, so that the box lift can enter through the insertion hole 110 . 12 is a view of the vertically stacked box 100 in two stages viewed from the front (a) and below (b).

In this way, you can stack boxes vertically without a stacking rack, and you can take out a box at an arbitrary position in the middle, or take out an item in it. Of course, it can also be configured to process multiple orders simultaneously.

13 is a view showing an automatic picking system in which the box picking device according to an embodiment of the present invention further includes an integrated simple loading unit.

Referring to FIG. 13 , the box picking device 12 may further include a simple loading unit 130 . The simple loading unit 130 loads and stores at least one box to be supplied to the vertical loading box through a box picking device, loads and stores at least one box picked through a box picking device, or picks through a box picking device. At least one item picked in the box is loaded and stored. The simple loading unit 130 may be mounted on the vertical frame 121 of the box picking device 12, and may be plural. The simple loading unit 130 of FIG. 13 can be said to be integral since the simple loading unit 130 is mounted on a single vertical frame 121 .

14 is a view showing an automatic picking system in which the box picking device according to an embodiment of the present invention further includes a detachable simple loading unit.

Referring to FIG. 14, the box picking device 12 includes a first vertical frame 121-1 and a second vertical frame 121-2, and a simple loading unit ( 130) may be mounted. The simple loading unit 130 may be plural. Since the simple loading unit 130 is mounted on a separate vertical frame 121-2, it can be referred to as a separable type.

15 is a view showing an automatic picking system capable of loading a plurality of boxes on a simple loading unit according to an embodiment of the present invention.

Referring to FIG. 15 , the box picking device 12 may stack a plurality of boxes on the simple loading unit 130 .

16 is a view showing an automatic picking system further comprising a box transporter having a simple loading unit according to an embodiment of the present invention.

Referring to FIG. 16, the simple loading unit may be configured in a separate box transport device 16 separated from the box picking device 12. The box conveying device 16 may receive boxes or articles from the box picking device 12, load them on the simple loading unit 130, and then transport them.

17 is a view showing an example in which the box picking device according to an embodiment of the present invention moves vertically stacked boxes or stacks boxes thereon.

Referring to FIG. 17 , the box picking device 12 can vertically load boxes in a simple loading unit and transfer the loaded boxes. Also, another box can be stacked on top of the stacked box. The box picking device 12 may process a plurality of orders while loading and transporting a plurality of boxes, and may put or take out a plurality of boxes. This is for carrying around and processing a plurality of boxes at once. Of course, you can also put individual items here.

18 is a diagram showing the flow of a box stocking method using an automatic picking system according to an embodiment of the present invention.

Referring to FIG. 18 , the recognition unit obtains identification information about an article to be newly stocked and a first box in which the article is loaded (1810). At this time, identification information may be input and identification information may be measured. Identification information is information capable of identifying a box or article, and includes, for example, a barcode or RFID. The management server has location information about which boxes are located at which positions of the vertical stacking boxes.

Subsequently, the box picking device picks the recognized first box using the obtained identification information (1820).

Subsequently, the control unit determines a position to load the first box in the vertical loading box (1830).

Subsequently, the box picking device lifts the second box above the first box using the box lift (1840), and the box picker accesses the space created by being lifted by the box lift and places the first box in the space. Load (1850).

Subsequently, the storage unit stores the loaded location information (1860).

Referring to FIG. 19 , the recognition unit acquires identification information about an article to be shipped and a first box in which the article is loaded (1910). At this time, identification information may be input and identification information may be measured. Identification information is information capable of identifying a box or article, and includes, for example, a barcode or RFID. The management server has location information about which boxes are located at which positions of the vertical stacking boxes.

Next, the control unit searches for the location of the first box to be shipped using the acquired identification information (1920). If the identification information is known, a request to the management server may be made to retrieve location information about where the corresponding first box is loaded in the vertical stacking box.

Next, the box lift of the box picking device lifts the second box above the searched first box (1930). Then, the box picker of the box picking device approaches the space created by being lifted by the box lift, picks the first box stacked in the space, and takes it out in a horizontal direction (1940).

Subsequently, the recognition unit of the box picking device recognizes the item in the first box taken out (1950).

Subsequently, the item picker of the box picking device takes out the recognized item in the first box and moves it to the box buffer unit or discharge chute (1960), and discharges the box in the box loading unit or discharge chute at the destination (1970).

So far, the present invention has been looked at mainly by its embodiments. Those skilled in the art to which the present invention pertains will be able to understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from a descriptive point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent scope will be construed as being included in the present invention.

Claims

Vertical stacking boxes stacked vertically without separate stacking racks; and

A box lift for vertically lifting at least one box among a row of vertically stacked boxes; and a box picker that accesses the space created by being lifted by the box lift, takes out a box placed in the space, or loads a new box into the space; A box picking device comprising a;

Automatic picking system comprising a.
The method of claim 1, wherein the box picking device

In the mode for taking out the first box from the vertical stacking box, the second box above the first box is lifted using a box lift, and the first box below is taken out in a horizontal direction using a box picker,

In the mode for adding the first box to the vertical stacking box, the second box to be loaded above the first box to be added is lifted using a box lift, and the space generated by being lifted by the box lift is accessed. An automatic picking system characterized by putting boxes in a horizontal direction using a box picker.
The method of claim 1, wherein the box picking device

movable body;

A vertical frame mounted vertically on both sides of the body;

A transport system mounted on a vertical frame and moving up and down to lift or move a box;

a box holder mounted on the transport system to hold and lift the side of the second box in a vertical direction; and

A box picker mounted on the conveying system to take out or put the side of the first box in a horizontal direction;

Automatic picking system comprising a.
4. The method of claim 3, wherein the box picking device

An automatic picking system characterized in that the upper second box is lifted using the box holder and then the second box is lifted, and the lower first box is pulled and taken out using the box picker.
The method of claim 1, wherein the box picking device

movable body;

A vertical frame mounted vertically on both sides of the body;

A transport system mounted on a vertical frame and moving up and down to lift or move a box;

A box lift mounted on the transport system to vertically grab and lift the lower surface of the second box; and

A box picker mounted on the conveying system to take out or insert the lower surface of the first box in a horizontal direction;

Automatic picking system comprising a.
According to claim 5,

In the box lift, both arms enter the inside of the second box,

The box picker is an automatic picking system, characterized in that both arms go inside the first box.
According to claim 5,

The box lift

It is a multi-stage structure including a first lift and a second lift expandable from the first lift, and the second lift is extended from the first lift to enter the inside of the second box,

The box picker

An automatic picking system characterized in that it has a multi-stage structure including a first picker and a second picker expandable from the first picker, and the second picker is extended from the first picker to enter the first box.
6. The method of claim 5, wherein the box picking device

An article picker mounted on the transport system to take out a predetermined article from the box taken out through the box picking device and load it into a separate container;

Automatic picking system characterized in that it further comprises.
6. The method of claim 5, wherein the box picking device

a vision camera mounted on the transport system to photograph and recognize an item in order to take out a predetermined item from the box taken out through the box picking device;

Automatic picking system characterized in that it further comprises.
The method of claim 1, wherein the box picking device

At least one box to be supplied to the vertical stacking box is loaded and stored through the box picking device to be fed into the box picking device, or at least one box picked through the box picking device is loaded and stored, or the box is picked through the box picking device. Simple loading unit for loading and storing at least one item picked within;

Automatic picking system characterized in that it further comprises.
11. The method of claim 10, wherein the box picking device

Automatic picking system, characterized in that for vertically loading the boxes in the simple loading unit, transporting the loaded boxes, and loading another box on top of the loaded boxes.
The method of claim 1, wherein the automatic picking system

At least one box to be supplied to the vertical stacking box is loaded and stored through the box picking device to be fed into the box picking device, or at least one box picked through the box picking device is loaded and stored, or the box is picked through the box picking device. Simple loading unit for loading and storing at least one item picked within; Including, a box conveying device for transporting the box loaded in the simple loading unit;

Automatic picking system characterized in that it further comprises.
The method of claim 1, wherein each box

an insertion hole through which at least one of a box lift and a box picker is inserted;

Automatic picking system comprising a.
The method of claim 1, wherein the automatic picking system

A management server for storing box location information including coordinate values and loaded stage heights of the box that matches the identification information of the box and the article in the box; and

When the 1st article needs to be brought from the vertical stacking box, the 1st box containing the 1st article is queried to the management server, and the box location information including the coordinate value of the queried 1st box and the height of the loaded platform is managed. Control unit obtained from the server;

Automatic picking system characterized in that it further comprises.
In the box wearing method using an automatic picking system,

Acquiring, by the recognition unit, identification information about a first box loaded with an article and an article to be newly stocked;

Picking, by a box picking device, the recognized first box using the obtained identification information;

determining, by a controller, a position in which the first box is to be loaded in the vertical loading box;

Lifting, by a box picking device, a second box above the first box using a box lift;

Accessing a space created by being lifted by a box lift by a box picking device using a box picker and loading a first box into the space; and

Storing, by the storage unit, the loaded location information;

Box wearing method comprising a.
In the box release method using an automatic picking system,

Acquiring, by the recognition unit, identification information about a first box loaded with an article and an article to be newly shipped;

Searching, by a control unit, for a location of a box loaded with a first box to be shipped using the acquired identification information;

Lifting, by a box picking device, a second box above the first box using a box lift;

approaching a space created by being lifted by a box lift by a box picking device using a box picker and picking a first box stacked in the space;

Recognizing, by a box picking device, an article in a first box through a recognition unit;

a step of the box picking device taking out the items recognized through the item picker and moving them to the discharge chute; and

discharging the article by the discharge chute;

Box release method using an automatic picking system comprising a.