The prototype of the take-out robot was the "automatic shake-out machine" developed in Japan at the beginning of the 1960s. This was developed with the aim of making plastic molding processes more efficient, and, as the name implies, it shook the products out of the mold using a cylinder installed at the top of the mold that traveled up and down. At that time, molds were often being struck twice to force the products out, which sometimes resulted in the molds breaking. To prevent this problem, operators were removing the products one by one from the mold by hand. The shake-out machine satisfied the demand for a way to remove products safely and securely from the mold. Later, however, as advances were made in molding technology, it became possible to mold products with more complex shapes. As the quality of molded products improved, there was a call to switch from the shake-out method of removing products to taking them out more carefully. In response to that call, during the late 1960s and throughout the 1970s, Yushin Precision Equipment Co., Ltd. and other domestic manufacturers began developing machines called "take-out robots," that could remove products from molds by swinging, traveling in the horizontal direction, and taking products out in the horizontal direction.