JPH10120125A - Picking equipment - Google Patents

Abstract

(57) [Summary] [Problem] To quickly and surely refill an article 10 into a rack 30 without using a cassette or the like for accommodating the article 10,
Greatly improve picking ability. A replenishing device (50) for gripping articles (10) in a stacked state and refilling the racks (30), and a storage shelf (70) for continuously storing the articles (10) refilled in the racks (30) by the replenishing apparatus (50) in a stacked state. Is provided. In the replenishing device 50, the required article 10 to be replenished is
By the horizontal moving mechanism, the vertical moving mechanism, and the rotating mechanism.
Of the top row of the corresponding row 31 of the rack 30 in accordance with the displacement of the
It is moved up by 0. The article 10 is held by the gripping mechanism 5
1 is released, and the rack 30 is pushed by the pushing mechanism.
Is transferred onto the uppermost article 10 in the corresponding row 31 of the above.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a picking apparatus for quickly and reliably replenishing a rack containing articles to be picked.

[0002]

2. Description of the Related Art Conventionally, as a picking device for taking out required articles, there is a picking device provided with a product distributor on an A-shaped structure through which a collecting belt passes (refer to Japanese Patent Publication No. Sho 56-76).
-18482). In the product distributor, a stack of various articles is stored in a magazine according to type,
The requested article is transferred from the bottom of the magazine to the collecting conveyor by the drive chain of the distribution base and is taken out to a predetermined place by the collecting conveyor.

In the picking device described in Japanese Patent Publication No. 56-18482, the replenishment of articles to each magazine is manually performed. For this reason, even if the work efficiency is low and the picking ability of the apparatus is increased, the replenishment of articles cannot catch up with the picking, and as a result, the improvement of the picking ability is hindered. In addition, by increasing human resources,
Although the ability to replenish articles can be enhanced, labor saving cannot be achieved, and there is a problem that the cost is increased.

Accordingly, as shown in FIG. 6, the present applicant holds the articles 101 to be replenished in the rack 100 in the state that the articles 101 are individually stored in the cassettes 102 on the hanger 103, and replenishes the replenishing means 104 as necessary. Hanger 1 by
There has been proposed a picking device for taking out from the rack 03 and refilling the rack 100 (see Japanese Patent Application Laid-Open No. 8-113325). That is, in the replenishing means 104, the control device 1
05 is based on a signal from the replenishment detection sensor 106,
The required article 101 to be replenished is taken out of the hanger 103 together with the cassette 102 by the pickup arm 108 of the carriage 107. Then, only the article 101 in the cassette 102 is transferred onto the uppermost article 101 in the corresponding row 109 of the rack 100.

[0005]

However, the picking device shown in FIG. 6 described above has a problem that it is necessary to prepare cassettes 102 of various dimensions according to the size of the article 101. Empty cassette 10 after refilling
There is also a problem that the time for processing No. 2 is required, and the picking ability is not improved.

According to the present invention, an article can be quickly and reliably refilled into a rack without using a cassette or the like for accommodating the article, whereby the picking ability can be greatly improved while saving labor. It is intended to provide a picking device.

[0007]

SUMMARY OF THE INVENTION The object of the present invention is to provide a collection conveyor for conveying a loaded article in a predetermined direction;
A rack is provided across the collection conveyor in a number of rows along the conveyance direction of the articles on the collection conveyor, and a rack for storing predetermined articles in a stacked state for each row, and provided in each row of the rack. A cutting device for transferring desired articles onto the collection conveyor, a replenishing device for replenishing articles in each row of the rack, and a replenishing device provided on the opposite side of the rack and the replenishing device. A storage shelf for continuously storing the articles to be replenished in the rack in a stacked state, and a forward feed mechanism provided on the storage shelf, for sending the stacked articles stored in the storage shelf to the replenishing device side; The replenishing device, the gripping means for gripping the foremost articles stacked on the replenishing device side most in the storage shelf, and a horizontal moving means for moving the gripping means in a direction away from the storage shelf,
Rotating means for rotating the gripping means around the support shaft, and up and down moving means for moving the gripping means in the stacking direction of articles;
An extruding means for pushing out the articles gripped by the gripping means in the direction of replenishing the articles to the rack, and moving the replenishing device along the transport direction of the articles on the collection conveyor between the cutting-out device and the storage shelf. This is achieved by a picking device characterized by comprising a bogie for causing the picking device.

The advance mechanism is configured to send out articles from the storage shelf to the replenishing device in accordance with the operation of the replenishing device, and is provided at a drive source provided at the storage shelf or at the replenishing device. It is preferable to be driven by a driving source.

The storage shelf is displaceable between a predetermined storage position at which the rack is replenished with articles to the rack and a predetermined replenishment position at which the storage rack is replenished with articles. Is preferred.

[0010]

In the picking device according to the present invention, racks provided in multiple rows along the conveying direction of the articles on the collection conveyor store predetermined articles for each row in a stacked state. The articles in a stacked state are transferred from the corresponding row of the rack to the collection conveyor by a cutting device and conveyed by the collection conveyor.

When the number of stacked articles in each row of the rack becomes equal to or less than a predetermined number, the replenishing device sends the stacked articles sent out from the storage shelf by the advance mechanism to the top row of the corresponding row of the rack. Replenish. That is, in the replenishing device, the gripping means is moved in a direction approaching the storage shelf by the horizontal moving means, and among the stacked articles sent out from the storage shelf by the advance mechanism, the foremost one on the replenishing device side is the foremost one. Hold the article. The gripping means gripping the article is moved in a direction away from the storage shelf by the horizontal moving means, is rotated around the support shaft by the rotating means, and is further moved in the stacking direction of the articles by the vertical moving means. .
As a result, the article held by the holding means is located near the uppermost row of the corresponding row of the rack. In this state, the pushing means pushes the articles in the direction of replenishing the articles to the rack.

Further, in the picking apparatus according to the present invention, racks provided in a plurality of rows along the conveying direction of the articles on the collection conveyor store predetermined articles in a row in each row. The articles in a stacked state are transferred from the corresponding row of the rack to the collection conveyor by a cutting device and conveyed by the collection conveyor.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the illustrated embodiments. 1 to 5 are views showing a picking device according to an embodiment of the present invention. FIG. 1 is an overall perspective view, FIG. 2A is a side view showing a storage shelf and a replenishing device, and FIG.
FIG. 2B is a plan view of FIG. Also, FIG.
3C is a schematic plan view showing a part of the storage shelf and a part of the replenishing device. FIG. 3A shows a state where an article is sent out by a forward feed mechanism, and FIG. FIG. 3C shows a state in which the article is taken out of the storage shelf by the movement of the grasping mechanism by the horizontal moving mechanism. Further, FIG. 4 is a partial cross-sectional view showing a replenishing device, a rack, and a cutting device, and FIG.
FIG. 5B is a side view showing a state where the storage shelf is locked to the storage position by the lock mechanism, and FIG. 5B is a side view showing a state where the lock mechanism of the storage shelf is unlocked.

In FIG. 1, a required article 10 is transferred from a corresponding row 31 of a rack 30 onto a collection conveyor 20 by a cutting-out device 40, and is conveyed to a predetermined place by the collection conveyor 20. The articles 10 to be refilled into the racks 30 are stacked on the storage shelves 70 according to their types, and are taken out of the storage shelves 70 by the replenishing device 50 as needed, and replenished to the top row of the corresponding row 31 of the rack 30. Is done.

The collection conveyor 20 is, for example, a belt conveyor provided linearly. The collection conveyor 20 conveys the placed articles 10 in a predetermined conveyance direction (arrow A direction) and collects the articles 10 in a predetermined location.

The racks 30 are provided in a plurality of rows along the conveying direction A of the articles 10 on the collection conveyor 20, and are provided in an A-shape across the collection conveyor 20. The rack 30
Articles 10 of the same type are accommodated in each row 31 in a state of being stacked in a predetermined number of stages.

Referring to FIG. 1 and FIG. 4, a cutting device 40 is provided for each row 31 of the rack 30. Each of the cutout devices 40 transfers the articles 10 stored in the rack 30 in a stacked state, for example, from the bottom (or from the top) to the collection conveyor 20.

In each cutting device 40, an endless chain 41 is wound between a pair of sprockets 42. Claws 43 are provided on the outer peripheral portion of the endless chain 41 at predetermined intervals. The claw portion 43 includes the sprocket 4
When the endless chain 41 is moved along with the rotation of 2, the lowermost article 10 in the row 31 (FIG. 1) is brought into contact with the lower surface of the lowermost article 10 (the outer surface of the rack 30) and pressed against the rack 30 side. Only 10 is transferred from the rack 30 onto the collection conveyor 20.

Referring to FIGS. 1-4, a refill device 50 is shown.
Refills the articles 10 requiring replenishment from the storage shelf 70 to the top row of the corresponding row 31 of the rack 30 based on a replenishment command signal from a replenishment detection sensor (not shown) provided in the rack 30. I do.

That is, in the replenishing device 50, the required articles 10 to be replenished are gripped in a stacked state by the gripping mechanism 51, and the gripping mechanism includes a horizontal moving mechanism 52, a vertical moving mechanism 53, and a rotating mechanism 54. With the displacement of 51 and the movement of the replenishing device 50 itself due to the movement of the cart 55, the uppermost article 1 in the corresponding row 31 of the rack 30
It is moved up by 0. The article 10 is held by the gripping mechanism 5
1 is loosened, and is transferred onto the uppermost article 10 in the corresponding row 31 of the rack 30 by the pushing mechanism 56.

The gripping mechanism 51 includes a clamp hand 59 of a clamp plate 58 associated with the operation of the clamp cylinder 57.
By moving inward (upward in FIG. 3), the articles 10 in a stacked state are gripped between the clamp hand 59 and the clamp plate 58. The article 10 gripped by the gripping mechanism 51 is pushed out to the rack 30 side by the pushing mechanism 56. The clamp cylinder 57 has a tip end of the cylinder rod 60 fixed to substantially the center of the clamp plate 58, and is arranged so as to obtain a uniform gripping force from the uppermost stage to the lowermost stage of the stacked articles 10. Note that a plurality of clamp cylinders 57 may be provided on the clamp plate 58.

That is, the gripping mechanism 51 includes the horizontal moving mechanism 5
2 moves in the direction approaching the storage shelf 70 (the direction of arrow B in FIG. 2) and is positioned at a predetermined position with respect to the target storage shelf 70 (see FIG. 3A). The article detecting optical sensor 6 provided on the side of the clamp hand 59
1 detects the foremost (most replenishing device 50 side) article 10 sent out by a predetermined amount from the storage shelf 70 by a forward feed mechanism 80 described later, the gripping mechanism 51 operates the clamp cylinder 57 to cause the clamp plate 58 to operate. Is moved inward of the clamp hand 59 to grip the article 10 (see FIG. 3B).

The holding mechanism 51 holding the article 10 is separated from the storage shelf 70 by the horizontal moving mechanism 52 (see FIG. 3).
It is moved in the direction of the middle arrow C (see FIG. 3C), and is rotated around the support shaft 62 by the rotation mechanism 54 to move the gripped article 10 to the vicinity of the rack 30. Thereafter, as shown in FIG. 4, the gripping mechanism 51 is lowered by the up-down movement mechanism 53, and the uppermost article 10 in the rack 30 is detected by the article upper surface position detecting optical sensor 63 provided on the bottom surface of the clamp hand 59. The upper surface position is detected, and the grip of the article 10 is loosened at the position. In this state,
The extrusion mechanism 56 transfers the article 10 from the inside of the clamp hand 59 to the topmost article 10 in the rack 30.

Referring again to FIG. 1 to FIG.
When the gripping mechanism 51 loosens the article 10, the article 10 is racked by the movement of the pushing member 65 into the clamp hand 59 (in the direction of the arrow D in FIG. 4) due to the operation of the pushing cylinder 64. 30 in the direction of replenishing articles. As a result, the extruding mechanism 56 transfers the article 10 onto the uppermost article 10 in the rack 30 where the article 10 is to be refilled.
The shape of the pushing member 65 is such that the whole of the articles 10 in the stacked state can be pushed out almost simultaneously from the inside of the clamp hand 59 to the rack 30 side (plate shape or rod shape).

The cart 55 includes the cutting device 40 and the storage shelf 7.
0, the plurality of wheels 66 are rolled to move the articles 10 in the collection conveyor 20 in the transport direction A.
The refilling device 50 itself is moved along.

The storage shelf 70 includes the rack 30 and the replenishing device 50.
On the other side of the product 10 in the collection conveyor 20
Are provided in a plurality of rows at predetermined intervals along the transport direction A. Each of the storage shelves 70 is a state in which articles 10 to be replenished into the rack 30 by the replenishing device 50 are stacked in a predetermined number of stages according to the depth direction of the storage shelves 70 (arrows E in FIG.
Direction).

An extension rail (not shown) is provided on each of the upper side and the lower side of each storage shelf 70. Each of the storage shelves 70 is manually moved while being guided by the telescopic rails, so that the replenishing device 50 replenishes the rack 30 with the articles 10 at a predetermined storage position (the state shown in FIG. 1). The storage shelf 70 can be displaced to a predetermined replenishment position (a position (not shown)) at which replenishment of the article 10 is performed. That is, the storage shelf 70 is
When the rack 10 is replenished with the articles 10, the lock mechanism 90 described later is positioned at a predetermined storage position, and when the rack 10 is replenished with the articles 10, manual operation is performed. With the movement along the telescopic rail, it is displaced to a predetermined replenishing position.

Each of the storage shelves 70 is provided with a forward feed mechanism 80. The advance feed mechanism 80 sends out the articles 10 in each of the stacked stages from the storage shelf 70 to the replenishing device 50 side in accordance with the operation of the replenishing device 50. That is, the forward feed mechanism 80 presses the last article 10 by the forward feed rod 81 toward the replenishing device 50 by a predetermined amount, and
By moving 0 to the replenishing device 50 side, the forefront article 10 is sent out to the replenishing device 50 side by a predetermined amount.

The advance rods 81 are erected on timing belts 82 provided below the storage shelves 70, respectively. The forward feed rod 81 is moved toward the replenishing device 50 along with the movement of the timing belt 82 in a state in which it is in contact with the surface on the opposite side of the replenishing device 50 of the last product 10, so that To the replenishing device 50 side.

Referring to FIGS. 2A and 2B, the timing belt 82 includes a connecting pulley 83 and a driven pulley 8.
It is wound over four spaces and is driven by power from the replenishing device 50 side. That is, the timing belt 82
Near the outer periphery of the connecting pulley 83,
Is driven by the rotation of the timing pulley 85 by the drive motor 86 provided in the replenishing device 50.
The timing pulley 85 is provided with a rotating shaft 87 of a drive motor 86.
, And is protruded by a predetermined amount toward the storage shelf 70 together with the drive motor 86 in accordance with the operation of the docking cylinder 88 provided in the replenishing device 50.
It is pressed against 2.

The advance mechanism 80 is provided, for example, for each of the storage shelves 7.
It may be driven by a drive source (not shown) provided at 0. That is, in each of the storage shelves 70, a motor (not shown) is incorporated in a pulley that winds the timing belt 82, and the timing belt 82 is driven by the rotation of the pulley by the motor, thereby operating the advance rod 81. Can also. Further, as the advance mechanism 80,
An inclined roller conveyor can be used. By using the inclined roller conveyor, the article 10 can be sent forward by its own weight.

Referring to FIGS. 5A and 5B, a lock mechanism 90 is provided near the lower end of each storage shelf 70 opposite to the replenishing device 50. The lock mechanism 90
A supporting square pipe 91 fixed to the storage shelf 70;
The lock bar 93 is supported so as to be able to swing around a pin 92 at zero.

As shown in FIG. 5A, the lock mechanism 90 is provided with a fitting groove 94 formed in the lock bar 93 in a state where the lock bar 93 can swing about a pin 92.
Of the storage rack 7 by fitting the
Position 0 in the storage position. In addition, the lock mechanism 90
When the right end of the lock bar 93 in FIG. 5 is operated upward, as shown in FIG. 5B, the lock bar 93 is swung counterclockwise about the pin 92, and the fitting groove 94 and the support square pipe 9 are rotated.
1 is released, and the storage shelf 70 can be moved to the refill position side.

The operation of this embodiment will be described. The racks 30 provided across the collection conveyor 20 in multiple rows along the conveyance direction A of the articles 10 on the collection conveyor 20 store predetermined articles 10 in a stacked state in each row 31. I have. The articles 10 in the stacked state are transferred from the corresponding row 31 of the rack 30 to the collection conveyor 20 by the cutout device 40, and are conveyed by the collection conveyor 20.

When the number of stacked articles 10 in each row 31 of the rack 30 becomes equal to or less than a predetermined number, the replenishing device 50
The articles 10 in a stacked state sent out by the advance mechanism 80 in accordance with the operation of the replenishing device 50 are replenished to the uppermost row of the corresponding row 31 of the rack 30.

That is, in the replenishing device 50, the gripping mechanism 51 is moved in a direction approaching the storage shelf 70 by the horizontal movement mechanism 52, and is positioned at a predetermined position near the storage shelf 70 (FIGS. 2A and 2A). B)). At this time, among the articles 10 stacked in the storage shelf 70, the foremost article 10 closest to the replenishing device 50 is the replenishing device 50.
Is sent out from the storage shelf 70 to the replenishing device 50 side by the forward feed mechanism 80 (see FIGS. 3A and 3B). The gripping mechanism 51 is configured to move the frontmost article 10
(See FIG. 3B).

The gripping mechanism 51 gripping the article 10 is moved in a direction away from the storage shelf 70 by a horizontal moving mechanism 52, is rotated around a support shaft 62 by a rotating mechanism 54, and further detects the upper surface position of the article. The article 10 is moved in the stacking direction of the articles 10 by the vertical movement mechanism 53 while detecting the upper surface position of the article 10 at the top in the rack 30 by the optical sensor 63 for use (see FIG. 4). Thus, the article 10 gripped by the gripping mechanism 51 is located near the uppermost row of the corresponding row 31 of the rack 30. In this state, the pushing mechanism 56
The articles 10 are extruded in the direction of replenishing the articles 10 to the rack 30 and transferred onto the articles 10 at the top of the corresponding row 31 of the rack 30.

Next, replenishment of the articles 10 when the articles 10 in the storage shelf 70 are exhausted will be described with reference to FIGS. 1, 2 and 5. FIG. When the articles 10 on the storage shelf 70 are exhausted, a replenishment request lamp (not shown) provided at a predetermined location on the storage shelf 70 is turned on, and a replenishment request is issued to the worker.

The operator operates the lock bar 93 of the lock mechanism 90 provided on the storage shelf 70 to lift it upward to unlock the storage shelf 70 and replenish the storage shelf 70 at the storage position. Pull out to the refill position on the opposite side of the device 50. Further, the operator pulls the forward feed rod 81 of the forward feed mechanism 80 to the side opposite to the replenishing device 50, and moves the forward feed rod 81 to near the end of the storage shelf 70 opposite to the replenishing device 50. In this state, the worker operates the storage shelf 7
The articles 10 are refilled at 0 in a stacked state. Thereafter, the worker pushes the storage shelf 70 toward the replenishing device 50 and returns it to the storage position again. At this time, the lock bar 93 swings clockwise around the pin 92 by its own weight, and the fitting groove 94 is fitted into the support square pipe 91 to be in a locked state.

As described above, according to the above-described embodiment, the replenishing device 50 that grips the articles 10 in a stacked state and replenishes the racks 30 and the articles 10 replenished to the rack 30 by the replenishing apparatus 50 are stacked and stacked. A storage shelf 70 that continuously stores the state is provided. Therefore, the conventional article 10
The articles 10 can be quickly and reliably refilled into the rack 30 without using a cassette or the like for accommodating the articles. As a result, the picking ability can be significantly improved while saving labor.

That is, the rack 30 is supplied by the replenishing device 50.
The storage shelves 70 for continuously storing the articles 10 to be replenished in a stacked state are provided on the opposite side with the rack 30 and the replenishing device 50 interposed therebetween. A plurality of articles 10 can be stored continuously in the depth direction E of the storage shelf 70. Thus, the storable quantity of each type of article can be significantly increased, and the frequency of replenishment of the articles 10 to the storage shelf 70 by hand or the like can be significantly reduced, and labor can be saved. .

The articles 1 in a stacked state on the storage shelf 70
0 is gripped in a stacked state by the gripping mechanism 51 of the replenishing device 50, and is replenished to the rack 30 without using a cassette or the like. It is not necessary to prepare the cassette 102 (FIG. 6). Empty cassette 102 after replenishment
No time is required for processing (FIG. 6), and the picking ability can be greatly improved.

Further, the cut-out device 40 does not need to have a structure intended for automatic replenishment of the articles 10 by the replenishing device 50, and the picking device of the present embodiment can be provided by adding the replenishing device 50 to the existing cut-out device 40. It is possible to configure. That is, the cutting device 4 that is normally used
It is possible to upgrade the version by adding a replenishing device 50 to 0 later. It is also possible to configure so that the replenishing device 50 automatically replenishes the articles 10 only for a part of the cutting device 40.

[0044]

As described above, according to the present invention, a replenishing device for replenishing articles in each row of a rack, and an article provided on the opposite side of the rack and the replenishing device and replenished to the rack by the replenishing device. , And a forward feed mechanism provided on the storage shelf and for sending the stacked articles stored in the storage shelf to the replenishing device side.
Therefore, the articles can be quickly and reliably refilled into the rack without using a cassette or the like that stores the articles. As a result, the picking ability can be significantly improved while saving labor.

Further, according to the present invention, a replenishing device for replenishing articles in each row of the rack and an article provided on the opposite side of the rack and the replenishing device and replenishing the rack by the replenishing device are stacked. And a forward feed mechanism provided on the storage shelf for sending the stacked articles stored in the storage shelf to the replenishing device side. The advance mechanism is driven by a driving source provided on a storage shelf or a driving source provided on a replenishing device. Therefore, the articles can be quickly and reliably refilled into the rack without using a cassette or the like that stores the articles. As a result, the picking ability can be significantly improved while saving labor.

Further, according to the present invention, a replenishing device for replenishing articles in each row of the rack and an article provided on the opposite side of the rack and the replenishing device and replenishing the rack by the replenishing device are stacked in a stacked state. And a forward feed mechanism provided on the storage shelf for sending the stacked articles stored in the storage shelf to the replenishing device side. Further, the storage shelf can be displaced between a predetermined storage position at which the rack is replenished with articles by the replenishing device and a predetermined replenishment position at which the rack is replenished with articles. Therefore, the articles can be quickly and reliably refilled into the rack without using a cassette or the like that stores the articles. As a result, the picking ability can be significantly improved while saving labor.

[Brief description of the drawings]

FIG. 1 is an overall perspective view showing a picking device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a storage shelf and a replenishing device of the picking device of FIG. 1;

FIG. 3 is a schematic plan view showing a part of a storage shelf and a replenishing device.

FIG. 4 is a partial cross-sectional view showing a replenishing device, a rack, and a cutting device.

FIG. 5 is a side view showing a lock mechanism of the storage shelf.

FIG. 6 is an overall perspective view showing a conventional picking device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 10 articles 20 collection conveyor 30 rack 31 row 40 cutting-out device 50 replenishing device 51 gripping means (gripping mechanism) 52 horizontal moving means (horizontal moving mechanism) 53 vertical moving means (vertical moving mechanism) 54 rotating means (rotating mechanism) 55 cart 56 extrusion means (extrusion mechanism) 70 storage shelf 80 forward feed mechanism 81 forward feed rod 86 drive source (drive motor) 90 lock mechanism A direction of transporting articles on collection conveyor B direction approaching storage shelf C storage shelf Separation direction D Moving direction of pressing member E Depth direction of storage shelf

Claims (3)

[Claims] 1. A collection conveyor (20) for conveying a placed article (10) in a predetermined direction (A), and a conveyance direction (A) of the article (10) on the collection conveyor (20). The collection conveyor (2
0), and a rack (30) for storing predetermined articles (10) in a stacked state for each row (31), and a rack (30) provided for each row (31) of the rack (30). A retrieving device (40) for transferring the article (10) of the present invention onto the collection conveyor (20), and a replenishing device (50) for replenishing the row (31) of the rack (30) with the product (10). The rack (30) and the refilling device (50) are provided on opposite sides of the refilling device (50).
A storage shelf (70) for continuously storing articles (10) to be refilled in the storage shelf (0) in a stacked state, and a stacked state provided in the storage shelf (70) and stored in the storage shelf (70). And a forward feed mechanism (80) for sending out the article (10) to the replenishing device (50) side. The replenishing device (50) is stacked on the storage shelf (70) closest to the replenishing device (50). Gripping means (51) for gripping the foremost article (10); horizontal moving means (52) for moving the gripping means (51) in a direction (B, C) to move away from or approach the storage shelf (70); Turning means (54) for turning the gripping means (51) around a support shaft (62); and vertical moving means (53) for moving the gripping means (51) in the stacking direction of the articles (10). The article (10) gripped by the gripping means (51) is transferred to the rack (30). Goods and extrusion means for extruding the replenishing direction (56), said cut device (40) and between said storage shelves (70), an article in the current article conveyor (20) (1
A picking device, comprising: a carriage (55) for moving the replenishing device (50) along the transport direction (A) of (0). 2. The advance mechanism (80) is configured to send out an article (10) from a storage shelf (70) to a replenishing device (50) in accordance with the operation of the replenishing device (50). 2. The picking device according to claim 1, wherein the picking device is driven by a driving source provided on a storage shelf or a driving source provided on the refilling device. 3. 3. The storage shelf (70) includes a predetermined storage position where the rack (30) is replenished with the articles (10) by the replenishing device (50), and the storage shelf (70).
3. The picking device according to claim 1, wherein the picking device is displaceable to a predetermined replenishing position at which replenishment of articles (10) to the refill is performed.