JP5930406B2

JP5930406B2 - Picking equipment

Info

Publication number: JP5930406B2
Application number: JP2013173934A
Authority: JP
Inventors: 光男森久保; 逸郎有留
Original assignee: 東邦ホールディングス株式会社
Priority date: 2013-08-23
Filing date: 2013-08-23
Publication date: 2016-06-08
Anticipated expiration: 2033-08-23
Also published as: JP2015040118A

Description

本発明は、同じ種類の物品を複数個収納する収納体と、複数種類の物品を複数個収納する出荷容器と、があり、複数種類の物品が、種類別に前記収納体に収納され、複数の前記収納体から物品を取り出し、その取り出した複数種類の物品を前記出荷容器に収納するピッキング設備に関する。 The present invention includes a storage body that stores a plurality of articles of the same type, and a shipping container that stores a plurality of articles of a plurality of types. A plurality of types of articles are stored in the storage body according to type, The present invention relates to a picking facility that takes out articles from the storage body and stores the taken-out types of articles in the shipping container.

かかるピッキング設備の従来例が特開２０１１−０７９６１９号公報（特許文献１）に記載されている。特許文献１のピッキング設備では、複数種類の物品が、種類別に収納体に収納されており、物品を出荷する場合は、出荷する物品の種類及び個数に応じて、複数の収納体から物品を取り出し、その取り出した複数種類で且つ複数個の物品を纏めて出荷容器に収納させるようにして、ピッキング作業が行われている。 A conventional example of such a picking facility is described in Japanese Patent Application Laid-Open No. 2011-079619 (Patent Document 1). In the picking facility of Patent Document 1, a plurality of types of articles are stored in a storage body according to type, and when the articles are shipped, the articles are taken out from the plurality of storage bodies according to the type and number of the articles to be shipped. The picking operation is performed so that the plurality of types and the plurality of articles taken out are collectively stored in the shipping container.

特開２０１１−０７９６１９号公報JP 2011-079619 A

上記した特許文献１のピッキング設備では、ピッキング作業を作業者が行っており、出荷する物品の種類及び個数に応じて複数の収納体から物品を取り出す場合、表示器ピッキングや台車ピッキングにより複数の収納体に対して２人以上の作業者が取り出し作業を行って、出荷する物品を出荷容器に収納している。
説明を加えると、台車作業ブロックで台車ピッキングにより収容体（棚７２，７３の収納部）から取り出された物品は容器に入れられて投入作業ブロックまで搬送され、投入作業ブロックに待機していた別の作業者が、容器から出荷容器に移し替えて物品を収納容器に収納している。この台車ピッキングでは、台車ピッキングに用いられた容器は投入作用ブロックに搬送されるため、当該容器を別の台車ピッキングで再利用するためには台車作業ブロックに返却する必要があり、ピッキング作業の作業効率が悪いものとなっていた。
また、表示器作業ブロック３では、作業者１人に対して収納体（棚３１の収納部）が複数並設され、作業者は、これらの複数の収納体から必要な物品を表示器ピッキングにより取り出す。このように表示器ピッキングでは、作業者の近くに複数の収納体を設置しているため、ピッキング作業を行うためのスペースとして広いスペースが必要となる。 In the picking facility of Patent Document 1 described above, when an operator performs picking work and takes out articles from a plurality of storage bodies according to the type and number of articles to be shipped, a plurality of storages are performed by display picking or cart picking. Two or more workers take out the body and store the articles to be shipped in a shipping container.
In addition, an article taken out from the container (the storage part of the shelves 72 and 73) by the truck picking in the truck work block is put into a container and transported to the input work block, and is waiting in the input work block. The worker moves the container from the container to the shipping container and stores the article in the storage container. In this cart picking, since the container used for the cart picking is transported to the loading operation block, it is necessary to return the container to the cart work block in order to reuse the container for another cart picking. It was inefficient.
In the display work block 3, a plurality of storage bodies (storage portions of the shelf 31) are arranged in parallel for one worker, and the worker can pick necessary articles from the plurality of storage bodies by display picking. Take out. As described above, in the display picking, since a plurality of storage bodies are installed near the operator, a large space is required as a space for performing the picking work.

そこで、複数の収納体から複数種類の物品を取り出す作業を省スペースで且つ効率よく行えるピッキング設備の実現が望まれる。 Therefore, it is desired to realize a picking facility that can efficiently and efficiently take out a plurality of types of articles from a plurality of storage bodies.

本発明に係るピッキング設備の特徴構成は、同じ種類の物品を複数個収納する収納体と、複数種類の物品を複数個収納する出荷容器と、があり、複数種類の物品が、種類別に前記収納体に収納され、複数の前記収納体から物品を取り出し、その取り出した複数種類の物品を前記出荷容器に収納するピッキング設備であって、前記収納体が、収納容器であり、前記収納容器を載置搬送する第１搬送コンベヤと、物品を載置搬送する第２搬送コンベヤと、前記第１搬送コンベヤ上の前記収納容器から物品を取り出し、当該物品を第２搬送コンベヤ上に移載する移載ロボットと、が設けられ、前記第１搬送コンベヤ、前記第２搬送コンベヤ及び前記移載ロボットにて構成された物品取出装置が、複数設けられ、前記複数の物品取出装置で異なる種類の物品が扱われ、前記複数の物品取出装置が、前記第２搬送コンベヤにて載置搬送した物品を単一の第３搬送コンベヤに合流させるように設けられ、前記第３搬送コンベヤが、前記複数の第２搬送コンベヤから合流した複数種の物品を搬送方向の下流側端部から投入箇所に位置する前記出荷容器に投入させ、前記投入箇所の上流から前記投入箇所の下流に前記出荷容器を載置搬送する第４搬送コンベヤが設けられ、前記物品取出装置の夫々が、１台の前記第１搬送コンベヤ、１台の前記移載ロボット、及び、複数の前記第２搬送コンベヤにて構成され、前記複数の第２搬送コンベヤの夫々が、前記第３搬送コンベヤの搬送方向と直交する方向に延びる状態で設けられ、前記複数の第２搬送コンベヤが、前記第３搬送コンベヤの搬送方向に並設され、前記移載ロボットが、１つの前記収納容器から取り出す物品について同じ前記出荷容器に収納する物品が複数ある場合は、その複数の物品を異なる第２搬送コンベヤに移載する点にある。 The characteristic configuration of the picking equipment according to the present invention includes a storage body that stores a plurality of articles of the same type, and a shipping container that stores a plurality of articles of a plurality of types. A picking facility for taking out articles from a plurality of the storage bodies and storing the taken-out types of articles in the shipping container, wherein the storage body is a storage container, and the storage container is mounted thereon. A first transport conveyor for placing and transporting, a second transport conveyor for placing and transporting articles, and a transfer for removing the articles from the storage containers on the first transport conveyor and transferring the articles onto the second transport conveyor A plurality of article take-out devices configured by the first transfer conveyor, the second transfer conveyor, and the transfer robot, and different types of the plurality of article take-out devices. Articles are handled, and the plurality of article take-out devices are provided so as to join the articles placed and conveyed by the second conveyor to a single third conveyor, and the third conveyor is A plurality of types of articles merged from the second transport conveyor are put into the shipping container located at the loading position from the downstream end in the conveying direction, and the shipping container is mounted from the upstream of the loading position to the downstream of the loading position. A fourth conveyor for placing and conveying is provided , and each of the article take-out devices is configured by one of the first conveyor, one of the transfer robots, and a plurality of the second conveyors, Each of the plurality of second transport conveyors is provided in a state extending in a direction orthogonal to the transport direction of the third transport conveyor, and the plurality of second transport conveyors are juxtaposed in the transport direction of the third transport conveyor. Is the transfer robot, when the article to be stored in the same said shipping container for articles taken out from one of the storage container is more is that transferring the plurality of articles to different second conveyor.

この特徴構成によれば、複数の物品取出装置の夫々において、第１搬送コンベヤにて収納容器を載置搬送し、その第１搬送コンベヤにて載置搬送された収納容器から移載ロボットが物品を取り出して第２搬送コンベヤ上に移載するようになっている。
そして、複数の物品取出装置の夫々で第２搬送コンベヤ上に移載された物品は、第２搬送コンベヤにて載置搬送されて単一の第３搬送コンベヤに合流され、その合流された物品は、第３搬送コンベヤにて載置搬送されて、搬送下流側端部から出荷容器に投入される。 According to this characteristic configuration, in each of the plurality of article take-out devices, the storage container is placed and transported by the first transport conveyor, and the transfer robot moves the article from the storage container placed and transported by the first transport conveyor. Is taken out and transferred onto the second conveyor.
Then, the articles transferred onto the second conveyor by each of the plurality of article take-out devices are placed and conveyed by the second conveyor and merged into a single third conveyor, and the merged articles Is placed and transported by the third transport conveyor and put into the shipping container from the transport downstream end.

そのため、複数の収納体から複数種類の物品を取り出して出荷容器に収納するピッキング作業を、第１搬送コンベヤ、第２搬送コンベヤ、移載ロボット及び第３搬送コンベヤにて自動的に行うことができる。
そして、第１搬送コンベヤにて出荷する物品が収納されている収納容器を順次搬送することができるため、移載ロボットの近くに多数の収納容器を置いておく必要がなく、複数の収納容器から物品を取り出す作業を省スペースで行うことができる。また、収納容器から取り出した物品は別の容器に収納することなく第２コンベヤにて載置搬送することで、収納容器から取り出した物品を収納するための別の容器が必要なく、当該容器を使用した場合のように容器を再利用する為に返却する作業が必要ないため、ピッキング作業を効率よく行える。
また、物品取出装置において複数の第２搬送コンベヤにて複数の物品を載置搬送して、その複数の物品を第３搬送コンベヤに合流させる場合は、複数の第２搬送コンベヤにて別々に載置搬送される。そのため、複数の第２搬送コンベヤにて同時に第３搬送コンベヤに合流させることができ、１つの物品取出装置から第３搬送コンベヤに合流させる複数の物品を、素早く合流させることができる。 Therefore, a picking operation for taking out a plurality of types of articles from a plurality of storage bodies and storing them in a shipping container can be automatically performed by the first transport conveyor, the second transport conveyor, the transfer robot, and the third transport conveyor. .
And since the storage container in which the articles shipped by the 1st conveyance conveyor can be conveyed one by one, it is not necessary to place many storage containers near the transfer robot. The work of taking out the article can be performed in a space-saving manner. In addition, the article taken out from the storage container is placed and transported by the second conveyor without being stored in another container, so that there is no need for another container for storing the article taken out from the storage container. Since there is no need to return the container for reuse as in the case of use, the picking work can be performed efficiently.
In addition, when a plurality of articles are placed and transported by a plurality of second transport conveyors in the article take-out apparatus, and the plurality of articles are joined to the third transport conveyor, they are separately mounted by the plurality of second transport conveyors. Is transported. Therefore, it can be made to merge simultaneously with a 3rd conveyance conveyor in a some 2nd conveyance conveyor, and the some goods merged to the 3rd conveyance conveyor from one article taking-out apparatus can be merged quickly.

ここで、前記収納容器を収納する収納棚と、前記収納棚から出庫箇所に前記収納容器を搬送し、且つ、前記出庫箇所とは別の箇所に設定された入庫箇所から前記収納棚に前記収納容器を搬送する搬送装置と、が設けられ、前記第１搬送コンベヤが、前記出庫箇所に搬送された前記収納容器を前記入庫箇所に載置搬送し、前記第１搬送コンベヤの前記出庫箇所から前記入庫箇所への搬送経路の途中に取出箇所が設定され、前記移載ロボットが、前記第１搬送コンベヤにおける前記取出箇所に位置する前記収納容器から物品を取り出すと好適である。 Here, a storage shelf for storing the storage container, the storage container is transported from the storage shelf to a delivery location, and the storage shelf stores the storage container from a storage location set at a location different from the delivery location. And a transport device for transporting the container, wherein the first transport conveyor places and transports the storage container transported to the unloading location to the storage location, and from the unloading location of the first transport conveyor It is preferable that an extraction point is set in the middle of the conveyance path to the warehousing point, and the transfer robot takes out the article from the storage container located at the extraction point in the first conveyance conveyor.

この構成によれば、搬送装置にて収納棚から出庫箇所に搬送された収納容器は、第１搬送コンベヤにて取出箇所を経由して入庫箇所に搬送され、その入庫箇所に位置する収納容器が搬送装置にて収納棚に戻される。
つまり、第１搬送コンベヤによる出庫箇所から取出箇所への搬送経路と、取出箇所から入庫箇所への搬送経路と、が異なる。そのため、出庫箇所に出庫された収納容器を第１搬送コンベヤにて取出箇所に載置搬送しながら、取出箇所の収納容器を第１搬送コンベヤにて入庫箇所に載置搬送でき、収納容器の入出庫を効率よく行える。 According to this configuration, the storage container transported from the storage shelf to the exit location by the transport device is transported to the entrance location via the take-out location by the first transport conveyor, and the storage container located at the entrance location is It is returned to the storage shelf by the transport device.
That is, the conveyance path | route from the delivery location by the 1st conveyance conveyor to an extraction location differs from the conveyance route from an extraction location to a warehousing location. Therefore, while the storage container delivered at the delivery location is placed and transported to the take-out location by the first transport conveyor, the storage container at the take-out location can be placed and transported to the storage location by the first transport conveyor. Goods can be delivered efficiently.

また、前記複数の第２搬送コンベヤ、前記第３搬送コンベヤ及び第４搬送コンベヤを制御する制御装置が設けられ、前記第３搬送コンベヤが、物品を投入する前記出荷容器の夫々に対応する複数の搬送ゾーンに区分設定され、前記搬送ゾーンは、前記第３搬送コンベヤによる搬送作動に伴って前記第３搬送コンベヤの搬送経路に沿って移動し、前記制御装置が、前記第２搬送コンベヤにて搬送する物品を当該物品に対応する前記搬送ゾーンに位置するように前記第３搬送コンベヤに合流させ、前記搬送ゾーンが前記第３搬送コンベヤの下流側端部に位置するときに、当該搬送ゾーンに対応する前記出荷容器を前記投入箇所に位置するように、前記複数の第２搬送コンベヤ、前記第３搬送コンベヤ及び第４搬送コンベヤを制御すると好適である。 In addition, a control device for controlling the plurality of second transport conveyors, the third transport conveyor, and the fourth transport conveyor is provided, and the third transport conveyor has a plurality of corresponding ones of the shipping containers into which articles are loaded. The transport zone is set as a zone, and the transport zone moves along the transport path of the third transport conveyor in accordance with the transport operation by the third transport conveyor, and the control device transports the transport zone by the second transport conveyor. When an article to be joined is merged with the third conveyor so that it is located in the conveyance zone corresponding to the article, the conveyance zone corresponds to the conveyance zone when located at the downstream end of the third conveyor It is preferable to control the plurality of second transport conveyors, the third transport conveyors, and the fourth transport conveyors so that the shipping containers to be placed are located at the input locations.

この構成によれば、搬送ゾーンは、第３搬送コンベヤによる搬送作動に伴って第３搬送コンベヤに沿って移動しており、その移動する搬送ゾーンに対して、複数の第２搬送コンベヤから物品を合流させることで、同じ出荷容器に投入する複数の物品を、限られた範囲に集めた状態に合流させることができる。
そして、このように同じ出庫容器に投入する複数の物品を集めた状態とすることで、この複数の物品を出荷容器に短時間で投入でき、効率よく物品を出荷容器に収納できる。 According to this configuration, the transport zone moves along the third transport conveyor along with the transport operation by the third transport conveyor, and the articles from the plurality of second transport conveyors are moved to the moving transport zone. By merging, a plurality of articles put into the same shipping container can be merged into a limited range.
And by setting it as the state which collected the several articles | goods thrown into the same delivery container in this way, this several articles | goods can be thrown into a shipping container in a short time, and articles | goods can be efficiently accommodated in a shipping container.

ピッキング設備の平面図Top view of picking equipment 自動倉庫の平面図Floor plan of automated warehouse 物品取出装置の平面図Top view of the article removal device 合流コンベヤへの合流及び出荷容器への投入を示す作用図Action diagram showing merging into merging conveyor and loading into shipping container 合流コンベヤへの合流及び出荷容器への投入を示す作用図Action diagram showing merging into merging conveyor and loading into shipping container 合流コンベヤへの合流及び出荷容器への投入を示す作用図Action diagram showing merging into merging conveyor and loading into shipping container 合流コンベヤへの合流及び出荷容器への投入を示す作用図Action diagram showing merging into merging conveyor and loading into shipping container 制御ブロック図Control block diagram

以下、本発明の実施形態を図面に基づいて説明する。
図１に示すように、ピッキング設備は、同じ種類の物品Ｗを収納容器Ｃ１に収納した状態で保管する複数の自動倉庫１と、自動倉庫１から出庫された収納容器Ｃ１から物品Ｗを取り出す複数の物品取出装置２と、複数の物品取出装置２から取り出された複数種類の物品Ｗを合流させて出荷容器Ｃ２に搬送する合流コンベヤ３と、出荷容器Ｃ２を載置搬送する容器コンベヤ４と、が設けられている。尚、合流コンベヤ３が、本発明の第３搬送コンベヤに相当し、容器コンベヤ４が、本発明の第４搬送コンベヤに相当する。また、収納容器Ｃ１が、本発明の収納体に相当する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the picking facility includes a plurality of automatic warehouses 1 that store articles W of the same type stored in a storage container C 1 and a plurality of articles W that take out articles W from storage containers C 1 discharged from the automatic warehouse 1. The product take-out device 2, the merge conveyor 3 that joins a plurality of types of articles W taken out from the plurality of product take-out devices 2 and transports them to the shipping container C 2, the container conveyor 4 that places and transports the shipping containers C 2, Is provided. The junction conveyor 3 corresponds to the third conveyor of the present invention, and the container conveyor 4 corresponds to the fourth conveyor of the present invention. The storage container C1 corresponds to the storage body of the present invention.

このように、ピッキング設備には、同じ種類の物品Ｗを複数個収納する収納容器Ｃ１と、複数種類の物品Ｗを複数個収納する出荷容器Ｃ２と、があり、複数種類の物品Ｗが、種類別に収納容器Ｃ１に収納されている。そして、ピッキング設備では、自動倉庫１に収納容器Ｃ１を収納し、物品取出装置２にて複数の収納容器Ｃ１から物品Ｗを取り出し、その取り出した複数種類の物品Ｗを合流コンベヤ３に合流させた後に出荷容器Ｃ２に収納するようになっている。
次に、自動倉庫１や物品取出装置２等について順次説明する。尚、本実施形態では、同様に構成された自動倉庫１が３つ設けられ、その３つの夫々に対して、同様に構成された物品取出装置２が設けられている。 As described above, the picking equipment includes the storage container C1 that stores a plurality of articles W of the same type and the shipping container C2 that stores a plurality of articles W of a plurality of types. Separately, it is stored in the storage container C1. In the picking facility, the storage container C1 is stored in the automatic warehouse 1, the article take-out device 2 takes out the article W from the plurality of storage containers C1, and the plurality of types of the taken-out articles W are joined to the merging conveyor 3. It is stored in the shipping container C2 later.
Next, the automatic warehouse 1 and the article take-out device 2 will be described sequentially. In the present embodiment, three automatic warehouses 1 having the same configuration are provided, and an article take-out device 2 having the same configuration is provided for each of the three.

（自動倉庫）
図２に示すように、自動倉庫１には、収納容器Ｃ１を収納する収納棚６と、収納棚６から出庫箇所Ｅ１に収納容器Ｃ１を搬送し、且つ、出庫箇所Ｅ１とは別の箇所に設定された入庫箇所Ｅ３から収納棚６に収納容器Ｃ１を搬送する搬送装置７と、が設けられている。
図示は省略するが、収納棚６は、収納容器Ｃ１を保管するための棚段を上下方向に複数段設けて構成されている。そして、複数の棚段毎に、収納容器Ｃ１を載置支持して走行移動する搬送台車８と、収納容器Ｃ１を載置搬送する出庫コンベヤ９及び入庫コンベヤ１０と、が設けられている。
また、各段の出庫コンベヤ９から物品取出装置２（入出庫コンベヤ１４の出庫箇所Ｅ１）に収納容器Ｃ１を搬送する出庫リフト１１と、物品取出装置２（入出庫コンベヤ１４）から各段の入庫コンベヤ１０に収納容器Ｃ１を搬送する入庫リフト１２と、が設けられている。
ちなみに、搬送台車８と出庫コンベヤ９と入庫コンベヤ１０と出庫リフト１１と入庫リフト１２とで、搬送装置７が構成されている。 (Automatic warehouse)
As shown in FIG. 2, in the automatic warehouse 1, the storage shelf 6 that stores the storage container C 1, the storage container C 1 is transported from the storage shelf 6 to the exit location E 1, and is separated from the exit location E 1. A transfer device 7 for transferring the storage container C1 from the set storage location E3 to the storage shelf 6 is provided.
Although illustration is omitted, the storage shelf 6 is configured by providing a plurality of shelf levels in the vertical direction for storing the storage container C1. For each of the plurality of shelves, a transport carriage 8 that travels while placing and supporting the storage container C1, and an exit conveyor 9 and an entrance conveyor 10 that place and transport the storage container C1 are provided.
In addition, an unloading lift 11 that transports the storage container C1 from the unloading conveyor 9 at each stage to the article unloading apparatus 2 (the unloading place E1 of the unloading conveyor 14), and an unloading at each stage from the article unloading apparatus 2 (the unloading conveyor 14). The warehousing lift 12 which conveys the storage container C1 to the conveyor 10 is provided.
By the way, the transporting device 7 is composed of the transport carriage 8, the exit conveyor 9, the entrance conveyor 10, the exit lift 11, and the entrance lift 12.

この自動倉庫１では、出庫対象の収納容器Ｃ１が収納棚６に収納されている場合は、搬送台車８により、出庫対象の収納容器Ｃ１が収納棚６から出庫コンベヤ９に搬送（図２の矢印（１）参照）される。そして、出庫コンベヤ９及び出庫リフト１１により、出庫対象の収納容器Ｃ１が出庫コンベヤ９から入出庫コンベヤ１４の出庫箇所Ｅ１に搬送（図２の矢印（２）（３）参照）される。
また、入庫対象の収納容器Ｃ１が入出庫コンベヤ１４の入庫箇所Ｅ３に位置している場合は、入庫リフト１２及び入庫コンベヤ１０により、入庫対象の収納容器Ｃ１が入出庫コンベヤ１４の入庫箇所Ｅ３から入庫コンベヤ１０に搬送（図２の矢印（４）（５）参照）される。そして、搬送台車８により、入庫対象の収納容器Ｃ１が入庫コンベヤ１０から収納棚６に搬送（図２の矢印（６）参照）される。 In this automatic warehouse 1, when the storage container C1 to be delivered is stored in the storage shelf 6, the storage container C1 to be delivered is transported from the storage shelf 6 to the delivery conveyor 9 by the transport cart 8 (arrow in FIG. 2). (See (1)). And the storage container C1 to be delivered is transported from the delivery conveyor 9 to the delivery location E1 of the delivery conveyor 14 by the delivery conveyor 9 and the delivery lift 11 (see arrows (2) and (3) in FIG. 2).
Further, when the storage container C1 to be stored is located at the storage location E3 of the storage conveyor 14, the storage container C1 to be stored from the storage location E3 of the storage conveyor 14 by the storage lift 12 and the storage conveyor 10. It is conveyed to the warehousing conveyor 10 (see arrows (4) and (5) in FIG. 2). And the storage container C1 of warehousing object is conveyed by the conveyance trolley 8 from the warehousing conveyor 10 to the storage shelf 6 (refer arrow (6) of FIG. 2).

（物品取出装置）
物品取出装置２には、収納容器Ｃ１を載置搬送する入出庫コンベヤ１４と、物品Ｗを載置搬送する供給コンベヤ１５と、入出庫コンベヤ１４上の収納容器Ｃ１から物品Ｗを取り出し、当該物品Ｗを供給コンベヤ１５上に移載する移載ロボット１６と、が設けられている。本実施形態では、物品取出装置２には、１台の入出庫コンベヤ１４と、１台の移載ロボット１６と、３台の供給コンベヤ１５と、が設けられている。また、入出庫コンベヤ１４が、本発明の第１搬送コンベヤに相当し、供給コンベヤ１５が本発明の第２搬送コンベヤに相当する。 (Goods take-out device)
The article take-out device 2 takes out the article W from the storage container C1 on the loading / unloading conveyor 14 and the loading / unloading conveyor 14 that loads and conveys the storage container C1, the supply conveyor 15 that loads and conveys the article W, and the article And a transfer robot 16 for transferring W onto the supply conveyor 15. In the present embodiment, the article take-out device 2 is provided with one loading / unloading conveyor 14, one transfer robot 16, and three supply conveyors 15. Moreover, the loading / unloading conveyor 14 corresponds to the 1st conveyance conveyor of this invention, and the supply conveyor 15 corresponds to the 2nd conveyance conveyor of this invention.

移載ロボット１６は、多関節のアームと、そのアームの先端に支持された吸着パッドと、を備えており、吸着パッドにて物品Ｗを吸着支持できるように構成されている。そして、移載ロボット１６は、入出庫コンベヤ１４における取出箇所Ｅ２に位置する収納容器Ｃ１から物品Ｗを取り出し、その取り出した物品Ｗを複数の供給コンベヤ１５のいずれかにおける移載部１５ａに移載する。このとき、物品Ｗの平面視形状が矩形状に形成されている場合は、移載ロボット１６は、物品Ｗの長手方向が供給コンベヤ１５の搬送方向（第２方向）に沿う姿勢となるように、供給コンベヤ１５に移載する。 The transfer robot 16 includes an articulated arm and a suction pad supported at the tip of the arm, and is configured so that the article W can be sucked and supported by the suction pad. Then, the transfer robot 16 takes out the article W from the storage container C1 located at the take-out location E2 in the loading / unloading conveyor 14, and transfers the taken-out article W to the transfer section 15a in any of the plurality of supply conveyors 15. To do. At this time, when the planar view shape of the article W is formed in a rectangular shape, the transfer robot 16 is configured such that the longitudinal direction of the article W is in a posture along the transport direction (second direction) of the supply conveyor 15. , Transferred to the supply conveyor 15.

入出庫コンベヤ１４は、出庫箇所Ｅ１に出庫された収納容器Ｃ１を入庫箇所Ｅ３に載置搬送する。この入出庫コンベヤ１４は平面視でＵ字状に形成され、一方の端部に出庫箇所Ｅ１が設定され、他方の端部に入庫箇所Ｅ３が設定されている。そして、入出庫コンベヤ１４の出庫箇所Ｅ１から入庫箇所Ｅ３への搬送経路の途中に取出箇所Ｅ２が設定されている。
つまり、自動倉庫１から出庫箇所Ｅ１に出庫された収納容器Ｃ１は、入出庫コンベヤ１４にて取出箇所Ｅ２に載置搬送され、取出箇所Ｅ２に位置する収納容器Ｃ１から必要な物品Ｗが移載ロボット１６にて取り出される。その後、入出庫コンベヤ１４にて収納容器Ｃ１が取出箇所Ｅ２から入庫箇所Ｅ３に載置搬送されて、自動倉庫１に入庫される。 The loading / unloading conveyor 14 mounts and conveys the storage container C1 unloaded at the unloading location E1 to the loading location E3. The loading / unloading conveyor 14 is formed in a U shape in a plan view, and a loading location E1 is set at one end, and a loading location E3 is set at the other end. And the extraction location E2 is set in the middle of the conveyance path | route from the delivery location E1 of the entrance / exit conveyor 14 to the receipt location E3.
In other words, the storage container C1 delivered from the automatic warehouse 1 to the delivery place E1 is placed and conveyed to the take-out place E2 by the loading / unloading conveyor 14, and the necessary articles W are transferred from the storage container C1 located at the take-out place E2. The robot 16 takes it out. Thereafter, the storage container C 1 is placed and conveyed from the take-out location E 2 to the storage location E 3 by the storage / conveyance conveyor 14, and stored in the automatic warehouse 1.

３台の供給コンベヤ１５の夫々は、図１に矢印Ｘで示す第１方向（合流コンベヤ３の搬送方向）と直交する矢印Ｙで示す第２方向に延びる状態で直線状に設けられ、これら３台の供給コンベヤ１５の夫々は、第２方向に沿って物品Ｗを載置搬送するように構成されている。また、３台の供給コンベヤ１５は、第１方向に沿って並設されている。 Each of the three supply conveyors 15 is provided in a straight line in a state extending in a second direction indicated by an arrow Y orthogonal to a first direction indicated by an arrow X in FIG. Each of the table supply conveyors 15 is configured to place and convey the articles W along the second direction. The three supply conveyors 15 are arranged in parallel along the first direction.

また、供給コンベヤ１５は、第２方向の上流側から順に、移載部１５ａ、第１バッファ部１５ｂ、第２バッファ部１５ｃ、供給部１５ｄの４つに分割されており、これら移載部１５ａ、第１バッファ部１５ｂ、第２バッファ部１５ｃ、供給部１５ｄの夫々は、各別に搬送作動して物品Ｗを載置搬送する。そのため、第１バッファ部１５ｂ上に物品Ｗを停止させた状態で、第２バッファ部１５ｃから供給部１５ｄに物品Ｗを搬送することや、第２バッファ部１５ｃ上に物品Ｗを停止させた状態で、移載部１５ａから第１バッファ部１５ｂに物品Ｗを搬送できるようになっている。 Further, the supply conveyor 15 is divided into four parts of a transfer part 15a, a first buffer part 15b, a second buffer part 15c, and a supply part 15d in order from the upstream side in the second direction, and these transfer parts 15a. Each of the first buffer unit 15b, the second buffer unit 15c, and the supply unit 15d is transported separately to place and transport the article W. Therefore, the article W is transported from the second buffer unit 15c to the supply unit 15d while the article W is stopped on the first buffer unit 15b, or the article W is stopped on the second buffer unit 15c. Thus, the article W can be conveyed from the transfer unit 15a to the first buffer unit 15b.

このように構成された物品取出装置２は３つ設けられており、その３つの物品取出装置２は、夫々において複数の供給コンベヤ１５にて載置搬送した物品Ｗを単一の合流コンベヤ３に合流させるように設けられている。出荷容器Ｃ２に収納する複数種類の物品Ｗは、種類毎に異なる物品取出装置２の供給コンベヤ１５にて載置搬送され、合流コンベヤ３で合流するようになっている。 Three article take-out devices 2 configured as described above are provided, and the three article take-out devices 2 each transfer an article W placed and conveyed by a plurality of supply conveyors 15 to a single merge conveyor 3. It is provided to merge. A plurality of types of articles W stored in the shipping container C 2 are placed and conveyed by the supply conveyor 15 of the article take-out device 2 that is different for each type, and merged by the junction conveyor 3.

（合流コンベヤ及び容器コンベヤ）
図１及び図４〜図７に示すように、合流コンベヤ３は、複数の物品取出装置２の供給コンベヤ１５から合流してきた出荷容器Ｃ２に複数種類の物品Ｗを第２方向に載置搬送して、その載置搬送した複数種類の物品Ｗを搬送方向の下流側端部から投入箇所Ｅ４に位置している出荷容器Ｃ２に投入する。
出荷容器Ｃ２に対しては、投入箇所Ｅ４の上流から投入箇所Ｅ４の下流に出荷容器Ｃ２載置搬送する容器コンベヤ４が設けられている。この容器コンベヤ４は、物品Ｗが収納されていない空の出荷容器Ｃ２を投入箇所Ｅ４に載置搬送し、当該出荷容器Ｃ２に収納する物品Ｗが合流コンベヤ３から投入された後、当該出荷容器Ｃ２を投入箇所Ｅ４から搬送する。
また、容器コンベヤ４は、上述の如く物品Ｗが投入された出荷容器Ｃ２を投入箇所Ｅ４から載置搬送するとともに、新たな空の出荷容器Ｃ２を投入箇所Ｅ４に搬送するようになっている。 (Confluence conveyor and container conveyor)
As shown in FIGS. 1 and 4 to 7, the merging conveyor 3 places and conveys a plurality of types of articles W in the second direction to the shipping containers C 2 joined from the supply conveyors 15 of the plurality of article take-out devices 2. Then, the plurality of types of articles W that have been placed and conveyed are loaded into the shipping container C2 located at the loading point E4 from the downstream end in the conveying direction.
For the shipping container C2, a container conveyor 4 for mounting and transporting the shipping container C2 is provided from the upstream of the charging point E4 to the downstream of the charging point E4. The container conveyor 4 mounts and transports an empty shipping container C2 in which no articles W are stored to the input location E4, and after the articles W stored in the shipping containers C2 are input from the junction conveyor 3, the shipping containers C2 C2 is transported from the charging point E4.
In addition, the container conveyor 4 is configured to place and convey the shipping container C2 into which the article W is charged as described above from the charging position E4, and to transport a new empty shipping container C2 to the charging position E4.

（制御装置）
ピッキング設備には、複数の自動倉庫１（搬送装置７）、複数の物品取出装置２（入出庫コンベヤ１４、供給コンベヤ１５、移載ロボット１６）、合流コンベヤ３及び容器コンベヤ４を制御する制御装置Ｈが設けられている。
次に、この制御装置Ｈによる制御について説明する。 (Control device)
The picking equipment includes a plurality of automatic warehouses 1 (conveying devices 7), a plurality of article take-out devices 2 (entry / exit conveyor 14, supply conveyor 15, transfer robot 16), a control device for controlling the merging conveyor 3 and the container conveyor 4. H is provided.
Next, control by the control device H will be described.

制御装置Ｈは、出荷先からのオーダーに基づき、出荷する物品Ｗの種類とその個数とを定めた出荷情報を作成する。この出荷情報にて定められる物品Ｗの種類は、１種類の場合があれば、２種類以上の場合がある。また、出荷情報にて定められる各種類の物品Ｗの個数は、１個の場合もあれば、２個以上の場合もある。
そして、制御装置Ｈは、出荷情報に基づいて、１つの自動倉庫１に対して１つの種類の物品Ｗを割り当て、割り当てられた種類の物品Ｗが収納されている収納容器Ｃ１を取出箇所Ｅ２に搬送し、その収納容器Ｃ１から定められた個数だけ供給コンベヤ１５に移載するように、自動倉庫１及び物品取出装置２の作動が制御される。 The control device H creates shipping information that defines the type and the number of articles W to be shipped based on the order from the shipping destination. If the type of the article W determined by the shipping information is one type, there may be two or more types. Further, the number of each type of article W determined by the shipping information may be one or may be two or more.
Then, the control device H allocates one type of article W to one automatic warehouse 1 based on the shipment information, and takes out the storage container C1 in which the assigned type of article W is stored in the take-out location E2. The operations of the automatic warehouse 1 and the article take-out device 2 are controlled so that a predetermined number of sheets are conveyed and transferred to the supply conveyor 15 from the storage container C1.

このように、１つの出荷情報に基づいて、複数の自動倉庫１に対して別々の種類の物品Ｗを割り当てることで、複数の物品取出装置２で異なる種類の物品Ｗが扱われるようになっている。
ちなみに、オーダーに基づいて出荷する物品Ｗの種類が自動倉庫１の数である３を超える場合は、オーダーに基づいて、出荷情報にて定められる物品Ｗの種類の数を３以下とした複数の出荷情報を作成することが考えられる。 In this way, by assigning different types of articles W to the plurality of automatic warehouses 1 based on one shipment information, different types of articles W are handled by the plurality of article take-out devices 2. Yes.
Incidentally, when the number of the articles W to be shipped based on the order exceeds 3, which is the number of the automatic warehouses 1, a plurality of the types of the articles W determined by the shipping information based on the order are set to 3 or less. It is conceivable to create shipping information.

そして、制御装置Ｈは、複数のオーダーにより複数の出荷情報が作成された場合は、出荷情報の作成順に、自動倉庫１に対して物品Ｗの種類を割り当て、割り当てられた種類の物品Ｗが収納されている収納容器Ｃ１を、出荷情報の作成順に取出箇所Ｅ２に搬送するよう搬送装置７及び入出庫コンベヤ１４の作動を制御する。 Then, when a plurality of shipment information is created by a plurality of orders, the control device H assigns the type of the article W to the automatic warehouse 1 in the order of creation of the shipment information, and the assigned type of article W is stored. The operations of the transport device 7 and the loading / unloading conveyor 14 are controlled so that the storage container C1 being transported is transported to the take-out location E2 in the order of creation of shipping information.

制御装置Ｈは、上述のように取出箇所Ｅ２に搬送された収納容器Ｃ１から移載ロボット１６が３つの供給コンベヤ１５のいずれかに移載する場合は、３つの供給コンベヤ１５に対して順番に移載するように、移載ロボット１６の作動を制御する。
この移載について、３つの供給コンベヤ１５の夫々を、第１の供給コンベヤ１５、第２の供給コンベヤ１５、第３の供給コンベヤ１５と称して説明を加えると、収納容器Ｃ１から２つの物品Ｗを取り出す場合、先に取り出した物品Ｗを、第１の供給コンベヤ１５に移載し、後に取り出した物品Ｗは、第２の供給コンベヤ１５に移載する。そして、次に取出箇所Ｅ２に搬送された別の収納容器Ｃ１から２つの物品Ｗを取り出す場合、先に取り出した物品Ｗを、第３の供給コンベヤ１５に移載し、後に取り出した物品Ｗを、第１の供給コンベヤ１５に移載する。このように、制御装置Ｈは、３つの供給コンベヤ１５に対して物品Ｗを順番に移載するように移載ロボット１６の作動を制御する。
そのため、移載ロボット１６が、１つの収納容器Ｃ１から取り出す物品Ｗが複数（２つ又は３つ）である場合は、その複数の物品Ｗは異なる供給コンベヤ１５に移載される。
ちなみに、この１つの収納容器Ｃ１から取り出す複数の物品Ｗは、１つの出荷情報に基づいて収納容器Ｃ１から取り出される物品Ｗであり、同じ出荷容器Ｃ２に収納される。 When the transfer robot 16 transfers from the storage container C1 transported to the take-out point E2 to any one of the three supply conveyors 15 as described above, the control device H sequentially controls the three supply conveyors 15. The operation of the transfer robot 16 is controlled so as to transfer.
When this transfer is described by referring to the three supply conveyors 15 as the first supply conveyor 15, the second supply conveyor 15, and the third supply conveyor 15, the two articles W from the storage container C1. When the article W is taken out, the article W taken out first is transferred to the first supply conveyor 15, and the article W taken out later is transferred to the second supply conveyor 15. And when taking out two articles | goods W from another storage container C1 conveyed to the taking-out location E2 next, the articles W taken out first are transferred to the 3rd supply conveyor 15, and the article W taken out later is taken. , Transferred to the first supply conveyor 15. As described above, the control device H controls the operation of the transfer robot 16 so that the articles W are transferred in order to the three supply conveyors 15.
Therefore, when there are a plurality (two or three) of articles W that the transfer robot 16 takes out from one storage container C1, the plurality of articles W are transferred to different supply conveyors 15.
Incidentally, the plurality of articles W taken out from this one storage container C1 are articles W taken out from the storage container C1 based on one shipping information, and are stored in the same shipping container C2.

制御装置Ｈは、複数の物品取出装置２から合流コンベヤ３に合流させる物品Ｗについて、同じ出荷容器Ｃ２に収納する物品Ｗについては、合流コンベヤ３の同じ搬送ゾーンＺに合流させるべく、複数の物品取出装置２及び合流コンベヤ３の作動を制御する。 The control device H has a plurality of articles to be merged into the same transport zone Z of the merge conveyor 3 with respect to the articles W to be merged into the merge conveyor 3 from the plurality of article take-out devices 2. The operation of the take-out device 2 and the merging conveyor 3 is controlled.

説明を加えると、合流コンベヤ３に対して、出荷情報の夫々に対応する複数の搬送ゾーンＺに区分設定されている。この複数の搬送ゾーンＺの夫々は、第２方向に幅を有し、他の搬送ゾーンＺと第２方向に離れて設定されている。そして、複数の搬送ゾーンＺの夫々は、合流コンベヤ３による搬送作動に伴って第２方向に沿って移動する。制御装置Ｈは、合流コンベヤ３に対して上述のような搬送ゾーンＺを出荷情報の夫々に対して設定し、供給コンベヤ１５から合流コンベヤ３に物品Ｗを合流させるときは、当該物品に対応する搬送ゾーンＺに投入するべく、供給コンベヤ１５及び合流コンベヤ３の作動を制御する。
ちなみに、搬送ゾーンＺは、第２方向の下流側から上流側に出荷情報の作成順に設定される。 In other words, the merging conveyor 3 is divided into a plurality of transport zones Z corresponding to the shipping information. Each of the plurality of transport zones Z has a width in the second direction and is set apart from the other transport zones Z in the second direction. And each of the some conveyance zone Z moves along a 2nd direction with the conveyance action by the confluence | merging conveyor 3. FIG. The control device H sets the above-described transport zone Z for the merge conveyor 3 for each of the shipping information, and when the article W is merged from the supply conveyor 15 to the merge conveyor 3, it corresponds to the article. The operation of the supply conveyor 15 and the merging conveyor 3 is controlled so as to enter the transfer zone Z.
Incidentally, the transport zone Z is set from the downstream side in the second direction to the upstream side in the order of creation of the shipping information.

そして、制御装置Ｈは、供給コンベヤ１５にて搬送する物品Ｗを当該物品Ｗに対応する搬送ゾーンＺに投入させて合流コンベヤ３に合流させるように、供給コンベヤ１５及び合流コンベヤ３の作動を制御する。また、搬送ゾーンＺが合流コンベヤ３の下流側端部に位置するときに、当該搬送ゾーンＺに対応する出荷容器Ｃ２を投入箇所Ｅ４に位置するように、合流コンベヤ３及び容器コンベヤ４を制御する。 Then, the control device H controls the operations of the supply conveyor 15 and the merge conveyor 3 so that the articles W conveyed by the supply conveyor 15 are put into the conveyance zone Z corresponding to the articles W and merge with the merge conveyor 3. To do. Further, when the transport zone Z is located at the downstream end of the merging conveyor 3, the merging conveyor 3 and the container conveyor 4 are controlled so that the shipping container C2 corresponding to the transport zone Z is located at the loading point E4. .

つまり、図４〜図６に示すように、搬送ゾーンＺは、合流コンベヤ３の搬送作動に伴ってその合流コンベヤ３の搬送速度と同じ速度で第２方向に移動し、この第２搬送方向の移動に伴って、上流側の物品取出装置２から順に物品Ｗが合流する。また、図７に示すように、搬送ゾーンＺが合流コンベヤ３の下流側端部まで移動するに伴って、合流コンベヤ３にて載置搬送されていた物品Ｗが下流側端部から落下して、投入箇所Ｅ４に位置する出荷容器Ｃ２に投入される。 That is, as shown in FIGS. 4 to 6, the transport zone Z moves in the second direction at the same speed as the transport speed of the merging conveyor 3 in accordance with the transport operation of the merging conveyor 3. Along with the movement, the articles W merge sequentially from the upstream article take-out device 2. Further, as shown in FIG. 7, as the transport zone Z moves to the downstream end of the merging conveyor 3, the article W placed and conveyed by the merging conveyor 3 falls from the downstream end. Then, it is charged into the shipping container C2 located at the charging point E4.

そして、搬送ゾーンＺの物品Ｗが全て出荷容器Ｃ２に投入されると、容器コンベヤ４にて出荷容器Ｃ２が投入位置から搬送されるとともに、次の搬送ゾーンＺが合流コンベヤ３の下流側端部に到達するまでに、次の出荷容器Ｃ２が投入箇所Ｅ４に搬送される。 When all the articles W in the transport zone Z are loaded into the shipping container C2, the shipping container C2 is transported from the loading position by the container conveyor 4, and the next transport zone Z is the downstream end of the merging conveyor 3. The next shipping container C2 is transported to the loading place E4 until reaching.

このようにピッキング設備では、複数の物品取出装置２の夫々で収納容器Ｃ１から供給コンベヤ１５上に移載された物品Ｗは、供給コンベヤ１５にて載置搬送されて合流コンベヤ３に合流され、その合流された物品Ｗは、合流コンベヤ３にて載置搬送されて、搬送下流側端部から出荷容器Ｃ２に投入される。そのため、複数の収納容器Ｃ１から複数種類の物品Ｗを取り出し、その取り出した複数種類の物品Ｗを出荷容器Ｃ２に収納するピッキング作業を自動的に行える。また、収納容器Ｃ１から取り出した複数種類の物品Ｗの合流及び出荷容器Ｃ２への投入を、コンベヤによる載置搬送で行うことで、物品Ｗを載置するトレー等を必要することなくピッキング作業を行える。 As described above, in the picking facility, the articles W transferred from the storage containers C1 onto the supply conveyor 15 in each of the plurality of article take-out devices 2 are placed and conveyed by the supply conveyor 15 and merged with the merge conveyor 3. The merged article W is placed and conveyed by the merging conveyor 3, and is put into the shipping container C2 from the conveyance downstream end. Therefore, a picking operation for taking out a plurality of types of articles W from the plurality of storage containers C1 and storing the extracted types of articles W in the shipping containers C2 can be automatically performed. Also, the picking operation can be performed without the need for a tray or the like on which the articles W are placed by joining the plural types of articles W taken out from the storage container C1 and putting them into the shipping container C2 by placing and conveying them by a conveyor. Yes.

〔別実施形態〕
（１）上記実施形態では、収納棚６と搬送装置７とで構成した自動倉庫１を設け、その自動倉庫１から出庫する物品Ｗを、第２搬送コンベヤに直接に搬送するように構成したが、自動倉庫１から出庫した物品Ｗを、床面搬送車等の中継搬送装置を介して第２搬送コンベヤに搬送するようにしてもよい。 [Another embodiment]
(1) In the above embodiment, the automatic warehouse 1 constituted by the storage shelf 6 and the transfer device 7 is provided, and the article W delivered from the automatic warehouse 1 is directly transferred to the second transfer conveyor. The article W delivered from the automatic warehouse 1 may be transported to the second transport conveyor via a relay transport device such as a floor surface transport vehicle.

（２）上記実施形態では、第３搬送コンベヤに対して複数の搬送ゾーンＺを設定して、複数の出荷容器Ｃ２に収納する物品Ｗを第３搬送コンベヤにて同時に搬送するようにしたが、第３搬送コンベヤに対して搬送ゾーンＺを設定せずに、１つの出荷容器Ｃ２に収納する物品Ｗを出荷容器Ｃ２に投入した後、次の出荷容器Ｃ２に収納する物品Ｗを合流コンベヤ３に合流させるようにしてもよい。 ( 2 ) In the above embodiment, the plurality of transport zones Z are set for the third transport conveyor, and the articles W stored in the plurality of shipping containers C2 are transported simultaneously by the third transport conveyor. Without setting the transport zone Z for the third transport conveyor, the articles W stored in one shipping container C2 are put into the shipping container C2, and then the articles W stored in the next shipping container C2 are put into the joining conveyor 3. You may make it merge.

（３）上記実施形態では、自動倉庫１の搬送装置７を、搬送台車８と出庫コンベヤ９と入庫コンベヤ１０と出庫リフト１１と入庫リフト１２とで構成したが、自動倉庫１の搬送装置７を、スタッカークレーンにて構成してもよい。
また、上記実施形態では、移載ロボット１６を、物品Ｗを吸着により支持するように構成したが、移載ロボット１６を、物品Ｗを挟持により支持するように構成してもよい。 ( 3 ) In the said embodiment, although the conveying apparatus 7 of the automatic warehouse 1 was comprised with the conveyance trolley 8, the warehousing conveyor 9, the warehousing conveyor 10, the warehousing lift 11, and the warehousing lift 12, the conveying apparatus 7 of the automatic warehouse 1 is comprised. A stacker crane may be used.
In the above embodiment, the transfer robot 16 is configured to support the article W by suction, but the transfer robot 16 may be configured to support the article W by clamping.

２物品取出装置
３合流コンベヤ（第３搬送コンベヤ）
４容器コンベヤ（第４搬送コンベヤ）
６収納棚
７搬送装置
１４入出庫コンベヤ（第１搬送コンベヤ）
１５供給コンベヤ（第２搬送コンベヤ）
１６移載ロボット
Ｃ１収納容器（収納体）
Ｃ２出荷容器
Ｅ１出庫箇所
Ｅ２取出箇所
Ｅ３入庫箇所
Ｅ４投入箇所
Ｈ制御装置
Ｗ物品
Ｚ搬送ゾーン 2 Article take-out device 3 Conveyor (third conveyor)
4 Container conveyor (4th conveyor)
6 Storage Shelf 7 Conveying Device 14 Entry / Exit Conveyor (First Conveyor)
15 Supply conveyor (second conveyor)
16 Transfer robot C1 Storage container (container)
C2 Shipping container E1 Unloading location E2 Unloading location E3 Receiving location E4 Loading location H Controller W Article Z Transport zone

Claims

There are storage bodies that store a plurality of articles of the same type, and shipping containers that store a plurality of articles of a plurality of types.
Multiple types of articles are stored in the storage body according to type,
Picking equipment for taking out articles from a plurality of the storage bodies and storing the taken-out plural types of articles in the shipping container,
The storage body is a storage container;
A first conveyor for placing and transporting the storage container;
A second conveyor for placing and conveying articles;
A transfer robot that takes out articles from the storage containers on the first transfer conveyor and transfers the articles onto the second transfer conveyor; and
A plurality of article take-out devices composed of the first conveyor, the second conveyor and the transfer robot are provided,
Different types of articles are handled by the plurality of article take-out devices,
The plurality of article take-out devices are provided so as to join the articles placed and conveyed by the second conveyor to a single third conveyor.
The third conveyor conveys a plurality of types of articles merged from the plurality of second conveyors into the shipping container located at the input location from the downstream end in the conveying direction,
A fourth transport conveyor is provided for placing and transporting the shipping container from the upstream of the input location to the downstream of the input location ;
Each of the article take-out devices is composed of one first transport conveyor, one transfer robot, and a plurality of second transport conveyors.
Each of the plurality of second transport conveyors is provided in a state extending in a direction orthogonal to the transport direction of the third transport conveyor,
The plurality of second transport conveyors are juxtaposed in the transport direction of the third transport conveyor,
A picking facility for transferring a plurality of articles to different second conveyors when the transfer robot has a plurality of articles stored in the same shipping container with respect to the articles taken out from one storage container .

A storage shelf for storing the storage container;
A transport device for transporting the storage container from the storage shelf to a delivery location, and transporting the storage container from a storage location set to a location different from the delivery location to the storage shelf;
The first transport conveyor places and transports the storage container transported to the unloading location to the receiving location,
An unloading point is set in the middle of the transfer route from the unloading point of the first transfer conveyor to the receiving point,
The picking equipment according to claim 1, wherein the transfer robot takes out an article from the storage container located at the take-out position in the first transfer conveyor.

A controller for controlling the plurality of second conveyors, the third conveyor and the fourth conveyor is provided;
The third transport conveyor is divided into a plurality of transport zones corresponding to each of the shipping containers into which articles are put, and the transport zone is connected to the third transport conveyor according to the transport operation by the third transport conveyor. Move along the transport path,
The control device is
Articles conveyed by the second conveyor are joined to the third conveyor so as to be positioned in the conveyor zone corresponding to the articles, and the conveyor zone is positioned at the downstream end of the third conveyor Sometimes, the shipping container corresponding to the transfer zone is positioned at the loading position.
The picking equipment according to claim 1 or 2 , wherein the plurality of second transport conveyors, the third transport conveyor, and the fourth transport conveyor are controlled so as to be placed .