| 摘要 |
<p>PURPOSE:To completely automatize putting-in and-out works by connecting a manipulator equipped with a sensor (eye) to an electronic computer, in a stacking warehouse where plural articles arranged and placed on one pallet are housed in said warehouse. CONSTITUTION:In a stacking warehouse provided with a stacker crane 2 freely traveling between each pair of opposing racks 1, a pallet 14 is transferred to a conveying truck 4 via a delivery bench 3 located at the end part of each rack 1. The conveying truck 4 travels on a rail 5, and transfers the pallet 14 to and from load placing tables 7, 8 in a load sorting area 6. In this case, and automatic picking device 9 and conveyors 10, 11 are set in the load sorting area 6, and the automatic picking device 9 is provided with a sensor 12 for detecting the presence of the articles 15 on the pallet 14 and a vacuum pad 13 for handling articles. And, the placing positions of the articles 15 on the pallet 14 are determined from the detected output of the sensor 12, allowing the automatic picking device 9 to be controlled.</p> |
