Picking apparatus

Patent metadata

Field	Value
Publication number	US-10227176-B2
Application number	US-201715444747-A
Country	US
Kind code	B2
Filing date	Feb 28, 2017
Priority date	Sep 5, 2016
Publication date	Mar 12, 2019
Grant date	Mar 12, 2019

Abstract

According to one embodiment, a picking apparatus includes a carriage, a holding mechanism, and a movement mechanism. The holding mechanism includes an arm, a rotating shaft provided at one end of the arm and rotating the arm, and a holding part provided at the other end of the arm and able to hold at least one object. The movement mechanism is provided on the carriage, and includes a first movement part that moves the rotating shaft along a first direction toward the object, and a second movement part that moves the first movement part along a second direction intersecting with the first direction and approximately perpendicular to the carriage. The first movement part is positioned along a direction away from the object with respect to the second movement part.

First claim

What is claimed is:

1. A picking apparatus comprising:
a carriage;
a holding mechanism having
an arm,
a rotating shaft provided at one end of the arm to rotate the arm, and
a holding part provided at the other end of the arm to be able to hold at least one object; and

a movement mechanism provided on the carriage, having
a first movement part that moves the rotating shaft along a first direction toward the object, and
a second movement part that moves the first movement part along a second direction intersecting with the first direction and approximately perpendicular to the carriage;

wherein the first movement part is positioned along a direction away from the object with respect to the second movement part.

2. The picking apparatus according to claim 1 , wherein
the movement mechanism further has a third movement part that moves the second movement part along a third direction intersecting with the first direction and the second direction.

3. The picking apparatus according to claim 1 , further comprising:
a joint between the holding part and the arm.

4. The picking apparatus according to claim 1 , further comprising:
a cargo bed provided on the carriage and movable along the second direction.

5. The picking apparatus according to claim 1 , further comprising:
a support part to carry the object held by the holding part.

6. The picking apparatus according to claim 5 , wherein
the support part includes a belt conveyor.

7. The picking apparatus according to claim 5 , wherein
the support part is movable along at least one of the second direction and the third direction.

8. The picking apparatus according to claim 1 , wherein
the holding part includes a suction pad.

9. The picking apparatus according to claim 1 , wherein
the movement mechanism includes a first recognition device that recognizes the object.

10. The picking apparatus according to claim 1 , wherein
the holding part includes a second recognition device that recognizes the object.

11. The picking apparatus according to claim 5 , wherein
the support part includes a third recognition device that recognizes an object information of the object.

12. The picking apparatus according to claim 1 , wherein
the first movement part is located in parallel with the first direction and slides along the first direction, and
the second movement part is located in parallel with the second direction and slides along the second direction.

13. The picking apparatus according to claim 12 , wherein
a connection part between the first movement part and the second movement part is positioned nearer to the object with respect to the first movement part.

14. The picking apparatus according to claim 11 , wherein
the third recognition device includes
a first recognition part that recognizes a side face of the object transported by the support part, the side face being in parallel with a transportation direction of the object,
a second recognition part that recognizes a top face and a bottom face of the object transported by the support part, and
a third recognition part that recognizes another side face of the object transported by the support part, the another side face being approximately perpendicular to the transportation direction.

15. The picking apparatus according to claim 14 , wherein
the third recognition device generates the object information of the object, based on respective recognition results of the first recognition part, the second recognition part and the third recognition part.

16. The picking apparatus according to claim 11 , further comprising:
a controller that stores a target object information of a target object to be picked, and compares the object information with the target object information.

17. The picking apparatus according to claim 16 , wherein,
if the object information is matched with the target object information,
the controller controls the support part to move the object along the transportation direction continually.

18. The picking apparatus according to claim 16 , wherein,
if the object information is not matched with the target object information,
the controller controls the support part to stop movement of the object along the transportation direction, and to move the object along a reverse direction of the transportation direction.

19. The picking apparatus according to claim 18 , wherein,
when the object is moved to a place where the object is carried by the support part,
the controller controls the support part to stop movement of the object along the reverse direction, and controls the holding part to hold and return the object.

20. A picking apparatus comprising:
a carriage;
a holding mechanism having
an arm,
a rotating shaft provided at one end of the arm to rotate the arm, and
a holding part provided at the other end of the arm to be able to hold at least one object; and

a movement mechanism provided on the carriage, having
a first movement part that moves the rotating shaft along a first direction toward the object,
a second movement part that moves the first movement part along a second direction intersecting with the first direction and approximately perpendicular to the carriage,
the first movement part being positioned along a direction away from the object with respect to the second movement part, and
a first recognition device that recognizes a position of the object; and

a controller that moves the first movement part and the second movement part to make the holding part be nearer to the object, based on the position of the object.

Assignees

• Toshiba Kk

Inventors

• Sugahara Atsushi
• Nakamoto Hideichi
• Tanaka Junya
• Ogawa Akihito
• Sonoura Takafumi
• Eto Haruna

Classifications

• B25J19/023

  including video camera means · CPC title

• B65G1/1373

  for fulfilling orders in warehouses · CPC title

• B25J9/023

  Cartesian coordinate type · CPC title

• B65G1/0492 Primary

  with cars adapted to travel in storage aisles · CPC title

• B65G1/1375

  the orders being assembled on a commissioning stacker-crane or truck · CPC title