ARTICLE STORAGE DEVICE AND PICKING SYSTEM PROVIDED WITH ARTICLE STORAGE DEVICE

In a recent article storage apparatus, it is required to be able to open and close the opening of a container by a simple operation while reducing the number of parts of the article storage apparatus. An article storage apparatus includes a storage rack (12) on which a container (24) having an opening is set, and a lid (28) provided at a separate member from the container, and reciprocable between a closed position where the lid (28) closes the opening of the container (24) arranged at a predetermined position on the storage rack (12) and an open position where the lid (28) is retracted from the closed position to open the opening. Thereby, for example, when a plurality of containers (24) are sequentially arranged on the storage rack (12), the containers (24) can be opened and closed by a simple operation using a common lid (28).

TECHNICAL FIELD

The present invention relates to an article storage apparatus and a picking system including an article storage apparatus.

BACKGROUND ART

An article storage apparatus in which a lid that can be opened and closed is provided at a container is known (e.g., Patent Literature 1).

CITATION LIST

Patent Literature

Patent Literature 1: JP 2014-118161 A

SUMMARY OF INVENTION

Technical Problem

In the related art, it has been required to be able to open and close the opening of a container by a simple operation while reducing the number of parts of the article storage apparatus.

Solution to Problem

According to one aspect of the present invention, an article storage apparatus includes a storage rack on which a container having an opening is set, and a lid provided at a separate member from the container, and reciprocable between a closed position where the lid closes the opening of the container arranged at a predetermined position on the storage rack and an open position where the lid is retracted from the closed position to open the opening.

Advantageous Effects of Invention

According to the present disclosure, when a plurality of containers are sequentially arranged on the storage rack, the containers can be opened and closed by a simple operation using a common lid. This can achieve both a reduction in the number of parts and a simplification of tasks.

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In various embodiments described below, the same elements are designated by the same reference numerals and duplicate description will be omitted. In the following description, an orthogonal coordinate system in each drawing is used as a reference for directions, and for the sake of convenience, a positive x-axis direction is referred to as toward the right side, a positive y-axis direction is referred to as toward the front, and a positive z-axis direction is referred to as toward the upper side.

First, an article storage apparatus10according to an embodiment will be described with reference toFIGS.1and2. The article storage apparatus10includes a storage rack12and a plurality of lid mechanisms14provided at the storage rack12. The storage rack12includes a plurality of long pillars16, a plurality of short pillars18, and container installation frames20. Each of the long pillars16and the short pillars18is fixed on the floor of a work cell and extends straight in the z-axis direction (e.g., in a vertical direction).

In the present embodiment, two container installation frames20are fixed to upper ends of the long pillars16and the short pillars18, respectively, such that the two container installation frames20are displaced from each other in the z-axis direction, and each of the container installation frames20is arranged inclined with respect to an xy plane (e.g., a horizontal plane) such that it is directed upward toward the front. The inclination angle of each container installation frame20with respect to the xy plane is, for example, 10°. A plurality of containers24are detachably set on each of the container installation frames20.

Each container24is hollow and has an opening26(FIG.5) at its upper end. The containers24store articles used for robotic tasks such as bolts, nuts, or connecting rods which will be described later. Containers24set on each container installation frame20are each arranged at a predetermined set position SP in the container installation frame20.

Each container24is positioned at the set position SP, for example, by a jig (not illustrated) provided at the container installation frame20or a positioning member that will be described later. When containers24are set at respective set positions SP on each container installation frame20, the containers24are aligned on each of the container installation frame20at substantially equal intervals in the x-axis direction as illustrated inFIG.1.

The plurality of lid mechanisms14have the same configuration as each other. In the present embodiment, three lid mechanisms14are arranged on each container installation frame20such that they are arrayed at substantially equal intervals in the x-axis direction. Hereinafter, the configuration of each lid mechanism14will be described with reference toFIGS.3and4. Each lid mechanism14includes a lid28, fixed members30and32, a movable member34, and a rotary gripping section36.

The lid28has a substantially quadrangular outer shape and includes a first surface38and a second surface40opposite to the first surface38. The fixed member30is fixed at a predetermined position on the container installation frame20, for example, by a fastener such as a bolt or welding and the like and extends upward from the container installation frame20. The fixed member32is fixed to the fixed member30, for example, by a fastener such as a bolt or welding and the like and is thereby fixed to the container installation frame20via the fixed member30. The fixed member32extends upward from an upper end of the fixed member30.

The movable member34is movably provided at the fixed member32. More specifically, the movable member34is rotatably provided at the fixed member32via a hinge shaft42. The hinge shaft42extends substantially parallel to the x-axis and the movable member34rotates with respect to the fixed member32about the hinge shaft42. The fixed member32, the movable member34, and the hinge shaft42constitute one hinge. The movable member34is fixed to one end of the lid28(a rear end thereof in the arrangement illustrated inFIGS.3and4), for example, by a fastener such as a bolt or welding and the like. In the present embodiment, the movable member34is fixed to the second surface40of the lid28.

The rotary gripping section36is provided at an end of the lid28opposite to the movable member34(a front end thereof in the arrangement illustrated inFIGS.3and4). More specifically, the rotary gripping section36includes a gripping shaft46and a gripping ring48. The gripping shaft46is fixed to a right side surface44of the lid28such that it protrudes to the right from the right side surface44. The gripping ring48is attached to the gripping shaft46such that it is rotatable about the gripping shaft46.

The lid28reciprocates between a closed position illustrated inFIG.4and an open position illustrated inFIG.5by a movement of the movable member34with respect to the fixed members30and32. When the lid28is arranged at the closed position illustrated inFIG.4, the lid28closes the opening26of the container24, which is arranged at the set position SP of the container installation frame20, by the first surface38of the lid28. At this time, the first surface38may abut to the upper surface of the container24. On the other hand, when the lid28is retracted from the closed position inFIG.4and is arranged at the open position illustrated inFIG.5, the lid28protrudes rearward from the rear end of the storage rack12and opens the opening26of the container24to the outside.

The opening/closing operation of the lid28may be performed, for example, by an operator or a robot which will be described later. Specifically, when opening the lid28arranged at the closed position illustrated inFIG.4, the operator or the robot first grips the gripping ring48of the rotary gripping section36and rotates the gripping ring48about the hinge shaft42counterclockwise when viewed from the right side.

Thus, the lid28is guided to move along an arc-shaped track about the hinge shaft42, the trajectory being substantially parallel to the yz plane, by the rotational movement of the movable member34with respect to the fixed members30and32, such that the lid28is retracted from the closed position and reaches the open position illustrated inFIG.5. As a result, the opening26of the container24is opened to the outside and the operator or the robot can take out an article stored in the container24through the opening26.

On the other hand, when closing the lid28arranged at the open position illustrated inFIG.5, the operator or the robot grips the gripping ring48of the rotary gripping section36and rotates the gripping ring48about the hinge shaft42clockwise when viewed from the right side. Thus, the lid28is guided to move along the same arc-shaped track as when the lid is opened by the rotational movement of the movable member34with respect to the fixed members30and32and reaches the closed position illustrated inFIG.4. As a result, the lid28closes the opening26and can prevent foreign matter (such as cutting liquid or dust) from entering the inside of the container24through the opening26.

In the present embodiment, a lid28is provided at the storage rack12(specifically, on each container installation frame20) which is a member separate from containers24such that the lid28can reciprocate between the closed position and the open position as described above. Thus, in a case where a plurality of containers24are sequentially arranged at the set position SP of the storage rack12for example, the containers24can be opened and closed by a simple operation using a common lid28because the lid28is provided at a separate member from the containers24(in other words, the lid28is independent of the containers24). This can achieve both a reduction in the number of parts and a simplification of tasks.

In addition, in the present embodiment, the lid28is caused to reciprocate by a movement (specifically, a rotational movement) of the movable member34with respect to the fixed members30and32. According to this configuration, the operation of opening and closing the opening26of the container24can be reproduced with high accuracy because the lid28can be guided to reciprocate along the same trajectory by a simple structure.

Further, in the present embodiment, the movable member34is rotatably provided at the fixed member32to guide the lid28such that the lid28reciprocates along the arc-shaped track by the rotational movement of the movable member34with respect to the fixed member32. According to this configuration, the operator or the robot can easily open and close the lid28with a small force (specifically, a small torque).

Furthermore, in the present embodiment, the movable member34is fixed to one end of the lid28, while the rotary gripping section36is provided at another end of the lid28opposite to the one end. Then, the gripping ring48of the rotary gripping section36relatively rotates about the gripping shaft46as the operator or the robot grips the gripping ring48of the rotary gripping section36to open or close the lid28.

Thus, the operator or the robot can open and close the lid28by operating the rotary gripping section36while gripping the gripping ring48. In addition, the operator or the robot can easily open and close the lid28with a small force (specifically, a small torque) because the rotary gripping section36is provided separated from the movable member34at an end of the lid28opposite to the movable member34.

Without being limited to the above lid mechanisms14, various forms of lid mechanisms can be applied to the article storage apparatus10. Hereinafter, a lid mechanism50according to another embodiment will be described with reference toFIGS.6to8. The lid mechanism50includes a lid28, fixed members30,52and54, a movable member34, a rotary gripping section36, and an elastic member60. The fixed member52is a member having a substantially L-shape when viewed from the x-axis direction and includes a first arm56and a second arm58. The first arm56is a flat plate-like member and is fixed to the fixed member30, for example, by a fastener such as a bolt or welding and the like and extends upward from an upper end of the fixed member30.

The second arm58is a flat plate-like member, which is integrally formed at an upper end of the first arm56such that it is substantially orthogonal to the first arm56, and extends rearward from the upper end of the first arm56. The fixed member54is fixed to an upper surface of the second arm58, for example, by a fastener such as a bolt or welding and the like. In this way, the fixed members52and54are fixed to the container installation frame20via the fixed member30.

The movable member34is rotatably provided at the fixed member54via a hinge shaft42. The fixed member54, the movable member34, and the hinge shaft42constitute one hinge. In the present embodiment, the elastic member60is provided on an upper surface of the fixed member54. The elastic member60is made of an elastic material such as a rubber material, a urethane material, or an elastic resin material.

When the lid28is opened from a closed position illustrated inFIGS.6and7to an open position illustrated inFIG.8, the fixed member54and the movable member34are arranged such that they face each other in the z-axis direction and the elastic member60is interposed between the fixed member54and the movable member34. At this time, the assembly of the lid28and the movable member34is supported by the second arm58of the fixed member52and the fixed member54, whereby further rotation of the lid28is restricted and the lid28is held at the open position. Thus, the second arm58of the fixed member52and the fixed member54constitute a movement restricting mechanism62that, when the lid28is arranged at the open position, restricts movement of the lid28and holds the lid28at the open position.

In addition, the second arm58and the fixed member54restrict rotation of the lid28by engaging with the assembly of the lid28and the movable member34via the elastic member60. Thus, the second arm58and the fixed member54function as an engaging portion that engages with the lid28arranged at the open position and restricts movement of the lid28. In the present embodiment, the movement restricting mechanism62is configured to hold the lid28parallel to the horizontal plane when the lid28is arranged at the open position.

In the present embodiment, when the lid28is arranged at the open position illustrated inFIG.8, the elastic member60is interposed between the fixed member54and the movable member34as described above. According to this configuration, when the lid28is opened, the elastic member60reduces the impact between the fixed member54and the movable member34and thus can prevent failure of the components (e.g., the hinge consisting of the fixed member54, the movable member34, and the hinge shaft42) of the article storage apparatus10.

In addition, in the present embodiment, the article storage apparatus10includes the movement restricting mechanism62(specifically, the second arm58and the fixed member54) that, when the lid28is arranged at the open position, restricts movement of the lid28and holds the lid28at the open position. According to this configuration, the lid28can be stably held at the open position.

Further, in the present embodiment, the movement restricting mechanism62is configured to hold the lid28arranged at the open position parallel to the horizontal plane. According to this configuration, for example, when the robot took out an article from the container24and placed it on the first surface38which faces vertically upward when the lid28is arranged at the open position as will be described later, the article can be placed stationary on the first surface38. The second arm58of the fixed member52may also be provided such that it extends forward from the upper end of the first arm56.

Next, a lid mechanism70according to another embodiment will be described with reference toFIGS.9and10. The lid mechanism70includes a lid28, fixed members30,72, and54, a movable member34, a rotary gripping section36, an elastic member60, and a stopper hinge mechanism74. The fixed member72includes a first arm76and a second arm78.

The first arm76is a flat plate-like member fixed to the fixed member30, for example, by a fastener such as a bolt or welding and the like and extends upward from the fixed member30. The second arm78is a flat plate-like member, which is integrally formed at an upper end of the first arm76such that it is inclined with respect to the first arm76, and extends rearward from the upper end of the first arm76. A fixed member54is fixed to an upper surface of the second arm78.

The stopper hinge mechanism74includes a hinge shaft42and an angle adjusting mechanism80. The movable member34is rotatably provided at the fixed member54via the hinge shaft42of the stopper hinge mechanism74. The angle adjusting mechanism80adjusts the rotation angle θ (opening angle) of the movable member34with respect to the fixed member54. Specifically, the angle adjusting mechanism80includes, for example, a gear or a locking mechanism and holds the movable member34at a position of a rotation angle θ arbitrarily set in the angle adjusting mechanism80with respect to the fixed member54.

When the lid28is arranged at a closed position as illustrated inFIG.9, the fixed member54and the movable member34are arranged such that they face each other and the elastic member60is interposed between the fixed member54and the movable member34. At this time, the assembly of the lid28and the movable member34is supported by the second arm78of the fixed member72and the fixed member54, whereby further rotation of the lid28is restricted and the lid28is held at the closed position.

That is, in the present embodiment, the open position where the lid28closes the opening26is defined by the second arm78and the fixed member54. In the present embodiment, the second arm78and the fixed member54constitute a movement restricting mechanism79that, when the lid28is arranged at the closed position, restricts movement of the lid28and holds the lid28at the closed position as described above.

In addition, the second arm78and the fixed member54restrict rotation of the lid28by engaging with the assembly of the lid28and the movable member34via the elastic member60. Thus, the second arm78and the fixed member54function as an engaging portion that engages with the lid28arranged at the closed position and restricts movement of the lid28.

On the other hand, when the lid28is rotated and opened along an arc-shaped track about the hinge shaft42from the closed position illustrated inFIG.9to an open position illustrated inFIG.10and the movable member34reaches the position of the rotation angle θ set in the angle adjusting mechanism80with respect to the fixed member54, the rotational movement of the movable member34and the lid28is restricted by the angle adjusting mechanism80, whereby the lid.28is held at the open position.

In other words, in the present embodiment, the open position of the lid28is defined by the rotation angle θ se in the angle adjusting mechanism80. Thus, the angle adjusting mechanism80constitutes a movement restricting mechanism80that, when the lid28is arranged at the open position, restricts movement of the lid28and holds the lid28at the open position.

Here, in the present embodiment, the rotation angle θ of the angle adjusting mechanism80is set such that it holds the lid28arranged at the open position parallel to the horizontal plane. According to this configuration, the angle adjusting mechanism (movement restricting mechanism)80can stably hold the lid28arranged at the open position parallel to the horizontal plane.

Next, a lid mechanism90according to another embodiment will be described with reference toFIGS.11and12. The lid mechanism90differs from the lid mechanism50illustrated inFIGS.6to8in the following configuration. That is, the lid mechanism90includes a mass sensor92instead of the elastic member60. The mass sensor92includes, for example, a piezoelectric element, a strain gauge, a weight sensor, a pressure sensor, or the like and is provided on the upper surface of the fixed member54.

When the lid28is arranged at an open position illustrated inFIG.12, the mass sensor92is interposed between the fixed member54and the movable member34which are arranged such that they face each other. In this state, for example, when the robot took out an article from the container24and placed it on the lid28arranged at the open position as will be described later, the weight of the lid.28and the article placed on the lid28is applied to the mass sensor92. The mass sensor92can detect the mass of the lid28and the article placed on the lid28.

Next, a lid mechanism100according to another embodiment will be described with reference toFIGS.13to15. The lid mechanism100includes a lid28, fixed members30and32, a movable member34, a rotary gripping section36, and a movement restricting mechanism102. The movement restricting mechanism102includes a first engaging portion104and a second engaging portion106.

Each of the first engaging portion104and the second engaging portion106is fixed to the second surface40of the lid28and protrudes from the second surface40. The first engaging portion104and the second engaging portion106may be provided integrally with the lid28or may be provided separately from the lid28and attached to the second surface40.

On the other hand, a first abutting portion108and a second abutting portion109are fixedly attached to the container installation frame20of the storage rack12. Each of the first abutting portion108and the second abutting portion109extends upward from the main body of the container installation frame20. The first abutting portion108and the second abutting portion109may be provided integrally with the main body of the container installation frame20or may be provided separately from the main body of the container installation frame20and attached to the main body.

When the lid28is rotated and opened along an arc-shaped track about the hinge shaft42from a closed position illustrated inFIGS.13and14to an open position illustrated inFIG.15, the first engaging portion104and the second engaging portion106engage with the first abutting portion108and the second abutting portion109of the container installation frame20, respectively, thereby restricting further rotation of the lid28.

In this way, the movement restricting mechanism102holds the lid28at the open position. In the present embodiment, the movement restricting mechanism102is configured to hold the lid28parallel to the horizontal plane when the lid28is arranged at the open position. According to the present embodiment, the movement restricting mechanism102can stably hold the lid28at the open position.

In the present embodiment, the movement restricting mechanism can also be provided at the storage rack12. For example, the movement restricting mechanism may include a base arm which is fixed to the container installation frame20such that it extends rearward from the container installation frame20and an engaging portion which extends upward from the base arm. In this case, when the lid28is arranged at the open position, the engaging portion engages with the lid28at its upper end and holds the lid28at the open position, for example, parallel to the horizontal plane.

Next, a lid mechanism110according to another embodiment will be described with reference toFIG.16. The lid mechanism110differs from the lid mechanism100described above in a movement restricting mechanism112. The movement restricting mechanism112includes an engaging portion116at its tip end while its base end114is fixed to the second surface40of the lid28. The movement restricting mechanism112extends from the second surface40along an axis line A. This axis line A may be substantially orthogonal to the second surface40.

On the other hand, an abutting portion118is fixedly attached to the container installation frame20of the storage rack12. The abutting portion118extends rearward from the main body of the container installation frame20. When the lid28is arranged at the open position as illustrated inFIG.16, the engaging portion116of the movement restricting mechanism112engages with the abutting portion118of the container installation frame20, thereby restricting further rotation of the lid28. In this way, the movement restricting mechanism112holds the lid28at the open position.

Here, in the present embodiment, the movement restricting mechanism112is configured such that its length L in the direction of the axis line A from its base end114to the engaging portion116located at its tip end is variable (in other words, stretchable along the axis line A). The movement restricting mechanism112includes, for example, a telescope mechanism or a mechanism that includes a rail portion and a slider portion slidable on the rail portion. The movement restricting mechanism112may further include a locking mechanism that locks the engaging portion116with respect to the base end114at an arbitrary length L.

The operator can arbitrarily adjust the inclination angle of the lid28arranged at the open position with respect to the horizontal plane by adjusting the length L of the movement restricting mechanism112in the state illustrated inFIG.16. As a result, the operator can adjust the inclination angle of the lid28at the open position such that it is parallel to the horizontal plane with high accuracy.

The movement restricting mechanism112may also be provided at the storage rack12. For example, the movement restricting mechanism112may be provided on the abutting portion118such that its base end is fixed to an upper surface of the abutting portion118and its engaging portion116is arranged above the base end. That is, in this case, the engaging portion116of the movement restricting mechanism112is provided on the abutting portion118of the container installation frame20, and when the lid28is arranged at the open position, engages with the lid28to restrict movement of the lid28.

Next, a lid mechanism120according to another embodiment will be described with reference toFIGS.17to20. The lid mechanism120differs from the lid mechanism100illustrated inFIGS.13to15in a lid122. The lid122includes a main body124and an open and close door mechanism126. The main body124is a flat plate member including a first surface38and a second surface40and a through hole128(FIG.18) is formed in a central portion thereof.

The open and close door mechanism126includes a pair of doors130and132and a door engaging portion134. A base end of the door130is rotatably provided at the main body124via a hinge shaft136provided at the rear side of the through hole128, while a tip end130athereof is a free end. On the other hand, a base end of the door132is rotatably provided at the main body124via a hinge shaft138provided at the front side of the through hole128, while a tip end132athereof is a free end. The hinge shafts136and138extend parallel to the x-axis direction.

The door engaging portion134includes a first arm140and a second arm142. The first arm140is a flat plate-like member with a base end fixed to the second surface40of the main body124and extends from the second surface40. The second arm142is a flat plate-like member that is integrally formed at the tip end of the first arm140such that it is substantially orthogonal to the first arm140and extends to the right from the tip end of the first arm140.

When the lid122is arranged at a closed position illustrated inFIG.17, the door130overlaps the door132and the pair of doors130and132is closed. As a result, the opening26of the container24is closed by the lid122(specifically, the main body124and the pair of doors130and132).

On the other hand, when the lid122is rotated about the hinge shaft42from the closed position illustrated inFIG.17to an open position illustrated inFIG.19, a first engaging portion104and a second engaging portion106of a movement restricting mechanism102engage with a first abutting portion108and a second abutting portion109of the storage rack12, respectively, whereby rotation of the lid122is restricted and the lid122is arranged at the open position.

When the lid122is arranged at the open position, the doors130and132rotate about the hinge shafts136and138, respectively, due to the action of gravity and the tip end130aof the door130and the tip end132aof the door132engage with the second arm142of the door engaging portion134. In this way, the pair of doors130and132expands vertically downward and is opened and a lid opening144is formed between the tip end130aof the door130and the tip end132aof the door132.

When the lid122is rearranged at the closed position, the pair of doors130and132overlap each other and the lid opening144is closed as illustrated inFIG.17. In this way, the open and close door mechanism126expands vertically downward to form the lid opening144when the lid122is arranged at the open position, while the lid opening144is closed when the lid122is arranged at the closed position.

The open and close door mechanism126can adjust the orientation of an article put into the through hole128when the lid122is arranged at the open position. This function will be described with reference toFIG.21. In an example illustrated inFIG.21, an article W is, for example, a bolt or a connecting rod and includes a head W1and a shaft W2extending from the head W1.

When the article W is put into the through hole128of the lid122arranged at the open position from above, the head W1is locked to the doors130and132, while the shaft W2is received by the lid opening144. As a result, the orientation of the article W is adjusted such that the head W1is arranged vertically above and the shaft W2hangs vertically downward from the head W1. In the present embodiment, the open and close door mechanism126functions as an orientation adjusting mechanism that adjusts the orientation of an article W placed on the lid122arranged at the open position as described above.

Next, a lid mechanism150according to another embodiment will be described with reference toFIGS.22and23. The lid mechanism150differs from the lid mechanism120described above in a lid152. Specifically, the lid152includes a main body124and an open and close door mechanism154. The open and close door mechanism154includes a tubular portion156and a door158.

In the present embodiment, the tubular portion156is, for example, a bellows-like flexible member and is configured to be stretchable in the direction of its central axis. The tubular portion156is arranged such that its base end surrounds the periphery of the through hole128(FIG.18) of the main body124and a lid opening162is defined at its tip end. The door158is rotatably provided at the tip end of the tubular portion156via a hinge shaft160.

When the lid152is arranged at a closed position as illustrated inFIG.22, the tubular portion156is folded and contracted and the door158closes the lid opening162. On the other hand, when the lid152is rotated about the hinge shaft42from the closed position illustrated inFIG.22to an open position illustrated inFIG.23, a first engaging portion104and a second engaging portion106of a movement restricting mechanism102engage with a first abutting portion108and a second abutting portion109of the storage rack12, respectively, whereby rotation of the lid152is restricted and the lid152is arranged at the open position.

When the lid152is arranged at the open position, the tubular portion156expands and elongates vertically downward due to the action of gravity. As illustrated inFIG.23, the expanded tubular portion156is tapered (in other words, decreases in the cross-sectional area) downward from its base end to the tip end (i.e., the lid opening162).

Further, the door158rotates about the hinge shaft160to open the lid opening162. In this way, the open and close door mechanism154expands vertically downward to form the lid opening162when the lid152is arranged at the open position, while it closes the lid opening162when the lid152is arranged at the closed position.

Similar to the open and close door mechanism126described above, the open and close door mechanism154can adjust the orientation of an article put into the through hole128(FIG.18) when the lid152is arranged at the open position. This function will be described with reference toFIG.24. As illustrated inFIG.24, when the article W is put from above into the through hole128of the lid152arranged at the open position, the head W1is locked to an inner peripheral surface156aof the tubular portion156, while the shaft W2is received by the lid opening162.

As a result, the orientation of the article W is adjusted such that the head W1is arranged vertically above and the shaft W2hangs vertically downward from the head W1. In the present embodiment, the open and close door mechanism154functions as an orientation adjusting mechanism that adjusts the orientation of an article W placed on the lid152arranged at the open position as described above. The tubular portion156is not limited to a stretchable member and may be, for example, a funnel-like solid member.

In the lid mechanism120or150described above, the movement restricting mechanism62(the fixed members52and54) illustrated inFIG.7may be applied instead of the movement restricting mechanism102(the engaging portions104and106) and the abutting portions108and109or alternatively the movement restricting mechanism80(specifically, the stopper hinge mechanism74) and the fixed members54and72illustrated inFIG.9may be applied.

The article storage apparatus10is not limited to the storage rack12described above and various types of storage racks can be applied. Hereinafter, a storage rack170according to another embodiment will be described with reference toFIGS.25to27. The storage rack170includes a plurality of long pillars16, a plurality of short pillars18, and a container installation frame172. A plurality of containers24A,24B, and24C are set on the container installation frame172such that they are arrayed in the y-axis direction.

As illustrated inFIG.26, the container installation frame172includes a guide mechanism174, a stopper mechanism176, and a positioning member183. The guide mechanism174guides the containers24A,24B, and24C placed on the guide mechanism174such that they move toward a predetermined set position SP in the container installation frame172by the action of gravity.

Specifically, the guide mechanism174includes a central base177, a pair of guide rails178and180, a first row of rollers182A arranged between the central base177and the guide rail178, and a second row of rollers1821arranged between the central base177and the guide rail180.

The central base177is arranged at the center of the container installation frame172in the x-axis direction and is arranged inclined with respect to the xy plane (e.g., the horizontal plane) such that it is directed upward toward the front. The pair of guide rails178and180are arranged separated from each other in the x-axis direction such that the central base177is arranged between them and are arranged inclined with respect to the xy plane (e.g., the horizontal plane) such that they extend parallel to the central base177. The inclination angle of the central base177and the guide rails178and180with respect to the xy plane (horizontal plane) is, for example, 10°.

The guide rail178includes a base184and a guide wall186that rises upward from a left end of the base184. Similarly, the guide rail180includes a base188and a guide wall190that rises upward from a right end of the base188. Here, in the present embodiment, a substantially rectangular hole192is formed in the central base177.

The first row of rollers182A are arranged at substantially equal intervals such that they are arrayed along the y-axis. Each of the first row of rollers182A is provided between the central base177and the base184such that it is rotatable about an axis substantially parallel to the x-axis. The second row of rollers182B are arranged at substantially equal intervals such that they are arrayed along the y-axis. Each of the second row of rollers182B is provided between the central base177and the base188such that it is rotatable about an axis substantially parallel to the x-axis.

The containers24A,24B, and24C are placed between the guide walls186and190facing each other, and by the action of gravity applied to them, move toward the set position SP through the action of the rollers182A and182B while being prevented from falling off to the left and right by the guide walls186and190. In this way, the guide mechanism174guides the placed containers24A,24B, and24C to move toward the set position SP.

The stopper mechanism176includes a stopper member194and an urging portion196(FIG.27) urging the stopper member194. As illustrated inFIG.27, the stopper member194is received by a hole192formed in the central base177and is supported by the central base177such that it is rotatable via a shaft202. Specifically, the stopper member194includes a stopper body198and a stopper wall200that protrudes upward from a front end of the stopper body198.

The urging portion196urges the stopper member194in a direction indicated by an arrow E inFIG.27(i.e., in a clockwise direction when viewed from the right side). For example, the urging portion196is a torsion spring having one end connected to the stopper member194and the other end connected to the central base177. Alternatively, the urging portion196may be a weight provided at a front end of the stopper body198.

The positioning member183is fixed to the guide rails178and180such that it extends between the guide rails178and180and is arranged at a predetermined position on the rear side of the guide rails178and180. The positioning member183defines the set position SP of the containers24A,24B, and24C. That is, the containers24A,24B, and24C guided to move rearward by the guide mechanism174abut to the positioning member183and then stop. The positions of the containers24A,24B, and24C stopped by the positioning member183are the set position SP.

In the example illustrated inFIGS.25to27, the container24A is arranged at the set position SP and the containers24B and24C follow the container24A. Here, in a state illustrated inFIG.27, the container24A arranged at the set position SP rides on the stopper body198, whereby the stopper member194is arranged in a first position such that the stopper wall200protrudes upward from the hole192. At this time, the stopper wall200engages with the container24B following the container24A, thereby restricting movement of the container24B in the direction toward the set position SP. As a result, the container24A and the container24B are separated from each other.

On the other hand, when the container24A has been removed from the container installation frame172as illustrated inFIG.28, the stopper member194rotates in a direction E by the action of the urging portion196and is arranged in a second position illustrated inFIG.28. When the stopper member194is arranged in the second position, the stopper wall200is received in the hole192, while a rear end198aof the stopper body198protrudes upward from the hole192.

Then, when the container24B is guided by the guide mechanism174and reaches the set position SP in which it abuts to the positioning member183, the container24B rides on the rear end198aof the stopper body198, thereby rotating the stopper member194in a direction opposite to the direction E against the action of the urging portion196.

As a result, the stopper member194returns to the first position illustrated inFIG.27and the stopper wall200engages with the container24C following the container24B to restrict movement of the container24C in the direction toward the set position SP. Thus, the container24B and the container24C are separated from each other.

As described above, the stopper mechanism176restricts movement of the subsequent container24B (or24C) when the container24A (or24B) has reached the set position SP by the guide mechanism174, thereby separating the container24A (or24B) and the container24B (or24C) from each other. According to this configuration, when the container24A (or24B) arranged at the set position SP has moved to the closed position in order to close the container24A (or24B), it is possible to prevent the container24B (or24C) following the container24A (or24B) from interfering with the lid28of the container24A (or24B) and hindering the closing operation of the lid28.

It is also possible to, when removing the container24A (or24B) arranged at the set position SP, prevent the subsequent container24B (or24C) from interfering with the container24A (or24B) and hindering the removal operation of the container24A (or24B). Constructing the stopper mechanism176from the stopper member194and the urging portion196can also realize the function of the stopper mechanism176described above with a simpler structure.

Further, according to the present embodiment, tasks such as automatically arranging a plurality of containers24A,24B, and24C at the set position SP in order and taking out articles stored in the containers24A,24B, and24C can be smoothly performed for each of the containers24A,24B and24C by the guide mechanism174. This can automate tasks while achieving a reduction in the cycle time of tasks.

The urging portion196may include a pneumatic or hydraulic cylinder instead of the torsion spring. In this case, the stopper member194may be received in the hole192such that it can advance or retreat along the axis of a straight line between the first position where the stopper wall200protrudes upward from the hole192and the second position where the stopper wall200is received in the hole192. Then, the urging portion196(the cylinder) may cause the stopper member194to advance or retreat between the first position and the second position.

Next, a picking system210according to an embodiment will be described with reference toFIGS.29and30. The picking system210includes a robot212, a control device214, a vision sensor216, and the article storage apparatus10illustrated inFIGS.11and12. In the present embodiment, the robot212is a vertical articulated robot and includes a robot base218, a swivel body220, a lower arm222, an upper arm224, a wrist226, and a hand228.

The robot base218is fixed to the floor of a work cell. The swivel body220is provided to the robot base218such that it is swivelable about a vertical axis. The lower arm222is rotatably provided at the swivel body220about a horizontal axis and the upper arm224is rotatably provided at a tip end of the lower arm222. The wrist226is rotatably connected to a distal end of the upper arm224and the hand228rotates about the wrist axis.

The hand228is detachably connected to a distal end flange of the wrist226. In an example, the hand228is an openable/closable hand including a plurality of openable/closable fingers and configured to grasp and grip an article with the fingers. In another example, the hand228is a suction type hand including an electromagnet, a vacuum device, a suction cup, or the like and configured to suck and grip an article. In yet another example, the hand228may include an openable/closable hand and a suction type hand. In this case, the hand228may grip the rotary gripping section36with the openable/closable hand and grip an article in the container24with the suction type hand.

Servomotors230(FIG.30) are built in to each of the components (i.e., the robot base218, the swivel body220, the lower arm222, the upper arm224, and the wrist226) of the robot212. The servomotors230drive each movable component (i.e., the swivel body220, the lower arm222, the upper arm224, and the wrist226) of the robot212in response to a command from the control device214.

A robot coordinate system C1is set in the robot212. The robot coordinate system C1is a coordinate system for controlling the operation of each movable element of the robot212and is fixed in a three-dimensional space. In the present embodiment, the robot coordinate system C1is set with respect to the robot212such that its origin is arranged at the center of the robot base218and its z-axis coincides with the swivel axis of the swivel body220.

The vision sensor216is fixed in a known positional relationship with respect to the hand228(or a TCP). The vision sensor216is, for example, a camera or a three-dimensional vision sensor and includes an imaging sensor (such as CCD or CMOS) that receives a subject image and performs photoelectric conversion and an optical system (such as a condenser lens or a focusing lens) that guides the subject image to the imaging sensor. The vision sensor216captures an image of an article and transmits the captured image data to the control device214. The control device214acquires the position of the article, captured in the image data, in the robot coordinate system C1based on the image data captured by the vision sensor216.

The control device214is a computer including a processor (such as a CPU or a GPU) and a memory (such as a ROM or a RAM) and controls the operation of the robot212. The control device214controls the robot212based on the image data from the vision sensor216and mass data from the mass sensor92of the article storage apparatus10such that the robot212performs an operation of opening the lid28of the article storage apparatus10and taking out an article stored in the container24.

Hereinafter, the operation of the picking system210will be described with reference toFIG.31. A process illustrated inFIG.31starts when the control device214has received a task start command from an operator, a host controller, or a computer program. When the process ofFIG.31has started, the container24is positioned at the set position SP on the container installation frame20and the lid28of the lid mechanism90is arranged at the closed position, in the article storage apparatus10.

In step S1, the control device214captures an image of the rotary gripping section36of the lid mechanism90by the vision sensor216and acquires the position of the rotary gripping section36in the robot coordinate system C1. Specifically, the control device214operates the robot212to position the vision sensor216at a position where the rotary gripping section36lies within the field of view of the vision sensor216.

Next, the control device214captures an image of the rotary gripping section36by the vision sensor216and acquires the captured image data from the vision sensor216. Next, the control device214acquires the position of the gripping ring48of the rotary gripping section36in the robot coordinate system C1based on the acquired image data.

In step S2, the control device214opens the lid28by the robot212. Specifically, the control device214controls the robot212based on the position of the gripping ring48in the robot coordinate system C1acquired in the latest step S1such that the robot212grips the gripping ring48with the hand228.

Next, the control device214operates the robot212to move the hand228, gripping the gripping ring48, along an arc-shaped track about the hinge shaft42, thereby moving the lid28from the closed position to the open position. As a result, the lid28is arranged in the open position illustrated inFIG.12. At this time, by the movement restricting mechanism62, the lid28is held parallel to the horizontal plane and the first surface38of the lid28faces vertically upward.

In step S3, the control device214determines whether the lid28has been normally arranged in the open position in step S2. Here, the gravity of the lid28is applied to the mass sensor92when the lid28has been normally opened and arranged in the open position. Thus, the mass sensor92can detect the mass of the lid28arranged in the open position. On the other hand, the mass sensor92does not detect the mass of the lid28when the lid28has not been normally opened and remains at the closed position.

Therefore, in this step S3, the control device214acquires data of the mass M1, detected by the mass sensor92at this time, from the mass sensor92. The data of the mass M1 may be data representing the mass (in units of kg) as a numerical value or may be an electric signal corresponding to the mass M1.

Then, the control device214determines whether the acquired mass M1 is within a predetermined allowable range [α, β] and determines that the lid28has been normally opened (i.e., YES) when α≤M1≤β. Here, the threshold values a and11of the allowable range [α, β] can be set based on the mass ML of the lid28because the actual mass ML can be measured in advance.

The control device214proceeds to step S4upon determining YES, and on the other hand, returns to step S1upon determining NO. In the present embodiment, the control device214determines whether the lid28has been normally arranged in the open position based on the data of the mass M1 detected by the mass sensor92as described above.

In step S4, the control device214captures an image of articles (such as bolts, nuts, or connecting rods) in the container24by the vision sensor216and acquires the position of the article, to be taken out, in the robot coordinate system C1. Specifically, the control device214operates the robot212to position the vision sensor216at a position where at least one article in the container24lies within the field of view of the vision sensor216.

Next, the control device214captures an image of an article by the vision sensor216and acquires the captured image data from the vision sensor216. Next, the control device214analyzes the acquired image data, identifies an article to be taken out from articles imaged in the image data, and acquires the position of the article in the robot coordinate system C1.

In step S5, the control device214takes out the article from the container24and places it on the lid28by the robot212. Specifically, the control device214controls the robot212based on the position of the article in the robot coordinate system C1acquired in the latest step S4such that the robot212grips the article with the hand228through the opening26and takes out the article from the container24. Next, the control device214operates the robot212to move the hand228gripping the article above the lid28arranged in the open position and causes the hand228to release the article. As a result, the article is placed on the first surface38of the lid28arranged in the open position.

In step S6, the control device214estimates the number n of articles placed on the lid28. Here, for example, when a hand228including an electromagnet is used, a plurality of articles can be taken out in step S5. In step S6, the control device214estimates the number n of articles placed on the lid28based on the data of the mass detected by the mass sensor92.

Specifically, the control device214acquires the data of the mass M2, detected by the mass sensor92at this time, from the mass sensor92. The mass M2 detected by the mass sensor92at this time is a value obtained by adding the product of the mass MA of a single article and the number n of articles placed on the lid28to the mass ML of the lid28(i.e., M2=ML+MA×n). The control device214can estimate the number n from an equation n=(M2−ML)/MA because the mass ML of the lid28and the mass MA of a single article can be measured in advance. In this way, the control device214estimates the number n of articles placed on the lid28at this time.

In step S7, the control device214determines whether the number n estimated in the latest step S6is zero (n=0). The control device214returns to step S4upon determining that n=0 (i.e., YES), and on the other hand, proceeds to step S8upon determining that n≥1 (i.e., NO). In the present embodiment, the control device214determines the presence or absence of an article placed on the lid28arranged in the open position based on the mass M2 detected by the mass sensor92as described above.

In step S8, the control device214captures an image of articles placed on the lid28by the vision sensor216and acquires the position of an article, to be transported, in the robot coordinate system C1. Specifically, the control device214captures an image of articles placed on the lid28by the vision sensor216and acquires the captured image data from the vision sensor216. Next, the control device214analyzes the acquired image data and identities the number n1of articles imaged in the image data. Then, the control device214identifies an article to be taken out from the articles imaged in the image data and acquires the position of the article in the robot coordinate system C1.

In step S9, the control device214determines whether an image of the articles has been normally captured in the latest step S8. Specifically, the control device214determines whether the number n estimated in the latest step S6and the number n1identified from the image data in step S8match.

Here, when an image of articles has been captured in step S8, it may not be possible to accurately identify all articles placed on the lid28because not all articles are clearly imaged in the captured image data due to factors such as reflected light, noise, or optical specifications of the vision sensor216(such as the number of pixels of the image sensor).

Therefore, in step S9, the control device214determines whether the number n estimated in step S6and the number n1identified from the image data in step S8match, and when they match, the control device214determines YES and proceeds to step S10. On the other hand, upon determining NO, the control device214returns to step S8and repeats steps S8and S9until determining YES in step S9.

When the number of times NO has been determined in step S9reaches a predetermined number of times (e.g., 5 times), the control device214may generate an alarm signal in the form of voice or an image and output it to the operator. Alternatively, when the number of times NO has been determined in step S9reaches the predetermined number of times, the control device214may proceed to step S1again after closing the lid28by the robot212. Then, when the number of times such a loop has been repeated reaches a predetermined number of times, the control device214may stop the operation of the robot212, generate an alarm signal, and output it to the operator. The control device214determines whether the vision sensor216has normally captured an image of articles in step S8based on both on the data of the mass M2 detected by the mass sensor92in step S6and the image data captured by the vision sensor216as described above.

In step S10, the control device214grips an article on the lid28and transports it to a predetermined storage location by the robot212. Specifically, the control device214controls the robot212based on the position of the article in the robot coordinate system C1acquired in the latest step S8such that the robot212grips the article placed on the lid28with the hand228. Then, the control device214operates the robot212to move the hand228gripping the article to the storage location and causes the hand228to release the article. As a result, the article is stored in the storage area.

In step S11, the control device214determines whether transporting of all articles on the lid28have been completed. For example, the control device214may determine YES when the number n of articles estimated in the latest step S6(or the number n1identified in the latest step S8) is “1.” The control device214proceeds to step S12upon determining YES, and on the other hand, returns to step S6upon determining NO.

In step S12, the control device214determines whether the task of taking out and transporting all articles in the container24has been completed. For example, the control device214stores the total number ns of articles stored in the container24in advance and counts the number of times in step S10has been performed. Then, the control device214determines YES when the number of times m matches the total number ns. The control device214proceeds to step S13upon determining YES and returns to step S4upon determining NO.

In step S13, the control device214closes the lid28by the robot212. Specifically, first, the control device214captures an image of the rotary gripping section36of the lid28, arranged in the open position, by the vision sensor216and acquires the position of the gripping ring48in the robot coordinate system C1from the captured image data.

Then, the control device214controls the robot212based on the acquired position of the gripping ring48in the robot coordinate system C1such that the robot212grips the gripping ring48with the hand228. Then, the control device214operates the robot212to move the hand228gripping the gripping ring48in a direction opposite to that at the time of opening the lid in step S2along the arc-shaped track about the hinge shaft42. Thus, the lid28is arranged at the closed position illustrated inFIG.11. Then, the control device214ends the process illustrated inFIG.31.

According to the present embodiment, the robot212performs a task of gripping and opening the lid28arranged at the closed position with the hand228, and when the lid28is arranged in the open position, gripping and taking out articles stored in the container24with the hand228through the opening26as described above. According to this configuration, the task of opening the lid of the container24and taking out articles can be automated.

In addition, in the present embodiment, the control device214controls the robot212such that it temporarily places an article gripped by the hand228on the first surface38of the lid28(step S5) and thereafter re-grips the article temporarily placed on the first surface38of the lid28with the hand228and transports it to the storage location (step S10).

Here, in the present embodiment, the first surface38of the opened lid28can be used as a temporary storage location for the taken out article because the movement restricting mechanism62can stably hold the lid28in the open position. According to this configuration, it is not necessary to separately provide a structure for the temporary storage location, and thus the manufacturing cost of the picking system210can be reduced.

Further, in the present embodiment, the movement restricting mechanism62holds the lid28arranged in the open position parallel to the horizontal plane. According to this configuration, when an article has been temporarily placed on the first surface38in step S5, the article can be quickly stopped. This enables smoothly performing the operation of holding an article again in steps S8to S10.

Furthermore, in the present embodiment, the control device214determines whether the lid28has been normally arranged in the open position based on the data of the mass M1 detected by the mass sensor92(step S3). According to this configuration, the control device214can quickly determine the normal opening of the lid28and can smoothly proceed to the subsequent process step (step S4or S1), which leads to a reduction in the cycle time.

In addition, in the present embodiment, the control device214determines the presence or absence of an article placed on the lid28arranged in the open position based on the data of the mass M2 detected by the mass sensor92(step S7). According to this configuration, if the result of step S5is a case or the like where an article cannot be properly temporarily placed due to falling off from the lid28, the control device214can quickly detect that there is no article on the lid28and perform the temporary placement process of steps S4and S5again. In other words, it is possible to quickly and reliably detect whether an article taken out from the container24is properly placed on the lid28.

Further, in the present embodiment, the control device214determines whether the vision sensor216has normally captured an image of articles based on the data of the mass M2 detected by the mass sensor92(step S9). According to this configuration, the control device214can quickly determine whether the image data captured in step S8is appropriate (i.e., all articles can be recognized normally) and can smoothly proceed to the subsequent process step (step S10or S8), which leads to a reduction in the cycle time.

In the picking system210, the lid mechanism50,70,100, or110described above can be applied instead of the lid mechanism90. In this case, steps S3, S6, and S9are omitted from the process illustrated inFIG.31because the mass sensor92is omitted.

On the other hand, the lid mechanism70described above may be configured such that the stopper hinge mechanism74of the lid mechanism70is provided with a torque sensor that can detect a torque applied about the hinge shaft42, and the mass of the lid28and articles placed on the lid28is detected from the torque. When such a lid mechanism70is applied to the picking system210, the control device214can perform the process illustrated inFIG.31.

In the lid mechanism100described above, the mass sensor92may be provided on the surface of the first engaging portion104or the abutting portion108(or the second engaging portion106or the abutting portion109) such that, when the lid28is arranged in the open position (FIG.15), the mass sensor92is interposed between the first engaging portion104and the abutting portion108(or the second engaging portion106and the abutting portion109) facing each other. The mass sensor92thus installed can detect the mass of the lid28and articles placed on the lid28. When such a lid mechanism100is applied to the picking system210, the control device214can perform the process illustrated inFIG.31.

In the picking system210, a proximity sensor that can detect the lid28arranged in the open position may be provided instead of (or in addition to) the mass sensor92. This proximity sensor transmits a lid opening detection signal to the control device214when the lid28is arranged in the open position. The control device214may determine YES upon receiving the lid opening detection signal in step S3described above.

In the robot212, a force sensor that can detect an external force applied to the hand228may be provided, for example, on the robot base218or the wrist226. Alternatively, a force sensor (specifically, a torque sensor) that can detect a torque applied to the output shaft of each servomotor230of the robot212may be provided.

The control device214can detect the mass of an object gripped by the hand based on detection data of the force sensor. In this case, the control device214may lift the lid28, on which the object has been temporarily placed, by the hand228in step S6described above and acquire the mass M2 (=ML+MA×n) described above based on detection data that the force21) sensor has detected at this time, and thereby estimate the number n of articles placed on the lid28.

In the picking system210, an elastic covering may also be provided on the first surface38of the lid28. Such a form is illustrated inFIG.32.FIG.32is illustrating only the lid28for the sake of easy understanding. An elastic covering240is provided on the first surface38of the lid28illustrated inFIG.32.

The elastic covering240is a flat sheet-like member formed of an elastic material such as a rubber material, a urethane material, or an elastic resin material and is bonded to the first surface38, for example, by an adhesive. Providing the elastic covering240can absorb an impact applied to the lid28when an article is temporarily placed on the first surface38of the lid28arranged in the open position. Forming the elastic covering240with an elastic material having a high coefficient of friction coefficient with respect to articles can limit positional displacement of the temporarily placed articles.

The elastic covering240is not limited to the flat sheet-like member and may include a concave-convex portion on the surface thereof. Such a form is illustrated inFIG.33. In the elastic covering240illustrated inFIG.33, a wavy concave-convex portion242is formed on the surface thereof. When an article is temporarily placed on the first surface38of the lid28arranged in the open position, this concave-convex portion242can efficiently prevent positional displacement of the article as the article fits to the concave-convex portion242.

Providing the elastic covering240as described above can more stably stop an article when the article is temporarily placed on the first surface38in step S5, and thus the operation of holding an article again in steps S8to S10can be performed more smoothly and with high accuracy.

The color of the elastic covering240may be selected such that the article can be easily detected in the image data captured by the vision sensor216in step S8. For example, the color of the elastic covering240can be set to black, whereby the elastic covering240that is the background of the article can be prevented from being conspicuous as a visual feature in the image data. This allows the article to be identified with high accuracy by image analysis in step S8.

In the form illustrated inFIG.33, the elastic covering240is provided with the concave-convex portion242, while the concave-convex portion242may be integrally formed on the first surface38. That is, in this case, the concave-convex portion242is formed on the first surface38. In this case, it is also possible to prevent positional displacement of the article temporarily placed on the first surface38.

Next, a picking system250according to another embodiment will be described with reference toFIG.34. The picking system250includes the robot212, the control device214, the vision sensor216, and the article storage apparatus10illustrated inFIGS.17to21. Hereinafter, the operation of the picking system250will be described with reference toFIG.35. In the process illustrated inFIG.35, the same process steps as those ofFIG.31are assigned the same step numbers and detailed description thereof will be omitted.

After starting the process illustrated inFIG.35, the control device214performs steps S1, S2, and S4described above. Here, when the lid122is arranged in the open position in step S2, the pair of doors130and132of the open and close door mechanism126opens to form the lid opening144as illustrated inFIG.19.

In step S5, the control device214takes out an article from the container24by the robot212and places it on the lid122. Specifically, the control device214grips and takes out the article from the container24with the hand228through the opening26. Next, the control device214operates the robot212to move the hand228gripping the article above the through hole128of the lid122arranged in the open position and causes the hand228to release the article. As a result, the article is put into the through hole128from above and is adjusted to the orientation illustrated inFIG.21by the action of the orientation adjusting mechanism (the open and close door mechanism126).

Thereafter, the control device214performs steps S8and S10. Here, when step S10is repeatedly performed, the robot212can grip articles in the same orientation with the hand228because the orientation adjusting mechanism (126) adjusts the orientations of articles temporarily placed on the lid122. Then, when transporting and storing the article gripped by the hand228to and in the storage location, the robot212can arrange the article in the storage location in the same orientation. That is, according to the present embodiment, it is possible to adjust the orientations of a plurality of articles stored in the storage location. After step S10, the control device214performs steps S11to S13.

The article storage apparatus10illustrated inFIGS.22to24can also be applied to the picking system250. Also in this case, when step S5inFIG.35is performed, the orientation of the article temporarily placed on the lid152can be adjusted to the orientation illustrated inFIG.24by the action of the orientation adjusting mechanism (the open and close door mechanism154).

In the picking system210or250described above, the robot base218of the robot212may also be fixed on a traveling device (not illustrated). This traveling device moves the robot212in a direction parallel to the xy plane (horizontal plane) of the robot coordinate system C1.

Then, when a plurality of containers24are arranged on the container installation frame20such that they are arrayed in the x-axis direction as illustrated inFIG.1, the control device214may perform the process illustrated inFIG.31orFIG.35for each container24while operating the traveling device to move the robot212in the x-axis direction. In this case, the control device214may be built in the traveling device. The storage rack170described above may also be applied to the picking system210or250. The lid mechanism14,50,70,100or110of any of the forms described above may also be applied to the article storage apparatus10of the picking system210.

The orientation adjusting mechanism is not limited to the open and close door mechanism126or the open and close door mechanism154and may have any structure that can adjust the orientation of an article placed on the lid. For example, as an orientation adjusting mechanism, a recess having the same outer shape as the outer shape of the article may be provided in the first surface38of the lid28to adjust the orientation of the article put into the recess.

The above embodiments have been described with respect to the case where the lid28,122, or152is opened or closed by rotating about the hinge shaft42. However, without being limited to this, the lid28,122or152may be provided, for example, such that it is slidable linearly in the x-axis direction or the y-axis direction and moves between a closed position and an open position by a sliding movement.

For example, the container installation frame20of the storage rack12(or170) may be provided with a slide rail extending along the x-axis or the y-axis and the lid28,122or152may be slidably provided on the slide rail. When the lid28,122or152is arranged at one end of the slide rail, the lid28,122or152may be arranged at a closed position where it closes the opening26of the container24arranged at the set position SP, while when it is arranged at the other end of the slide rail, it may be arranged in an open position where it opens the opening26. The article storage apparatus10may further include a drive section (e.g., a servomotor) that drives the lid28,122, or152to be opened and closed.

The above embodiments have been described with respect to the case where the lid mechanism14,50,70,90,100,110,120, or150is provided to the storage rack12or170as a member other than the containers24. However, without being limited to this, the lid mechanism14,50,70,90,100,110,120or150may be provided at a member other than the containers24and the storage rack12(or170).

For example, an outer frame extending parallel to the container installation frame20of the storage rack12(or170) may be fixed in close proximity to (e.g., directly above) the container installation frame20(or172). The outer frame may be separated from the storage rack12and fixed to the floor (or a pillar) of the work cell. Then, the lid mechanism14,50,70,90,100,110,120or150(specifically, the fixed member30) may be fixed to the outer frame. Although the present disclosure has been described above through the embodiments, the above embodiments are not intended to limit the invention as set forth in the claims.

REFERENCE SIGNS LIST