JPH1053306A - Method and device for taking out article - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely take out a non-taken-out article again by checking whether or not each article at the designated take-out position is taken out, and performing the re-take-out operation to the non-taken-out article in a process of the take-out action by a plurality of article take-out tools corresponding to a plurality of designated take-out position. SOLUTION: In taking out an article by an article take-out robot 14, whether or not each article at the designated take-out position is taken out is checked by a detecting means in a process of take-out by a suction pad 52B corresponding to a plurality of designated take-out position in a take-out port 41 of a take-out shelf 13. When only an article 'Round 2' is taken out, only the article 'Round 2' is taken out by an article take-out tool, and shifted to the right and moved forward by a take-out table 51A by a shifting device 53A, and then, shifted to the left on a take-out table 51B by a shifting table 53B to complete the take-out action. Then, the take-out action is performed again on an article 'Round 1', and when it is taken out, the article 'Round 1' is shifted to the right, moved forward, shifted to the left, and arranged on the take-out table 51B.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for taking out articles which are suitable for use in distribution centers and the like.

[0002]

2. Description of the Related Art Conventionally, there is a method of taking out articles at a plurality of designated take-out positions in an article storage box supplied to a take-out opening of a take-out facility by using a plurality of article take-out tools.

[0003] In this conventional technique, it is confirmed by a detecting means whether or not each article at the designated extraction position has been removed during the removal operation by the plurality of article removal tools corresponding to each of the plurality of designated removal positions. I have. Then, as a result of this confirmation, if there is an unremovable article that has not been removed by the article removal tool, the removal operation for the unremoved article is performed by leaving the other articles that have been removed by the article removal tool and in the removal process as they are. After retrying, all the items to be taken out will be taken out at the same time.

[0004]

However, in the prior art, during the removal process by the product removal tool, a part of all the products to be removed is pulled out of the product storage box by a certain volume. The negative pressure generated in the box makes it difficult to retry the unloading operation for the unloading article. That is, the negative pressure in the article storage box acts as a take-out resistance force for a take-out article.

SUMMARY OF THE INVENTION It is an object of the present invention to ensure that, when a plurality of articles in an article storage box are to be taken out by an article take-out tool, a wrongly taken out article is taken out again.

[0006]

According to a first aspect of the present invention, an article at each of a plurality of designated extraction positions in an article storage box supplied to an ejection frontage of an ejection facility is replaced with a plurality of article ejection tools. In the article taking out method by each of them, in the process of taking out operation by the plurality of taking out tools corresponding to each of the plurality of designated designated positions, it is confirmed by the detecting means whether or not each of the articles at the designated designated position is taken out. After the removal of the articles taken out by the article take-out tool is completed, the untaken articles are again taken out by the article take-out tool.

According to a second aspect of the present invention, when the article can not be taken out even after a predetermined number of retrieving operations by the article taking-out tool, the designated position for taking out the article can be changed. is there.

According to a third aspect of the present invention, there is provided an article take-out apparatus for use in carrying out the article take-out method according to the first or second aspect, wherein a plurality of article take-out tools respectively corresponding to a plurality of designated take-out positions. In the process of taking out by the detecting means for confirming whether or not each of the articles at the specified take-out position has been taken out, based on the detection result of the detecting means, after completing the taking out of the article taken out by the article taking out tool, An article take-out control device for performing an operation of taking out the article that has not been taken out again by the article take-out tool.

According to the present invention, the following operations are provided. During the removal process using the product removal tool, only some of the items to be removed are pulled out, and even if other items are not removed, some of the products to be removed are first taken out of the product storage box. Complete. Thereby, the negative pressure generated in the article storage box can be eliminated because a part of all the articles to be taken out is pulled out from the article storage box by a certain volume.

[0010] Since the unextracted articles are re-extracted after the above-mentioned negative pressure in the article storage box is eliminated, the action of the negative pressure in the article storage box, which becomes a withdrawal-resistant force for an unsuccessfully extracted article, is performed. It does not extend to the removal mistake article. As a result, it is possible to reliably re-extract the unremoved article.

If the article cannot be taken out even after repeating the take-out operation by the article take-out tool a certain number of times, by changing the designated position for taking out the article, the article is actually missing in the article storage box. Minimize the repetition of meaningless re-extraction to the designated extraction position that cannot be extracted. Then, by executing the removal of the same kind of article at the designated removal position after the change, all the articles to be taken out can be quickly and reliably taken out, and the productivity can be improved.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic view showing the whole distribution apparatus in plan view, FIG. 2 is a schematic view showing the whole distribution apparatus in side view,
3 is a schematic diagram showing an empty box collection line, FIG. 4 is a flowchart showing the entire process of the physical distribution device, FIG. 5 is a schematic diagram showing a box supply robot, and FIG. 6 is a schematic diagram showing an empty box suction start process of the box supply robot. FIG. 7, FIG. 7 is a schematic view showing an empty box suction step of the box supply robot, FIG. 8 is a schematic view showing an empty box transfer step of the box supply robot, FIG. 9 is a schematic view showing an empty box discharge step of the box supply robot, FIG. 10 is a schematic view showing a box loading step of the box supply robot, FIG. 11 is a schematic view showing a box turning step of the box supply robot, FIG. 12 is a schematic view showing a box supply step of the box supply robot, and FIG. FIG. 14 is a schematic diagram showing a robot, FIG. 14 is a schematic diagram showing a plan view of FIG. 13, FIG. 15 is a schematic diagram showing an article taking start process of the product taking robot, FIG. 16 is a schematic diagram showing a product taking process of the product taking robot, Fig. 17 is a descent work of an article removal robot FIG. 18 is a schematic view showing the inclination and forward movement steps of the article take-out robot, FIG. 19 is a schematic view showing the width adjustment step of the article take-out robot, and FIG. 20 is a schematic view showing the payout step of the article take-out robot. , FIG.
FIG. 22 is a schematic view showing a process of transferring the goods to the receiving device by the article take-out robot, FIG. 22 is a schematic view showing the take-out start state of the article take-out robot, FIG. 23 is a schematic view showing an initial take-out state of the article take-out robot, and FIG. FIG. 25 is a schematic view showing a state in which the article take-out robot is in the final stage of removal, FIG. 25 is a schematic view showing a state in which the article take-out robot takes out a narrow article, FIG. 26 is a schematic view showing a state in which the article take-out robot takes out a wide article, and FIG. FIG. 28 is a schematic diagram showing a state of a take-out attempt of the robot, FIG. 28 is a schematic diagram showing a state of occurrence of a take-out mistake of the article take-out robot, FIG. 29 is a schematic diagram showing a take-out progress state of the product take-out robot, and FIG. FIG. 31 is a schematic diagram showing a state in which the article take-out robot is re-biased, FIG. 32 is a schematic view showing a state in which the article take-out robot has been fully biased, and FIG. 33 is an article take-out robot. Schematic diagram showing a take-out retry state, FIG. 34 is a schematic diagram showing a take-out completion state of the article take-out robot,
FIG. 35 is a schematic diagram showing a state where articles are transferred from the tote to an empty box.

(Overall Configuration) (FIGS. 1 to 4) As shown in FIGS.
(Storage facility), a box supply robot 12, a take-out shelf 13 (take-out facility), an article take-out robot 14, a tote line 15, an empty box collection line 16, a store matching line 17, and an oricon line 18. Note that the distribution device 10 includes a fluidized shelf 11,
Box supply robot 12, take-out shelf 13, article take-out robot 1
4. A plurality of picking units 10A, 10B,... Each having one tote line 15 as a unit.

That is, in the physical distribution apparatus 10, in each of the picking units 10A, 10B,...
The storage frontage 21 is assigned to the storage frontage 21 allocated to the storage frontage 21 and the article storage cardboard box 1 of each storage frontage 21 is assigned to each of the vertical stages of the take-out shelf 13 on the downstream side by the box supply robot 12 to take out the frontage 41 of the product type. To supply. Then, the article take-out robot 14 takes out the required number of the articles 2 in the box 1 of the desired kind from the take-out opening 41 corresponding to the kind in the take-out shelf 13 for each store of the delivery destination, and takes out the taken-out articles on the take-out table 51. After that, the tote line 15 is transferred to the individual tote 61 for each store to be conveyed. The tote 61 is provided with a barcode that is linked to the store name and stored. Each picking unit 1
0A, 10B,..., The article take-out robot 14 takes out the articles 2 for each shop in the order of the delivery destination, and the articles to be taken out are transferred to the tote 61 carried by the tote line 15 in the order of the shops. Become. The empty box collection line 16 collects a predetermined size and shape of the article storage corrugated cardboard boxes 1 supplied from the fluidizing shelf 11 to the take-out shelf 13, and the inside of the tote 61 reaching the periphery of the tote line 15. The article 2 can be transferred to the empty box 1A. At this time, the bar code attached to the empty box 1A is linked to the store name and stored.

Further, the distribution apparatus 10 has a store matching line 17 for each of the picking units 10A, 10B,..., And the empty box 1A in which the articles 2 destined for each store are transferred by each of the picking units 10A, 10B,. At the corresponding store matching line 17. The merging line 17 of the picking units 10A, 10B,... Is a merging section in front of the article input station, and collectively waits for empty boxes 1A of the same store according to the store name information stored in the empty box 1A. Further, the oricon line 18 conveys the oricon 3 (folded container) with the bar code of each store in the order of the delivery destination, and places the oricon 3 to be charged at the above-mentioned article loading station to the article loading station. The empty box 1 of the same store as the oricon 3 which is temporarily stopped and is waiting at the junction of the store matching line 17
The article 2 in A is put into the oricon 3. In this way, the oricon 3 into which the article 2 has been put is carried out to the shipping site in the lower process. This completes the collection of the desired article 2 at each store.

The distribution apparatus 10 includes a flow shelf 11 of each of the picking units 10A and 10B, a box supply robot 12,
Take-out shelf 13, article take-out robot 14, tote line 15
Is controlled by the unit CPU based on the picking data.

(Fluid shelves 11) (FIGS. 1 to 5) Fluid shelves 11 include picking units 10A, 10B,.
Each has a plurality of rows and a plurality of rows (in this embodiment, 11 rows and 5 rows) of storage frontage 21, and stores the cardboard box 1 in which each type of article 2 is stored in each storage frontage 21. ing. One type is registered in one storage frontage 21. Each storage frontage 21 of the fluidized shelf 11 is shown in FIG.
As shown in FIG. 1, a box cutting device 23 for cutting the cardboard boxes 1 one by one at the downstream end of the conveyor 22 is provided. The box cutting device 23
A mechanical valve 23A which is pushed by a pushing portion 31B provided on a turning frame 31A constituting the 90-degree turning device 31 of the box feeding robot 12 has a mechanical valve 23A.
When A is turned on, the cutting roller 23B at the tip is raised, and one cardboard box 1 at the tip of the storage frontage 21 is sent to the box supply robot 12. At this time, the box 1 upstream of the storage frontage 21 is stopped by the frame of the cut-out roller 23B, so that only one box 1 described above can be taken out.

The cardboard box 1 is opened by cutting the top surface, and the articles 2 in the box 1 are arranged in a plurality of rows, a plurality of rows, and a plurality of depth rows (each row may be one row). However, the number of articles stored in the box is plural.)

The storage frontage 21 of the fluidized shelf 11 has
Box 1 from the upstream end by a supply car (single-sided unit for supplying palletized cardboard boxes 1 received from the factory)
Is supplied. The box 1 may be supplied to the fluidized shelf 11 manually. When the stock number of the boxes 1 in each storage frontage 21 becomes equal to or less than a preset number, a fixed quantity of the cardboard boxes 1 is supplied by the supply car.

(Take Out Shelf 13) (FIGS. 1 to 5) The take out shelves 13 have the same number of rows as the fluid shelves 11, and have N + α (α ≧ 1) take-out openings 41 when the number of shelves 11 is N. doing. That is, the extraction shelf 13 includes a group of extraction frontage 41 of a fixed N + α in each row as an extraction management frontage group, and registers different varieties within a range of the frontage number N smaller than the total frontage number N + α of the extraction management frontage group. By doing so, one or more frontage (maximum α frontage) extraction frontage 41 can be allocated as a supply destination frontage for an optional supply-required variety. Then, the article 2 of the next-to-be-missed type in the unloading shelf 13 is supplied to the supply destination frontage in advance.

The take-out shelf 13 has a
The empty box 1A is taken out from the unloading front 41 where the cardboard box 1 is emptied by the removal of the article 2 by the article removal robot 14.
Is discharged by the box supply robot 12 and then the unloading front 4
1 is designated as the above-mentioned supply destination frontage.

A unit CPU (article supply control device)
Predicts and calculates in advance the supply destination frontage generation information and the supply-required type generation information of the flow shelf 13 based on the picking data.

The take-out shelf 13 in this embodiment is specifically as follows. That is, the take-out shelf 13 is the fluidized shelf 11
Are arranged facing the downstream end of the. And take-out shelf 1
Numeral 3 has the same number of rows as the fluid shelves 11 and has a take-out opening 41 of the number of stages of the fluid shelves +1 (6 in the present embodiment), and the +1 stage is prepared as a supply frontage. For example, the storage frontage 21 in the third row of the flow shelf 11 and the takeout shelf 13 and the takeout front 41
When registering the types (A, B, C, and D products), the stage No. of the storage frontage 21 of the fluidized shelf 11 is designated and, for example, 5, 4, 3,
The products A, B, C, and D are registered in the storage frontages 21 of the two tiers, respectively. After that, the unloading shelf 1 is moved by the box feeding robot 12.
The cardboard boxes 1 of each type are supplied one by one to the empty frontage 3 (all six tiers are initially empty). The stage No. of the outlet 41 for the supply destination to the extraction shelf 13 by the box supply robot 12 is replenished, for example, to the fifth, sixth, fourth, and third stages from the frontage previously set for initial supply. Which kind may be replenished to the takeout frontage 41 of which stage. Further, in this example, the assignment from the fifth-stage extraction frontage 41 is that the fifth-stage extraction frontage 41 is closest to the tote line 15 in this embodiment, and is set to the input level to the tote 61 immediately from the extraction shelf 13. Because it can move, it can be from any stage.

When the unit CPU receives the picking data, it collects the picking schedule of each kind, calculates the kind in which the article 2 in the cardboard box 1 becomes empty next in each row of the take-out shelf 13, and supplies the box. Instruct the robot 12 to take out the shelves 13
Is replenished in advance in the empty frontage (supply frontage). In the above example, supply is made to the second-stage unloading front 41 (1
The take-out opening 41 of the step may be used. Alternatively, two types of the next empty type and the next empty type may be calculated and supplied to the first-stage and second-stage take-out openings 41. However, in the present embodiment, only one frontage is used as a supply frontage for the limited use, and the other surplus frontage is used for additional registration when a new variety is added to the take-out shelf 13 and can be added immediately. ).

When picking from the take-out shelf 13 by the box supply robot 12 starts, the articles 2 in the cardboard box 1 are taken out by the box supply robot 12, and when the cardboard box 1 of a certain type becomes empty (the unit CPU calculates in advance). The unit CPU calculates the next empty type in that row on the take-out shelf 13 and supplies this type to the empty frontage. In this way, the required number of varieties are always prepared in the unloading shelf 13 and the varieties to be eliminated are prepared in advance, so that picking can be continued without waiting for replenishment.

The take-out shelf 13 has a cardboard box holding device 43 at each take-out opening 41, as shown in FIG. The cardboard box gripping device 43 is provided with each take-out front 41 of the take-out shelf 13.
The gripping plate 43B is driven in the direction of the reference wall by the rodless cylinder 43A provided below, and the cardboard box 1 is moved to the reference side (in this example, the right side as viewed from the article take-out robot 14).
To Further, a spike is provided on the holding plate 43B, and the box 1 is fixed so as not to move over the cardboard box 1.

An empty box collection line 16 extends above the fluidized shelf 13.

(Box Supply Robot 12) (FIGS. 1 to 12) The box supply robot 12 is provided with each picking unit 10A,
10B... In each of the flow shelves 11 and the take-out shelves 13
And the cardboard boxes 1 of each type are supplied from the storage frontage 21 of the fluidized shelf 11 to the removal frontage 41 of the removal shelf 13. The box supply robot 12 includes a horizontal rail 3 extending on the floor surface and the ceiling side between the flow shelf 11 and the take-out shelf 13.
0A, 30B, running roller 3 of traversing frame 30C
The traversing frame 30C is traversed in the lateral direction (the column direction of the fluidized shelves 11) by being guided by 0D. The box supply robot 12 is mounted on the vertical rail 30E of the horizontal frame 30C.
Guided by the traveling roller 30G of the box supply table 30F,
The box supply table 30F is moved up and down in the vertical direction (the direction of the flow shelf 11 and the take-out shelf 13).

The above-described traversing of the traversing frame 30C is driven by a servo motor (not shown) to traverse the box supply table 30F along the flow shelves 11 and the take-out shelves 13, and the box supply table 30F
Is accurately positioned on the storage frontage 21 of each row of the fluidized shelves 11 and on each take-out shelf 13.

The above-described elevation of the box supply table 30F is driven by a servomotor (not shown), and the box supply table 30F is
1. Ascending and descending along each take-out shelf 13, the box supply table 30F is accurately positioned at the level of the storage frontage 21 of each stage of the fluidized shelf 11, the take-out frontage 41 of each stage of the take-out shelf 13, and the empty box collection line 16. .

The box supply robot 12 is mounted on the box supply table 30F.
90-degree turning device 31 and box supply / discharge unit (box supply /
Discharge device) 32.

The 90-degree turning device 31 pivotally supports the above-described turning frame 31A on the box supply table 30F via a support shaft 31C.
An air cylinder 31D is provided between the box supply table 30F and the turning frame 31A. The revolving frame 31A is driven by a cylinder 31D and is revolved at approximately 90 degrees relative to the fluidized shelves 11 and the take-out shelves 13. The revolving frame 31A includes a free roller 31E that supports the bottom surface of the cardboard box 1 cut by the box cutting device 23 provided in each storage frontage 21 of the fluidizing shelf 11, and a box support plate 31F that supports the side surface of the box 1. Prepare.

The box supply / discharge unit 32
And take out empty box 1A or take out shelf 13
Can be supplied with the cardboard box 1. The box supply / discharge unit 32 moves the air cylinder 32
A and a double drive mechanism of the servo motor 32B. The retractable moving frame 32D fixed to the timing belt 32C on the box supply table 30F is driven by the servomotor 32B, the cylinder 32A is fixed to the retractable moving frame 32D, and the box suction hand 3 provided at the tip of the cylinder rod is provided.
2E is provided with a box suction pad 32F. The operation of the box supply / discharge unit 32 is such that the box suction pad 32F is put out to the side of the constant-stroke take-out shelf 13 by the cylinder 32A,
The box suction pad 32F is positioned by the servomotor 32B such that the tip of the cardboard box 1 is aligned with the tip of each of the take-out openings 41 of the take-out shelf 13. The reason why the cylinder 32 </ b> A is used is to take a stroke so that even a small article can be pushed to the tip of each takeout opening 41. Note that the box supply / discharge unit 32 may be divided into a box supply device and a box discharge device.

The box supply robot 12 operates as follows (FIGS. 6 to 12). (1) Vacuum box suction start step (FIG. 6) The box supply table 30F of the box supply robot 12 is moved to the unit CP.
It is moved to the extraction frontage 41 of the extraction shelf 13 designated by U.

(2) Empty box suction process (FIG. 7) The box suction / pad 32F is operated by the box supply / discharge unit 32.
Is inserted into the take-out opening 41 to suck the side surface of the empty box 1A. Here, an instruction is given to the holding device 43 of the take-out shelf 13 to release the holding of the empty box 1A, and the empty box 1A is taken into the box supply / discharge unit 32.

(3) Empty Box Transfer Step (FIG. 8) The box supply table 30F of the box supply robot 12 is raised to the empty box collection line 16.

(4) Empty Box Discharge Step (FIG. 9) The empty box 1A is discharged to the empty box collection line 16 by the box supply / discharge unit 32.

(5) Box Intake Step (FIG. 10) The box supply table 30F of the box supply robot 12 is placed in the storage frontage 21 of the fluidized shelf 11 that stores the next empty product in the takeout shelf 13 in this row. Position. Then, one box at the tip of the storage frontage 21 of the fluidized shelf 11 is cut out from the inclined free roller conveyor 22 by the box cutting device 23 and taken into the turning frame 31A of the 90-degree turning device 31.

(6) Box turning process (FIG. 11) The turning frame 31A is turned approximately 90 ° by the 90 ° turning device 31, and the cardboard box 1 in the 90 ° turning device 31 is opened in front of the take-out shelf 13 with the top opening. Turn to face.

(7) Box Supply Step (FIG. 12) The box supply / discharge unit 32 inserts the cardboard box 1 of (6) into the take-out opening 41 from which the empty box 1A was taken out in (2). Then, a supply completion signal of the cardboard box 1 to the take-out front 41 is sent, and the cardboard box 1 is moved toward the reference side in the take-out front 41 and gripped by the gripping device 43 of the take-out front 41. Thereby, the supply of the article storage cardboard box 1 by the box supply robot 12 to the extraction frontage 41 of the extraction shelf 13 designated by the unit CPU is completed.

(Article Extraction Robot 14) (FIG. 2, FIG. 1)
3, FIG. 14) The article pick-up robot 14 is provided with each picking unit 10
In each of A, 10B,..., The required number of articles 2 of the kind registered in the frontage 41 are taken out from the frontage frontage 41 of each takeout shelf 13 and are taken out from each frontage frontage 41 of each takeout shelf 13.

Here, in the article take-out robot 14, the unit CPU (article take-out control device, article transfer control device) uses the unit CPU to determine the combination unit of the take-out articles 2 which fall within the predetermined width which is the receiving width of the tote 61. At the same time, the input level of the articles in the tote 61 is calculated.

The article take-out robot 14 is provided with the take-out table 5
1, an article take-out tool 52 (article take-out device), an article width approaching device 53, an article payout device 54, and an article guide device 55. As a result, in the article take-out robot 14, the article take-out tool 52 uses the article take-out tool 52 to remove a part of the articles 2
Is taken out onto a take-out table 51 from a take-out frontage 41.
Then, the article 2 is moved to the outside of the takeout path of the next takeout article 2 on the takeout table 51 by the article width approaching device 53. The removal of the article 2 by the article removal tool 52 and the width adjustment of the article 2 by the article width adjustment device 53 are performed until the removal of all the articles in the combination of the removed articles onto the removal table 51 or the removal frontage 41 or By repeating the process at another take-out front 41, a take-out article combination unit is formed on the take-out table 51. The unit of the article to be taken out on the take-out table 51 is the stopper 54 of the article payout device 54.
Locked by A. Then, after taking out the taken-out article combination unit within a predetermined width on the take-out table 51, the locking of the article combination unit by the stopper 54A of the article delivery device 54 is released, and the article combination unit is moved to the tote 6
Pay out to 1. At this time, the guide plate of the article guide device 55 is inserted at a position corresponding to the article input level in the tote 61, and after sliding the above-mentioned taken-out article combination unit on the guide plate 55A, the guide plate 55A is taken out. The articles 2 are transferred to the tote 61 by being pulled back to the lower part of the toe.

Hereinafter, the lifting device 5 of the article take-out robot 14 will be described.
0, the take-out table 51, the article take-out tool 52, the article width approaching device 53, the article pay-out device 54, and the guide device 55 will be specifically described.

(A) Elevating device 50 of the article take-out robot 14 As shown in FIGS. 2, 13 and 14, one article take-out robot 14 is provided on one take-out shelf 13 forming a series (six columns). 6 is moved up and down by the lifting device 50
The article 2 can be taken out from any of the outlets 41 of the step. The lifting device 50 includes a pair of left and right vertical rails 50A,
50A, the guide roller 50C of the article take-out table 50B is guided to move the article take-out table 50B in the vertical direction (the take-out shelf 13).
Up and down). The above-described lifting and lowering of the article take-out stand 50B is driven via a chain by a servo motor (not shown), and accurately positions the article take-out stand 50B at the article take-out opening 41 of each stage of the take-out shelf 13.

(B) Extraction Table 51 of Article Extraction Robot 14 As shown in FIGS. 2, 13, and 14, the article extraction robot 14 includes a first extraction table 51A that forms the article extraction table 51 on an article extraction table 50B. , The second extraction table 51
B.

The first take-out table 51A is provided with the article take-out table 5
0B, fixed to the front end support bracket 51 of the cylinder 51C
D is pivotally connected to one end of the support bracket 51D via a support shaft 51E.
The pressing behavior by 1G is given. A stopper roller 51H is provided on the article take-out table 50B. The first take-out table 51A is a free roller 51.
I. The first extraction table 51A is a cylinder 51C.
Takes the horizontal position pressed by the receiver 51F at the rising end of the stopper roller 5 at the lowering end of the cylinder 51C.
Take an inclined posture that abuts 1H. That is, the cylinder 51C
The first take-out table 51A lowered with the support bracket 51D is lowered at the tip end together with the support bracket 51D.
As a result of the base end side being locked by the stopper roller 51H, an inclined posture is obtained.

The second take-out table 51B is fixedly arranged in an inclined manner and has a free roller 51J.

When the first take-out table 51A is at the lower end, the first take-out table 51A and the second take-out table 51B
Has a continuous downward slope. This downward slope is carried to the tote line 15 and is taken out by the article taking robot 14.
The bottom surface of the tote 61 located in the article input area on the front side of the bottom surface of the tote 61 continues at substantially the same angle as the downward slope.

The first take-out table 51A has a take-out shelf 1
An article holding plate 51L that is moved back and forth by an air cylinder 51K is provided on the base end face facing the third. The cardboard box 1 in the take-out front 41 is attached to the pivot pad 52B of the article take-out tool 52.
When the upper article 2 is pulled out, the article pressing plate 51L presses the lower article 2 to prevent the lower article 2 from being disturbed due to the removal of the upper article 2.

(C) The article removal tool 5 of the article removal robot 14
2, the article take-out robot 14 uses the article suction pad 52B of the article suction hand 52A of the article take-out tool 52, as shown in FIGS.
The article 2 in 1 is taken out. At this time, the article 2 is seen from the front opening of the cardboard box 1 provided in the take-out opening 41 as described above. In addition, the types of the articles 2 stored in the same series of unloading front doors 41 of the unloading shelves 13 are basically the same in number of articles in the inner width of the tote (individual packaging widths are almost equal). Items that have an integer multiple of the number of articles that fall within the tote width (FIGS. 25 and 26) are selected and registered. This is because the suction pad 52 </ b> B is commonly used in each of the takeout front doors 41 in the same series.

The article take-out tool 52 has an article suction table 52C which is guided by guide rails 50E of a gantry 50D provided above the article take-out table 50B and moves toward and away from the left and right of the take-out shelf 13. The above-described article suction hand 52A is provided on a cylinder rod of an air cylinder 52D provided below the article suction table 52C. In addition, article take-out stand 50B
Is provided with a servomotor 52E.
E reciprocates the article suction table 52C along the guide rail 50E via the chain 52F. The article suction pads 52B of the article suction hand 52A are provided as many as the number of articles 2 accommodated in the width direction of the cardboard box 1 stored in the article take-out opening 41, and are arranged at positions corresponding to the respective articles 2.
In addition, two suction pads 52B correspond to one article 2, and the suction force can be increased.

The suction operation of the article take-out tool 52 is performed as follows (FIGS. 22 to 24). (1) Four articles 2 in the width direction of the cardboard box 1 stored in the take-out opening 41 of the take-out shelf 13 When the user intends to take out two articles ((designated take-out position)) in a situation where the product is accommodated, the article suction table 52C is advanced to the take-out front 41 side by the servo motor 52E, and at the same time, all the suction pads 52B are brought into contact with each other. The air cylinder 52D is directed toward each article 2 in the extraction frontage 41 (FIG. 22).

(2) Among all the suction pads 52B, the suction pad 52B to which the article 2 is to be sucked is turned on in the vacuum at the exit position (1) to suck the article 2, and the other suction pads 52B are sucked.
B is not turned on the vacuum (FIG. 22).

(3) With the suction pad 52B that has not been turned on and the suction pad 52B that has suctioned the article 2 turned on with the vacuum turned on, the air cylinder 52
D, a necessary article is slightly pulled out by the stroke of the cylinder 52D (FIG. 23). Cylinder 52
By pulling out a little by the stroke of D, the negative pressure generated in the cardboard box 1 is reduced, and the article 2 not sucked by the suction pad 52B is prevented from being pulled out together with the article.

(4) Thereafter, the servo motor 52E
The article suctioned by the suction pad 52B is
Extraction is performed up to the extraction table 51A (FIG. 24).

Incidentally, at the take-out front 41 of the take-out shelf 13,
When the articles 2 are in a plurality of rows in the depth direction of the cardboard box 1, the articles 2 at the back can be taken out by registration. In this case, the article 2 in the upper row and the near side (in the cardboard box 1) first
When the article 2 in the row is exhausted, the article 2 at the back of the step is taken out. When there are no more articles 2 in that row, the next article 2 in the lower row is taken out (when the article 2 in the back is taken out, it is slid over the article 2 in the lower part and taken out). Article 2
Is registered and the number of articles arranged in the cardboard box 1 is registered, so that the operation of the servomotor 52E causes the suction pad 52B to move forward by the depth dimension to suck the article 2 on the back side.

(D) Article Width Adjustment Device 53 of Article Extraction Robot 14 As shown in FIG. 14, the article extraction robot 14 uses an extraction table 52 (first extraction table 51) by an article extraction tool 52.
A, the article 2 extracted on the second extraction table 51B)
The width adjusting device 53 adjusts the width of the next item to be taken out of the removal path. The width adjusting device 53 includes a first width adjusting device 53A on the first extraction table 51A and a second width adjusting device 53B on the second extraction table 51B.

The first width shifting device 53A is provided with an air cylinder 101A installed at the left end of the first extraction table 51A.
The first extraction table 51 is provided with a biasing plate 103A at the tip of a pantograph 102A that is
The article 2 on A is shifted to the right side wall 104A.

The second width shifting device 53B is provided with an air cylinder 101B installed at the right end of the second extraction table 51B.
A second plate 5 is provided with a bias plate 103B at the tip of a pantograph 102B that is
The article 2 on 1B is shifted to the left side wall 104B.

That is, in the article supply robot 14, the article 2 sucked by the suction pad 52B of the article pick-up tool 52 and taken out to the first take-out table 51A is moved rightward by the biasing plate 56A of the first width moving device 53A. And is stopped against the right side wall 104A. Thereafter (or at the same time), the first take-out table 51A is lowered and inclined downward, and is carried on the free rollers 51I of the first take-out table 51A by the weight of the article 2, and the second take-out table 53 is provided.
B (free roller 51J) stops at the lower end of stopper 54A. On the second extraction table 51B, the article 2 is further moved to the left by the width moving plate 56B of the second width moving device 53B and is moved to the left side wall 104B. The articles 2 thus taken out are successively placed in the second take-out table 51.
B is aligned with the left side wall 104B. This advantage is
It is possible to take out and arrange as many articles 2 as can be placed on the second take-out table 51B regardless of the number of stocks in the cardboard box 1. For example, in the state in which only the rightmost item is left in the inventory of the articles of the first-stage takeout front 41 and the second-stage takeout front 41 of the take-out shelf 13, one product is taken out from each take-out front 41 of each stage. In this case, it is possible to prevent a situation in which two articles are vertically aligned at the right end and are not aligned with the second extraction table 51B.

The articles 2 picked up in the second pick-up table 51B are mixed and arranged with the same kind or different kinds in the range to be put on the second pick-up table 51B, and fall within a predetermined width which is the receiving width of the tote 61. Combination unit to be taken out (basically, a combination unit consisting of products of almost the same width in which the number of articles in the tote inner width is the same, and exceptionally as shown in FIGS. 25 and 26, The number of articles in the width is a combination unit composed of various kinds of articles having an integer multiple relationship (in the example of FIGS. 25 and 26, two narrow articles,
And one wide article), and then the tote 61
It is thrown into. For example, as shown in FIGS. 25 and 26, a narrow article at the take-out front 41 of a certain stage of the take-out shelf 13,
When the three articles of the wide articles of the take-out front 41 of the other stage are taken as the take-out article combination unit, all the articles in this take-out article combination unit are taken out from a certain take-out front 41 until they are taken out to the second take-out table 51B. Removal of goods, second
The width of the article on the take-out table 51B, the take-out of the article from the other take-out front 41, the second take-out table 5
By repeating the width adjustment of the article on 1B, the second
The taken-out article combination units are formed on the take-out table 51B.

Incidentally, the article width adjusting device 53 is provided with
Alternatively, the article 2 taken out on the take-out table 51 by (2) may be biased to the outside of the front of the take-out opening 41 (side of the front).

(E) Article Dispensing Device 54 of Article Extraction Robot 14 As shown in FIGS.
A stopper 54A of the article dispensing device 54 is provided to hold the articles 2 of the above-described extracted article combination units which are taken out and aligned on the second inclined take-out table 51B on the second take-out table 51B. The stopper 54A is provided on the side of the second extraction table 51B.
4B, the outlet of the second extraction table 51B is driven to be switched between an open position and a closed position.

(F) The article guide device 55 of the article take-out robot 14 The article take-out robot 14 is stored in the lower part of the second take-out table 51B as shown in FIG. And a guide plate 55A of the article guide device 55. The guide plate 55A is moved in and out from the lower portion of the second extraction table 51B by an air cylinder 55B provided above the second extraction table 51B.

That is, when the input tote 61 arrives at the article input position of the tote line 15, the tote No. Is reported, it is confirmed whether the tote 61 is the expected tote 61, and the articles 2 arranged on the second extraction table 51B are input. At the same time as the picking instruction from the unit CPU, the input level to the tote 61 (the height of the articles input so far + α) is instructed. The article unloading robot 14 is positioned at the input level as instructed, and the second unloading table is set. By putting the article 2 into the tote 61 from 51B, the article 2 is stacked on the article 2 that has been put into the tote 61 up to then. The loading procedure is as follows. First, the guide plate 55A is inserted into the tote 61, the stopper 54A is released, and the article 2 is slid on the guide plate 55A and put above the article in the tote 61. By pulling back to the lower part of the second extraction table 51B, the articles 2 are stacked on the articles in the tote 61.

(G) Re-take-out operation by the article take-out tool 52 However, in the article take-out tool 52 of the article take-out robot 14,
The re-extraction (suction retry) of the unacceptable article by the suction pad 52B is performed as follows (FIGS. 27 to 34).

(1) In the process of the removal operation (FIG. 27) by the suction pads 52B corresponding to each of the plurality of designated removal positions in the removal frontage 41 where the removal shelf 13 is located, each of the articles at the designated removal position is indicated. Is detected by the detecting means.

As the detecting means, the negative pressure release of the pressure detector provided on the vacuum supply pipe connected to each suction pad 52B, or the detection light of the photoelectric tube provided on the side of each suction pad 52B is used as the detecting means. This is because light is not shielded in the suction area.

(2) When all of the articles to be taken out cannot be taken out by suction, and only the articles can be taken out by suction (FIG. 2).
8) Only the taken out article is pulled out by the article take-out tool 52 (FIG. 29), right-justified (FIG. 30) by the first take-out table 51 by the first take-out device 53A, forward-advanced, and the second take-up device 53B. Then, the take-out is completed by shifting to the left on the second take-out table 51B (FIG. 31).

(3) For the article that could not be taken out by suction, the take-out operation is performed again (FIG. 32). When the articles are taken out (FIG. 33), the articles are right-adjusted, forward-adjusted, and left-adjusted to arrange all the articles to be taken out on the second extraction table 51B (FIG. 34).

(4) When the article cannot be taken out after repeating the above-mentioned (3) re-taking operation by the article taking-out tool 52 for a certain number of times, an error is displayed, and there is no object at the taking-out position by the operator's confirmation. Changes the designated extraction position in accordance with the input so as to extract an article of the same type as the article at another extraction position.

If the re-removal operation in (3) does not succeed, a recovery guide may be displayed so that an error is displayed and the re-removal operation is performed manually.

The advantage of the re-removal operation of the above (1) to (3) is that if it is not possible to remove the article again on the spot (while the removed article is being sucked) when it is not removed, the cardboard box 1 In many cases, the article cannot be taken out because the negative pressure is not sufficiently released. However, by taking out the removed article only from the cardboard box 1 first, when the article not taken out is adsorbed by the article take-out tool 52, The point is that the negative pressure does not become the withdrawal resistance, and it becomes easy to take out.

Accordingly, the article pick-up operation by the article pick-up robot 14 is performed as follows (FIGS. 15 to 21). (1) The lifting device 50 positions the article take-out table 50B of the article take-out robot 14 in front of the designated take-out opening 41 of the take-out shelf 13. Then, the article 2 at the designated removal position in the cardboard box 1 set in the removal frontage 14 is suctioned by the suction pad 52B of the article removal tool 52 (FIG. 15).

(2) With the suction pad 52B of the article ejection tool 52, the article 2 at the designated ejection position is pulled out onto the first ejection table 51A (FIG. 16). First width adjuster 53
A moves the article 2 rightward on the first extraction table 51A by A.

(3) The suction pad 52B is separated from the article 2 drawn on the first take-out table 51A, and the first take-out table 51A is lowered (FIG. 17).

(4) The first unloading table 51A is tilted in the descending process, and the article 2 is advanced from the first unloading table 51A to the second unloading table 51B (FIGS. 18 and 1).
9). The article 2 is left-justified on the second extraction table 51B by the second width-shifting device 53B.

The above steps (1) to (4) are repeated until a unit for taking out articles corresponding to the receiving width of the tote 61 is formed on the second unloading table 51B.

(5) The guide plate 55A at the lower part of the second unloading table 51B is inserted into the position corresponding to the article loading level in the tote 61, the stopper 54A is released, and the article 2 waiting for the unloading article combination unit is removed from the second unloading table. The user slides on the guide plate 55A from the take-out table 51B, and puts it above the already inserted articles 2 in the tote 61 (FIG. 20).

(6) Move the guide plate 55A to the second extraction table 51.
B is returned to the lower part of B, and the articles 2 are stacked on the already-input articles 2 in the tote 61 (FIG. 21).

(Tote line 15 and empty box collection line 1)
6) (FIGS. 1 to 4 and FIG. 35) As shown in FIGS. 1 and 3, the tote line 15 is connected to each picking unit 10A, 10B. Robot 14
Of the tote 61
Is positioned at the article input position on the front of each take-out robot 14, and each take-out robot 14 collects the tote 61. The collected luggage in the tote 61 is put into the empty box 1A conveyed by the empty box collection line 16 or the separately prepared empty box 1A at the box insertion station 60.

In the process of being transported by the tote line 15, the tote 61 has its bottom surface inclined downward when it is positioned at the article loading position on the front of each article take-out robot 14. The slope of the downward slope is such that the slope of the downward slope of the extraction table 51B is continuous. The inclination of the tote 61 and the inclination of the take-out table 51B may be different. Further, the bottom plate of the tote 61 may be substantially horizontal.

As shown in FIG. 35, the tote 61 is moved to the boxing station 60 by a boxing pusher 62 at the boxing station 60.
To the empty box 1A. Box pusher 62
Inserts a large number of comb plates 62A into slits 61A on the back surface of the tote 61, and removes the articles in the tote 61 from the empty box 1A.
Extrude. The boxing pusher 62 includes an air cylinder 63.
Driven by The cylinder 63 is turned on by a foot switch 64 operated by the operator.

The tote 61 is provided with a bar code which is linked to the store name and stored as described above, and the tote 61 is transported to the tote line 15 in the order of the store to which the product is delivered. The computer stores the store name and tote number in Store A (10
No., No. 11, Tote B), Store B (No. 12, No. 13, No. 14),..., Read the tote number in front of the boxing station, and confirm that it is the same as the scheduled tote number. If incorrect at this time, an error is displayed and the operator repairs it. In the boxing station 60, the condition is that the tote number of the tote 61 read by the barcode reader 65 matches the tote number of the store to be reached this time by the unit CPU. The foot switch 64 which the operator steps on
Is turned on as described above, and the pusher 62 is operated.

Here, as described above, the article take-out robot 14 takes out the articles 2 for each shop in the order of the delivery destination, and the tote line 15 transfers the articles 2 to the tote 61 which is transported in the order of the shop. 2 will be transferred.

On the other hand, the empty box collection line 16 is
As shown in the figure, an empty box transport path 16A extending over all the picking units 10A, 10B,.
A, 10B,... Each has an empty box recovery path 16B branched from the middle of the empty box transport path 16A. Empty box transport path 16
A extends above the take-out shelves 13 of the picking units 10A, 10B,..., As described above, the empty box 1A generated at each take-out front 41 of the take-out shelves 13
Is discharged by the box supply / discharge unit 32. A bar code reader 71 is provided just before a branch point of the empty box transport path 16A to the empty box collection path 16B, and the bar code reader 71 reads a bar code attached to the empty box 1A.
A sorting device 72 is provided on the empty box conveyance path 16A on the entry side of the empty box collection path 16B. The sorting device 72
A desired empty box 1A in which a barcode read by the barcode reader 71 is registered in advance (depending on the form of the empty box 1A).
When the empty box 1A matches the empty box 1A, the empty box 1A is guided to the empty box collection path 16B. The empty box 1A introduced into the empty box collection path 16B is moved to the stopper 7 at the end of the empty box collection path 16B.
Locked by 3. The end of the empty box collection path 16B is located above the boxing station 60 of the tote line 15 and within reach of the operator, and is provided to the boxing station 60 by the operator. Then, as described above, the operator transfers the articles in the tote 61 to this empty box 1A. When the read barcode of the barcode reader 71 is an empty box 1A that does not match the desired empty box 1A, the sorting device 72 transfers the empty box 1A to the empty box transport path 16.
A is discharged downstream of A.

(Store matching line 17 and Oricon line 1
8) (FIGS. 1, 2, and 4) The store matching line 17 (17A, 17B, 17C) is extended from the boxing station 60 of each picking unit 10A, 10B. When the operator has finished transferring the articles from the tote 61 to the empty box 1A at the boxing station 60 of each of the picking units 10A, 10B,. The code reader 66 reads the bar code of the empty box 1A, and the unit CPU stores the bar code of the empty box 1A linked to the store name. Then, the stored empty box 1A is put into each store matching line 17 (17A, 17B, 17C) of each picking unit 10A, 10B.

Each store matching line 17 (17A, 17B, 1
7C) joins side by side at the junction before the article input station 80 and joins the empty box 1A carried in to the stoppers 81A and 81A.
1B and 81C (FIG. 1). Since the picking units 10A, 10B,... Are set in the same order of delivery destinations, empty boxes 1A of the same store brought in from each store matching line 17 are placed in parallel standby at the merging section. Under the control of the unit CPU, each store matching line 17 (17A, 17B, 17
The empty box 1A of the same store that reaches the junction of C) is
When the pushers 82 and 83 are turned on for 7A and 17C, and when the stopper 81B is turned off for the line 17B, the line 17B is advanced to the standby section 84A and is collectively put in series standby. At the time of introduction into the standby section 84A, the barcode reader 85 reads the barcode of each empty box 1A and checks whether the empty boxes that have merged with the box No. of the shop to be merged are the same (the box does not indicate the store). Irrelevant numbers).

The Oricon line 18 is
The oricons 3 which are extended underneath and are provided with barcodes of the respective stores are conveyed through the article input station 80 in the order of the stores in the delivery destination. Article loading station 8
The bar code reader 86 installed at 0 reads the bar code of the Oricon 3 conveyed through the Oricon line 18 and if the Oricon 3 is to be filled with the empty box 1A from the store matching line 17, this Oricon 3 is read. The stop is temporarily stopped by the stopper 87, and if it is not the oricon 3 to be put in, it is passed straight through. When the oricon 3 for a store, which is to enter the empty box 1A waiting at the standby section 84A of the shop matching line 17 at the article loading station 80, enters the loading station 80, the empty box 1A enters the waiting section 84A of the shop matching line 17. The empty box 1A of the same store, which has been waiting, is advanced to the input section 84B. At this time, the empty box 1A and the oricon 3 are simultaneously moved in parallel with the store matching line 17 and the oricon line 18, and the operator moves the empty box 1A or the article 2 in the empty box 1A during these movements. Transfer to After the empty box 1A is stopped, the operator may put the empty box 1A or the article 2 in the empty box 1A into the oricon 3. The oricon line 18 passes through the lower part of the front of the store matching line 17, and the operator can lightly put the empty box 1 </ b> A or the article 2 in the empty box 1 </ b> A so as to drop it on the oricon 3.

As described above, the oricon line 18 sequentially collects the desired articles 2 on the oricons 3 for each store, and carries out the oricons 3 to the shipping site in the lower process.

Therefore, according to the present embodiment, the following operations are provided. In the removal process by the article removal tool 52, only some of the articles to be taken out are pulled out, and even if other things are not taken out, the taken out part is first taken out of the article storage box 1. Extraction is completed. Thereby, the negative pressure generated in the article storage box 1 due to the fact that a part of all the articles to be taken out is withdrawn from the article storage box 1 by a certain volume can be eliminated.

Since the unextracted articles are to be re-extracted after the negative pressure in the above-mentioned article storage box 1 is eliminated, the article storage box 1 which has a resistance to the removal of unaccepted articles.
The action of the negative pressure in the inside does not affect the mis-taken article. As a result, it is possible to reliably re-extract the unremoved article.

If the article cannot be taken out even if the article taking-out tool 52 repeats the take-out operation a predetermined number of times, the article is actually missing in the article storage box 1 by changing the designated take-out position of the article. For example, it is possible to minimize the repetition of meaningless re-extraction for a designated extraction position that cannot be originally extracted. Then, by executing the removal of the same kind of article at the designated removal position after the change, all the articles to be taken out can be quickly and reliably taken out, and the productivity can be improved.

Although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration of the present invention is not limited to this embodiment, and the design can be changed within a range not departing from the gist of the present invention. The present invention is also included in the present invention.

[0096]

As described above, according to the present invention, when a plurality of articles in the article storage box are taken out by the article take-out tool, it is possible to reliably take out the mistaken articles.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing an overall plan view of a distribution apparatus.

FIG. 2 is a schematic diagram showing an overall side view of the distribution apparatus.

FIG. 3 is a schematic view showing an empty box collection line.

FIG. 4 is a flowchart showing an entire process of the distribution apparatus.

FIG. 5 is a schematic diagram showing a box supply robot.

FIG. 6 is a schematic diagram showing an empty box suction start step of the box supply robot.

FIG. 7 is a schematic diagram showing an empty box suction step of the box supply robot.

FIG. 8 is a schematic view showing an empty box transfer process of the box supply robot.

FIG. 9 is a schematic diagram showing an empty box discharging step of the box supply robot.

FIG. 10 is a schematic diagram showing a box taking-in step of the box supply robot.

FIG. 11 is a schematic diagram showing a box turning process of the box supply robot.

FIG. 12 is a schematic diagram illustrating a box supply step of the box supply robot.

FIG. 13 is a schematic view showing an article take-out robot.

FIG. 14 is a schematic diagram showing a plan view of FIG. 13;

FIG. 15 is a schematic diagram illustrating an article pick-up start process of the article pick-up robot.

FIG. 16 is a schematic diagram illustrating an article removal process of the article removal robot.

FIG. 17 is a schematic view showing a descending step of the article take-out robot.

FIG. 18 is a schematic view showing a tilting and forward feeding process of the article take-out robot.

FIG. 19 is a schematic diagram showing a width adjustment process of the article take-out robot.

FIG. 20 is a schematic diagram showing a payout process of the article take-out robot.

FIG. 21 is a schematic view showing a process of transferring the goods to a cargo receiving device by the article take-out robot.

FIG. 22 is a schematic diagram showing a state in which the article takeout robot starts taking out.

FIG. 23 is a schematic diagram illustrating an initial state of removal of the article removal robot.

FIG. 24 is a schematic diagram showing a state in which the article take-out robot has finished taking out.

FIG. 25 is a schematic diagram showing a state in which the article take-out robot takes out a narrow article.

FIG. 26 is a schematic diagram showing a wide article removal state of the article removal robot.

FIG. 27 is a schematic diagram showing a take-out try state of the article take-out robot.

FIG. 28 is a schematic view showing a state where an unloading error has occurred in the article unloading robot.

FIG. 29 is a schematic diagram showing the state of a take-out progress of the article take-out robot.

FIG. 30 is a schematic diagram showing a one-sided state of the article take-out robot.

FIG. 31 is a schematic view showing a re-alignment state of the article take-out robot.

FIG. 32 is a schematic diagram showing a state in which the article take-out robot has completed the one-sided movement.

FIG. 33 is a schematic diagram showing a take-out retry state of the article take-out robot.

FIG. 34 is a schematic view showing a completion state of removal of the article removal robot.

FIG. 35 is a schematic diagram showing a state where articles are transferred from a tote to an empty box.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Article storage box 2 Article 13 Extraction shelf (extraction equipment) 52 Article extraction tool

Claims (3)

[Claims] In an article taking out method of picking up an article at each of a plurality of designated take-out positions in an article storage box supplied to a take-out frontage of a take-out facility with each of a plurality of article take-out tools, In the process of the removal operation by the plurality of corresponding product removal tools, it is confirmed by the detection means whether each of the articles at the removal designated position has been removed, and after the removal of the articles removed by the product removal tool is completed. And performing an operation of removing the unremoved article by the article removing tool again. 2. An article taking out method capable of changing a designated position for taking out the article when the article cannot be taken out even after a predetermined number of retrieving operations by the article taking out tool. 3. An article pick-up device used for carrying out the article pick-up method according to claim 1 or 2, wherein the picking-up operation is performed by a plurality of pick-up tools corresponding to a plurality of pick-up designated positions. Detecting means for confirming whether or not each of the articles at the designated position has been taken out; and, based on the detection result of the detecting means, after completing the taking out of the articles taken out by the article taking out tool, picking up the articles which have not been taken out. An article take-out device, comprising: an article take-out control device that performs a take-out operation again by the tool.