JP2018087083A - Picking facility and physical distribution facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten cycle time in a picking facility.SOLUTION: There is provided a picking facility for transferring articles stored in an article container to a collection object, including; a picking robot whose arm section is rotatable around a rotation axis center along a vertical direction; an article container placement section on which the article container is placed at a predetermined picking execution position; a collection object placement section on which a collecting body is placed at a transfer execution position where an angle in a rotation direction around the rotation axis center as a center is less than 180 degrees with respect to the picking execution position in plan view; and a control section for rotating the arm section at a pivot angle of less than 180 degrees around the rotation axis center from the picking execution position to the transfer execution position, to thereby transfer the article.SELECTED DRAWING: Figure 2

Description

  The present invention relates to picking equipment and logistics equipment.

  For example, Patent Document 1 discloses a picking system that uses a picking robot to palletize an item on a single pallet to a shipping pallet. The picking system described in Patent Document 1 grips an article on a single pallet by a gripping device of a picking robot and reloads it onto a shipping pallet. At this time, the picking robot moves the gripping device from the single pallet to the shipping pallet by rotating the arm provided with the gripping device at the tip in the horizontal direction.

JP-A-6-24428

  The picking robot disclosed in Patent Document 1 rotates the arm 180 degrees around the pole as a rotation axis in order to move between the single pallet and the shipping pallet. Since the picking robot holds the article and the rotation operation is slow, the time required for the movement of the article increases as the rotation angle increases. Further, the picking robot reciprocates between the single pallet and the shipping pallet a plurality of times. Therefore, the larger the arm rotation angle of the picking robot, the longer the time for the picking work, and the tact time for the entire picking equipment increases.

  The present invention has been made in view of the above-described problems, and an object thereof is to shorten tact time in a picking facility.

  The present invention provides a picking equipment for transferring an article accommodated in an article container to a collection body as a first means related to the picking equipment for solving the above-described problem, and a rotating shaft along a vertical direction. A picking robot in which the arm part is rotatable, an article container mounting part on which the article container is placed at a predetermined picking execution position, and the rotational axis in plan view And a picking-up unit for loading the picked-up object at a transfer-executing position where the angle in the rotation direction is less than 180 degrees with respect to the picking-executing position; A configuration is adopted in which a control unit is provided that moves the arm unit at a turning angle of less than 180 degrees around the rotation axis toward the loading execution position to transfer the article.

  As a second means related to the picking facility, in the first means, the control unit moves from one of the article containers when the article is transferred from a different article container to one of the collection bodies. A configuration is adopted in which after the transfer of all the articles scheduled to be transferred to the collection body is completed, the articles are transferred from the other article storage body to the collection body.

  As a third means related to the picking facility, in the first or second means, one article storage body stores only one kind of article, and the article storage body mounting portion stores A configuration is adopted in which the article containers are arranged in the order of weight of the articles.

  As a fourth means related to the picking facility, in the first or second means, one of the article containers accommodates only one type of article, and the article container mounting portion accommodates A configuration is adopted in which the article containers are arranged in the descending order of the articles.

  As a fifth means related to the picking equipment, in any one of the first to fourth means, the article container mounting portion has a conveying path that is bent, and the picking execution position is avoided by avoiding a bending region. The structure that is provided is adopted.

  As a sixth means related to the picking facility, the first to fifth means includes a photographing means for photographing the article container before being transported to the picking execution position. To do.

  As a seventh means related to the picking facility, in any one of the first to sixth means, the picking robot is arranged so as to avoid a position between the picking execution position and the transfer execution position. Adopt the configuration.

  As an eighth means related to the picking facility, in any one of the first to seventh means, a configuration is adopted in which the picking robot is provided so as to be detachable from the picking work position where the picking work is performed.

  As a first means related to the distribution facility, a configuration is adopted in which the picking facility described in the first to eighth means and a loading / unloading device for loading / unloading the article container are adopted.

  According to the present invention, it is possible for the hand device of the picking robot to transfer the article stored in the article container to the collection body at a turning angle of less than 180 degrees. As a result, the operation time of the picking robot can be shortened, and the time taken to complete the transfer of the article can be reduced. Therefore, tact time can be shortened in the picking equipment.

It is a schematic diagram of a part of a distribution center in one embodiment of the present invention. It is a schematic diagram which shows arrangement | positioning of each apparatus of the picking equipment which concerns on one Embodiment of this invention. It is a block diagram of the picking control part with which the picking equipment concerning one embodiment of the present invention is provided. It is a flowchart which shows operation | movement of the picking equipment which concerns on one Embodiment of this invention. It is a schematic diagram which shows the modification of arrangement | positioning of each apparatus of the picking equipment which concerns on one Embodiment of this invention. It is a schematic diagram which shows the modification of arrangement | positioning of the picking case of the picking equipment which concerns on one Embodiment of this invention. It is a schematic diagram which shows the modification of arrangement | positioning of the collection case of the picking equipment which concerns on one Embodiment of this invention.

  Hereinafter, an embodiment of a picking facility according to the present invention will be described with reference to the drawings. In the following drawings, the scale of each member is appropriately changed in order to make each member a recognizable size.

[First Embodiment]
FIG. 1 is a schematic diagram of a part of a distribution center 100 in the present embodiment.
The distribution center 100 (distribution facility) according to the present embodiment automatically loads and unloads articles stored in a plurality of picking cases C1 (article containers) and supplies the shipped articles to a collection case C2 (collection body). The refilling equipment includes a picking equipment 1 and a loading / unloading device 10.
The picking facility 1 is a facility that performs a picking operation for transferring an article accommodated in the picking case C1 to the collection case C2 for each shipping destination. The picking case C1 is a box-shaped container having an open upper surface, and for example, a label is attached for identification. The picking case C1 is divided for each type of article, and one kind of article is accommodated in one picking case C1.

  The picking equipment 1 includes a picking case conveyor 2 (article receiving body placing section), a collection case conveyor 3 (collecting body placing section), a picking robot 4, a picking case camera 5 (imaging means), A case camera 6 (see FIG. 2) and a picking control device 7 (see FIG. 3) are provided.

  FIG. 2 is a schematic diagram illustrating an arrangement of each device of the picking facility 1 according to the present embodiment. The picking case conveyor 2 is a conveyor that moves the picking case C <b> 1 received from the loading / unloading device 10. As shown in FIGS. 1 and 2, the picking case conveyor 2 has a conveyance path bent a plurality of times in a partial area, and the direction changing portion 2 a (in the figure) that changes the conveyance direction of the picking case C <b> 1 in the bent area. 2). The picking case conveyor 2 is provided with a picking station P (picking execution position) on a linear path between the plurality of direction changing portions 2a. That is, the picking station P is provided in the picking case conveyor 2 so as to avoid the bending area. Further, the picking case conveyor 2 moves the picking case C <b> 1 based on an instruction from the picking control device 7.

  The collection case conveyor 3 is a conveyor that moves the collection case C2. In the collection case conveyor 3, the conveyance path is bent a plurality of times in a partial area, and a direction changing portion 3a for changing the conveyance direction of the collection case C2 is provided in the bent area. The collection case conveyor 3 is provided adjacent to the picking case conveyor 2, and as shown in FIG. 2, the picking robot 4 is arranged at a position closest to the line connecting the collection station center Os and the picking station center Op. As shown, a collection station S (transfer execution position) is provided. In the present embodiment, the picking station P is provided in a region where the direction changing unit 3a (see FIG. 2) is provided. As shown in FIG. 2, the picking station P and the pick-up station S have a rotation direction angle of 90 degrees with respect to a rotation axis O of a base 4 a (to be described later) of the picking robot 4 in plan view. It arrange | positions so that it may become a position.

  As shown in FIG. 1, the picking robot 4 includes a base part 4a, an arm part that can be rotated by the base part 4a, for example, a multi-joint arm part 4b, and a hand part provided at the tip of the multi-joint arm part 4b. 4c, and an articulated arm turning part 4d for turning the articulated arm part 4b and the hand part 4c in the horizontal direction. Further, the picking robot 4 is disposed at a position closest to both the picking station P and the pickup station S. The picking robot 4 is disposed at a position where the hand portion 4c reaches both the picking station P and the pickup station S by turning the articulated arm turning portion 4d. That is, the articulated arm turning portion 4d of the picking robot 4 is not arranged on the line connecting the picking station center Op and the picking station center Os. Further, the picking robot 4 can move the hand portion 4c onto the collection station S by turning the hand portion 4c from the picking station P by 90 degrees about the rotation axis O of the articulated arm turning portion 4d.

  Such a picking robot 4 grips the article in the picking case C1 by the hand part 4c and rotates the articulated arm part 4b in the horizontal direction, thereby moving the grasped article to the collection case C2 and changing the gripping state. By releasing, it is accommodated in the collection case C2. The picking robot 4 is mounted on a portable pedestal D, and can be moved (detached) when, for example, it is replaced with a worker or maintenance is performed. As a result, the picking robot 4 is a human-collaborative robot that can perform work with a worker in turn.

  The picking case camera 5 is provided directly on the upstream side of the picking station P in the picking case conveyor 2, and photographs the state in the picking case C1 immediately before the picking operation is performed. Similar to the picking case camera 5, the collecting case camera 6 is provided immediately above the collecting station S on the collecting case conveyor 3, and photographs the state in the collecting case C2 immediately before the transfer operation is performed.

  The picking control device 7 controls the picking case conveyor 2, the collecting case conveyor 3, the picking robot 4, the picking case camera 5 and the collecting case camera 6, and as shown in FIG. A part 7b, a turning mechanism control part 7c, an arm control part 7d, and a hand control part 7e are provided. Further, the picking control device 7 stores the number of articles to be transferred from the picking case C1 to the collection case C2 (the planned number of transfers) and the type of articles to be transferred to the collection case C2. The conveyor control unit 7a controls the movement speed and switching of movement / stop of the picking case conveyor 2 and the collection case conveyor 3. The image processing unit 7b analyzes the images taken by the picking case camera 5 and the collection case camera 6, and recognizes the position and orientation of the article inside the picking case C1 and the collection case C2. The turning mechanism control unit 7c controls the turning mechanism of the base 4a of the picking robot 4 based on information from the image processing unit 7b. The arm control unit 7d controls the posture of the articulated arm unit 4b based on information from the image processing unit 7b. The hand control unit 7e controls the gripping force corresponding to the grip / release of the hand unit 4c and the shape of the article based on information from the image processing unit 7b.

  Returning to FIG. 1, the loading / unloading device 10 is a device that stores a plurality of picking cases C <b> 1 and automatically loads / unloads the picking cases C <b> 1 based on instructions from a worker or a predetermined program. The loading / unloading device 10 includes an elevator that moves the picking case C1 in the vertical direction and a plurality of conveyors that move the picking case C1 in the horizontal direction, and can move the picking case C1 three-dimensionally. In addition, the loading / unloading device 10 includes a control device (not shown), and rearranges the plurality of picking cases C1 by separately operating the elevator and the plurality of conveyors based on instructions from the control device. Can be implemented at high speed.

  In the distribution center 100 of the present embodiment, the loading / unloading apparatus 10 rearranges a plurality of picking cases C1 that contain articles that need to be packed in one collection case C2. Specifically, the control unit of the loading / unloading device 10 operates the elevator and the conveyor, and the heavy one of the articles is transported first based on the weight of the single article in the picking case C1 registered in advance. To be arranged. And the loading / unloading apparatus 10 conveys the picking case C1 arranged in order with the heavy article weight to the picking equipment 1. Further, in the picking facility 1, the articles are transferred from the plurality of picking cases C1 to the collecting case C2, and the collecting case C2 is shipped. In addition, the picking case C <b> 1 whose transfer has been completed is stored again in the loading / unloading apparatus 10.

The operation of the picking facility 1 according to the present embodiment will be described in detail with reference to FIG.
The picking control device 7 conveys the collection case C2 to the collection case conveyor 3 so that the collection case C2 arranged at the head is arranged at the collection station S (step S1). Further, the picking control device 7 causes the collection case camera 6 to photograph the collection case C2 placed on the collection station S from above (step S2). At the time of step S3, the articulated arm unit 4b of the picking robot 4 is not arranged on the collection station S, and the image taken by the collection case camera 6 includes the articulated arm unit 4b. There is nothing. Next, the picking control device 7 analyzes the captured image of the collection case C2 by the image processing unit 7b, and specifies the position and orientation of the articles already accommodated in the collection case C2 (step S3). Furthermore, in step S3, the picking control apparatus 7 determines the transfer position in the inside of the collection case C2 of the articles to be transferred by the image processing unit 7b.

The picking control device 7 causes the picking case conveyor 2 to transport the picking case C1 so that the picking case C1 arranged at the head is arranged at the picking station P (step S4). At this time, the picking case C1 is placed on the picking case conveyor 2 in a state of being arranged based on the weight of the single article.
As an order in which the picking cases C1 are arranged, the picking cases C1 can be arranged in the order of the order of the articles alone. As a method for determining the size of a single article, for example, the volume of the article can be known by measuring the volume of the article in advance and using information on the volume of the article registered in the article master.

  Next, the picking control device 7 causes the picking case camera 5 to photograph the picking case C1 placed on the picking station P from above (step S5). At the time of step S5, the articulated arm unit 4b of the picking robot 4 is not arranged on the picking station P, and the image taken by the picking case camera 5 includes the articulated arm unit 4b. There is nothing. And the picking control apparatus 7 analyzes the picked-up image of the picking case C1 by the image processing part 7b, and specifies the position and attitude | position of the articles | goods in the picking case C1 (step S6). Further, in step S6, the picking control device 7 calculates the gripping postures and gripping positions of the articulated arm unit 4b and the hand unit 4c by the image processing unit 7b.

  When step S6 is completed, the picking control device 7 performs a picking operation (step S7). Specifically, the picking control device 7 controls the articulated arm turning unit 4d of the picking robot 4 by the turning mechanism control unit 7c, and the articulated arm unit 4b and the hand around the rotation axis O of the base 4a. The part 4c is turned, and the articulated arm part 4b and the hand part 4c are moved to the picking station P by the arm control part 7d and the hand control part 7e. Further, the picking control device 7 causes the hand unit 4c to grip the article stored in the picking case C1 on the picking station P by the hand control unit 7e. Next, the picking control device 7 turns the articulated arm 4b and the hand 4c 90 degrees about the rotation axis O of the base 4a by the turning mechanism controller 7c, and turns the articulated arm by the hand controller 7e. 4b and the hand part 4c are moved to the collection station S. Then, in the collection case C2 placed on the collection station S, the gripping state of the article is released. Thereby, the articles accommodated in the picking case C1 are transferred to the collection case C2.

  Next, the picking control device 7 collects the target articles accommodated in the picking case C1 placed in the picking station P when the target articles are transferred from a plurality of different picking cases C1 to one collection case C2. It is determined whether the number of transfers to the collection case C2 placed on the station S has reached the planned transfer number (step S8). If the determination in step S8 is NO, that is, if the transfer number has not reached the pre-registered scheduled transfer number, the picking control device 7 performs step S7 again.

  If the determination in step S8 is YES, that is, if the transfer number has reached the pre-registered scheduled transfer number, the picking control device 7 next transfers the article to be transferred to the collection case C2. It is determined whether all the loading is completed (step S9). If the determination in step S9 is YES, that is, if the transfer of all articles scheduled to be transferred to the (one) collection case C2 placed on the collection station S is complete, The picking control device 7 performs step S1 in order to transfer the article to the other collection case C2 placed on the collection case conveyor 3. If the determination in step S9 is NO, that is, if transfer of all articles scheduled to be transferred to the collection case C2 placed on the collection station S has not been completed, picking control is performed. The apparatus 7 performs step S4 in order to transfer the article from the other picking case C1 to the collection case C2.

  According to such a picking facility 1 according to the present embodiment, the collection station S is disposed at a position of 90 degrees with respect to the picking station P with the rotation axis O as the center. Accordingly, the picking robot 4 can transfer the article by rotating the hand unit 4c from the picking station P to the collection station S by rotating the articulated arm rotating unit 4d. Therefore, compared with the prior art, the movement time of the hand part 4c of the picking robot 4 can be reduced, and the tact time of the picking equipment 1 can be reduced.

  In addition, according to the picking facility 1 according to the present embodiment, the picking control device 7 allows the other picking case after the transfer from one picking case C1 placed on the picking station P to the collection case C2 is completed. Transfer from C1 to the collection case C2. In addition, after the transfer of all the articles scheduled to be transferred to the collection case C2 from one picking case C1 placed on the picking station P is completed, the collection case C2 from the other picking case C1 is completed. You may transfer to. Thereby, the time concerning the picking work per picking case C1 is shortened, and the picking work can be performed smoothly. Further, since the picking robot 4 only needs to move the hand unit 4c to the picking station P and the collection station S, the amount of movement of the hand unit 4c can be minimized. Therefore, the tact time of the picking facility 1 can be reduced also by this.

  Further, according to the picking equipment 1 according to the present embodiment, when the picking cases C1 are arranged on the picking case conveyor 2 in the order based on the weights of the articles, the picking cases C1 are sequentially transferred from the heavy articles to the collecting case C2. The load balance in the collection case C2 is not easily lost.

  Further, according to the picking equipment 1 according to the present embodiment, when the picking cases C1 are arranged on the picking case conveyor 2 in the order based on the size of the articles, the picking cases C1 are arranged in order from the large articles. It is possible to transfer, and the load balance inside the collection case C2 is not easily lost.

  Further, the picking station P is installed in a straight path avoiding the direction changing portion 2a of the picking case conveyor 2. In the picking case conveyor 2, the speed of the picking case C1 is slightly decreased in the direction changing portion 2a. The picking case conveyor 2 of the present embodiment can smoothly replace the picking case C1 without delaying the transport when the picking case C1 is transported to the picking station P. Therefore, the tact time of the picking facility 1 can be reduced also by this.

  Further, the picking control device 7 photographs the picking case C1 with the picking case camera 5 before performing the picking work. As a result, the picking robot 4 does not appear in the image inside the picking case C1, and image processing is facilitated.

  Further, the picking robot 4 of the present embodiment can be detached by moving the base D. Thereby, maintenance of the picking robot 4 is easy, and a person can stand at the installation position (picking work position) of the picking robot 4 and perform the picking work.

  Since the distribution center 100 provided with such a picking facility 1 can reduce the tact time of the picking facility 1, it can reduce the time taken to ship the package.

[Second Embodiment]
A modification of the embodiment of the picking apparatus according to the present invention will be described as a second embodiment. In addition, about the structure which is common in 1st Embodiment, a code | symbol is made the same and description is abbreviate | omitted. FIG. 5 is a schematic diagram showing a modification of the arrangement of the devices of the picking facility 1 according to the first embodiment.

  As shown in FIG. 5, the picking facility 1 </ b> A according to the present embodiment is provided with a picking station P in the direction changing portion 2 a in the picking case conveyor 2. The collection case conveyor 3 is arranged so that the corner of the direction changing portion 2 a of the picking case conveyor 2 and the corner of the direction changing portion 3 a of the collection case conveyor 3 face each other. Similar to the first embodiment, the collection station S is arranged at a position where the angle of the rotation direction about the rotation axis O is 90 degrees with respect to the picking station P.

  Further, the picking equipment 1 </ b> A does not include the picking case camera 5 and the collection case camera 6 but includes the case camera 8. The case camera 8 can shoot a range indicated by a two-dot chain line in FIG. 5, and can pick up the picking station P and the collection station S at the same time, and collect the picking station P and the collection station S together. Can be taken.

  According to the picking facility 1 </ b> A according to this embodiment, the collection station S is installed at a position of 90 degrees with respect to the picking station P with the rotation axis O as the center. Accordingly, the picking robot 4 can transfer the article by rotating the hand joint 4c from the picking station P to the collection station S by rotating the articulated arm rotating unit 4d. Therefore, compared with the prior art, the movement time of the hand unit 4c of the picking robot 4 can be reduced, and the tact time of the picking equipment 1A can be reduced.

  Furthermore, the picking equipment 1A according to the present embodiment can take an image of the picking case C1 and the collection case C2 with one case camera 8. Therefore, the picking facility 1A can minimize the number of cameras, facilitate the installation work of the cameras, and reduce the cost.

  As mentioned above, although preferred embodiment of this invention was described referring drawings, this invention is not limited to the said embodiment. Various shapes, combinations, and the like of the constituent members shown in the above-described embodiments are examples, and various modifications can be made based on design requirements and the like without departing from the spirit of the present invention.

  In the above embodiment, the picking case camera 5 and the collection case camera 6 or the case camera 8 is used to photograph the inside of the picking case C1 and the collection case C2. However, the present invention is not limited to this. It is also possible to adopt a configuration in which a camera is mounted on the hand portion 4c of the picking robot 4 and photographing is performed. In this case, since it is possible to photograph closer to the picking case C1 and the collection case C2, it is possible to acquire a finer image.

  Moreover, in the said embodiment, although the turning angle of the picking robot 4 from the picking station P to the pick-up station S was 90 degree | times, this invention is not limited to this. The turning angle of the picking robot 4 can be set to 120 degrees, 60 degrees, and 45 degrees, for example. In addition, the time concerning movement becomes short, so that the turning angle of the picking robot 4 is small. Therefore, the tact time of the picking equipment 1 and 1A can be shortened as the turning angle of the picking robot 4 is reduced.

  In the above embodiment, a plurality of picking cases C1 placed on the picking station P as shown in FIG. 6A, or a collecting case C2 placed on the collecting station S as shown in FIG. 6B. It is also possible to have a plurality. Of the plurality of picking cases C1 placed on the picking station P, the transfer operation is performed from the picking case C1 placed on the downstream side in the transport direction of the picking case conveyor 2. Then, after the transfer of the article from the picking case C1 placed on the downstream side is completed, the article is transferred from the picking case C1 placed on the upstream side in the transport direction.

  In addition, the picking case C1 and the collection case C2 may be configured to be transported through a transport path by being pushed out by a pusher mechanism. It is also possible to transport the picking case C1 and the collection case C2 by a tracked carriage. Furthermore, it is also possible to adopt a configuration in which a picking case C1 and a collection case C2 are loaded on a low floor type AGV (Automatic Guided Vehicle) and conveyed. When the picking case C1 and the collection case C2 are transported by the AGV, the AGV can calculate the shortest path and move, so that the tact time can be further shortened.

  Moreover, in the said embodiment, although the structure where the picking robot 4 is mounted in the base D which has a caster was employ | adopted, the shape of the base D is not limited to this. The picking robot 4 may have a moving mechanism such as a caster. Furthermore, the picking robot 4 can be configured to autonomously move.

  Moreover, in the said embodiment, although the structure where the picking case C1 is rearranged by the loading / unloading apparatus 10 was employ | adopted, for example, when using AGV as a conveying apparatus, AGV moves based on the instruction | indication of the picking control apparatus 7 Thus, the picking cases C1 may be rearranged.

  Moreover, the article container in the present invention is not limited to a case, and may be a pallet, for example. Similarly, the collection body in the present invention is not limited to a case, and may be a pallet.

1 Picking equipment (first embodiment)
1A Picking equipment (second embodiment)
2 Picking Case Conveyor 2a Direction Change Unit 3 Collection Case Conveyor 3a Direction Change Unit 4 Picking Robot 4a Base 4b Articulated Arm 4c Hand 4d Articulated Arm Turning Unit 5 Picking Case Camera 6 Collection Case Camera 7 Picking Control Device 7a Conveyor Control Unit 7b image processing unit 7c turning mechanism control unit 7d arm control unit 7e hand control unit 8 case camera 10 loading / unloading device 100 distribution center C1 picking case C2 picking case O rotating shaft P picking station S picking station Op picking station center Os picking Station center

Claims (9)

A picking facility for transferring an article stored in an article container to a collection body,
A picking robot whose arm is rotatable around a rotation axis along the vertical direction;
An article container mounting unit on which the article container is mounted at a picking execution position;
A loading body placement portion on which the collection body is placed at a transfer execution position at which an angle in a rotation direction around the rotation axis in plan view is less than 180 degrees with respect to the picking execution position;
A picking facility comprising: a control unit configured to rotate the arm unit at a turning angle of less than 180 degrees around the rotation axis toward the transfer execution position from the picking execution position to transfer the article. The controller is
When transferring the articles from different article containers to one of the collection bodies,
The article is transferred from the other article container to the collecting body after the transfer of all the articles scheduled to be transferred from the one article container to the collecting body is completed. The picking equipment according to 1. One said article container contains only one kind of article,
The picking facility according to claim 1 or 2, wherein the article container is arranged in the order in which the stored articles are heavier on the article container mounting portion. One said article container contains only one kind of article,
The picking equipment according to claim 1 or 2, wherein the article container is arranged in the order of the contained articles in the article container mounting portion.   The picking equipment according to any one of claims 1 to 4, wherein the article container mounting portion has a conveying path that is bent, and the picking execution position is provided to avoid a bending region.   The picking equipment according to any one of claims 1 to 5, further comprising a photographing unit that photographs the article container before a picking operation by the picking robot is performed.   The picking equipment according to any one of claims 1 to 6, wherein the picking robot is arranged so as to avoid a position between the picking execution position and the transfer execution position.   The picking equipment according to any one of claims 1 to 7, wherein the picking robot is detachable from a picking work position where the picking work is performed. Picking equipment according to any one of claims 1 to 8,
A logistics facility comprising: a loading / unloading device for loading / unloading the article container.

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