CN1597466A - Article transporter - Google Patents
Article transporter Download PDFInfo
- Publication number
- CN1597466A CN1597466A CNA2004100785677A CN200410078567A CN1597466A CN 1597466 A CN1597466 A CN 1597466A CN A2004100785677 A CNA2004100785677 A CN A2004100785677A CN 200410078567 A CN200410078567 A CN 200410078567A CN 1597466 A CN1597466 A CN 1597466A
- Authority
- CN
- China
- Prior art keywords
- article
- shelf
- sensor
- clamp arm
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Provided is an article transfer device capable of preventing a collision of articles within a shelf and the article transfer device when taking out the articles within the shelf, even if a plurality of articles are stored in the shelf. In this device, the articles are transferred between a track traveling body traveling on a track and the shelf provided along the track. The shelf is capable of storing the plurality of articles along the track. An article clamping means to freely advance and retreat toward the shelf is provided in the track traveling body. Object sensing sensors for confirming presence or absence of the articles in an advancing direction of the article clamping means directing to the inside of the shelf are provided in the article clamping means.
Description
Technical field
The present invention relates to a kind of article carrying apparatus, and be particularly related to and a kind ofly carry main body along articles conveyed device between the shelf of orbital arrangement at the track that moves along track.
Background technology
Traditionally, in some factory or warehouse, use automatic warehouse so that reduce or effectively utilize storage space in this factory or the warehouse.This automatic warehouse is equipped with stacking crane so that the loading or unloading article.
For example, stacking crane 50 shown in Figure 7 has movable stand 53 and carriage 55.Movable stand 53 seesaws along the moving guide rail 52 on ground moving guide rail 51 and the top ceiling.Carriage 55 is along a pair of column up-and-down movement that extends from movable stand 53.
Carriage 55 comprise can operate in case towards or leave the cliding yoke 56 of shelf shown in Figure 8 57 motion.Cliding yoke 56 is as article carrying apparatus, and can operate in case between shelf 57 and carriage 56 articles conveyed W.
As shown in Figure 8, the shelf 57 with the configuration of many dividing plates are arranged on the opposite side of stacking crane 50 so that hold the article W with preliminary dimension in these shelf 57.
The shelf 57 that are used to the to hold article W paired partition part 59 of arranging that is parallel to each other by direct bearing post 58 with between support column 58 is separated.Between any a pair of partition part 59 gap is being set so that the cliding yoke that is seesawing and this are avoided interfering between to partition part 59.
Although by the current location of demoder and analogue monitoring and definite stacking crane 50 that moves in orbit, stacking crane 50 departs from the position of planning to stop sometimes slightly to be stopped, because the slip between stacking crane 50 and the moving guide rail 51,52.When article W is transported to shelf 57 by cliding yoke 56 or carries when leaving shelf 57, need to confirm that stacking crane 50 stops on the appropriate location with respect to shelf 57.
In the prior art of Fig. 8, it is interior so that detect specific support column 58 that support column sensor 60 is arranged on carriage 55, and commissure is determined the position of stacking crane 50 with respect to shelf 57 thus to stacking crane 50.When post supporting sensor 60 detects support column 58, think that stacking crane 50 is positioned on the position that cliding yoke 56 can operate.On the other hand, when post supporting sensor 60 can not detect support column 58, think that stacking crane 50 is positioned on the unsuitable position that cliding yoke 56 can not operate with respect to shelf 57.In examining the 2nd, 3 page of Japanese Patent No.5-97207 and Fig. 1, do not disclosed this prior art.
But, because 60 positions of detecting the support column 58 of shelf 57 of support column sensor in described article carrying apparatus, when a plurality of article W are contained in the shelf 57 with side by side relation, when from shelf 57 articles conveyed W, should avoid article W in the shelf 57 and the collision between the article carrying apparatus.
In addition, because whether legacy products feedway not Direct Recognition exists article W in shelf 57, what need is that the support column 58 of shelf 57 should separate with constant distance, and shelf 57 and article W should have ad hoc structure, makes article W provide with uniform-dimension.Therefore, need a kind of article carrying apparatus, this device is preventing article in the shelf and the collision between the article carrying apparatus when articles conveyed from the shelf that hold a plurality of article.
Summary of the invention
According to the present invention, article carrying apparatus have article holding device and sensor in case in orbit the track that moves carry main body and the shelf that are provided with along track between articles conveyed.The article holding device is that track carries main body to be provided with.The article holding device can operate in case along track towards or leave the shelf that hold a plurality of article and move.
In conjunction with the accompanying drawings, by the exemplary illustration of principle of the present invention, other aspects of the present invention and advantage will become clear from following specification sheets.
Description of drawings
Be sure of it is that novel feature of the present invention proposes especially in claims.To understand the present invention and purpose and advantage better by following explanation for currently preferred embodiment and accompanying drawing.
Fig. 1 is the front elevation at automatic warehouse that adopts the article carrying apparatus of first preferred embodiment of the invention;
Fig. 2 is the planar view of the article carrying apparatus of first preferred embodiment of the invention;
Fig. 3 is that article are not positioned at the schematic plan view under the situation of clamp arm on the path of the shelf of first preferred embodiment of the invention;
Fig. 4 is that article are positioned at the schematic plan view under the situation of clamp arm on the path that the shelf of first preferred embodiment of the invention advance;
Fig. 5 adopts the rail frame of article carrying apparatus of second preferred embodiment of the invention and the planar view of circuit orbit;
Fig. 6 is the lateral plan of the article carrying apparatus of second preferred embodiment of the invention;
Fig. 7 is that the stacking crane or the track of prior art carried the transparent view of main body; And
Fig. 8 is the planar view of prior art article carrying apparatus.
The specific embodiment
With reference now to Fig. 1-4 explanation article carrying apparatus 10 of the present invention, first preferred embodiment.
The article carrying apparatus 10 of first preferred embodiment of the invention is carried main body 15 at the stacking crane in automatic warehouse or track and is held articles conveyed W between the shelf 12 of article W.Automatic warehouse 11 shown in Fig. 1 and 2 comprises the many dividing plates shelf 12 on stacking crane 15 that moves back and forth along track and the opposite side that is arranged on stacking crane 15.Shelf 12 comprise the support column on the predetermined space 13 and between two adjacent support columns 13 horizontally disposed a plurality of partition part 14.Partition part 14 is the rectangular plates that receive article in the above.In addition, each partition part 14 is along the track longitudinal extension of stacking crane 15, and a plurality of article W arrange on partition part 14 along track.
Stacking crane or track mobile agent 15 will be described now.
Can operate so that move back and forth along track at the stacking crane 15 of loading and unloading shelf 12, track comprises moving guide rail 16 that rest on the ground and the moving guide rail 17 that is positioned on the top ceiling.The main portion of stacking crane 15 comprises movable stand 18, a column 19, carriage 20 and a pair of clamp arm 21.
As shown in Figure 2, pair of upright column 19 is positioned on the front and back side of movable stand 18, and carriage 20 vertically is installed between the column 19 movingly.The top of column 19 interconnects by guide main body 22, and guide main body is by 17 guiding of the moving guide rail on the top ceiling.
On the other hand, along the carriage 20 of column 19 up-and-down movements comprise can operate in case towards or leave a pair of clamp arm or the article holding device 21 that shelf 12 move.
A pair of clamp arm 21 can operate in case towards or leave shelf 12 motion on the opposite side that is arranged on stacking crane 15.Double-type clamp arm 21 and the sensor 26 that describes below are formed on the article carrying apparatus 10 of articles conveyed W between stacking crane 15 and the shelf 12.Clamp arm 21 can operate in case by each other towards or move dorsad and open and closed so that wherein keep article W.For clearer and more definite, the inside face of facing of clamp arm 21 is by closed or keep article W therein towards motion mutually separately.In addition, this makes it can keep having the article W of different size to openings different between the clamp arm 21 or different partition distance.This can be operated clamp arm 21 so that keep article on the partition part 14, thereby is transported on the carriage 20, and can operate so that be transported on the partition part 14.This opened/closed of clamp arm 21 and front/rear drive source (not shown), opened/closed kinematic mechanism and the front/rear kinematic mechanism of moving through influence.Each clamp arm 21 has sensor 26 on its top.
Now sensor 26 will be described.
In first preferred embodiment, the scattered reflection formula sensor of noncontact type is as sensor 26.The sensor 26 that is arranged on each tip of clamp arm 21 can be provided with its surveyed area S clamp arm 21 enters the path of shelf 12 on the direction shown in Fig. 3 arrow in.
As shown in Figure 3, the surveyed area S of sensor 26 has and the corresponding width of the width of clamp arm 21, and has and leave in the described path of mobile clamp arm 21 the corresponding length of preset distance of sensor 26.Sensor 26 can be operated so that discharge light and detect the surveyed area S whether article W is positioned at sensor 26 by the light that receives article W reflection.In addition, the operation of sensor 26 can be controlled, and makes sensor 26 can operate so that only detect when its non-clamping position is opened when the stacking crane 15 that moves along track stops or when clamp arm 21.Therefore, clamp arm 21 from position that clamp arm 21 is placed near the article W on the special spacers parts 14 towards or enter shelf 12 motions before, can in clamp arm 21 stretches into the path of shelf 12, detect and confirm whether have any article W in the surveyed area S at sensor 26.
The operation of the article carrying apparatus 10 of first embodiment of the invention is described referring now to Fig. 3 and 4.
Relevant location information or information from the shelf 12 interior article W that take out is delivered to control unit 25.According to the location information of this article W, stacking crane 15 moves along track, and carriage 20 up-and-down movements.When carriage 20 arrived the position of the article W on remaining on special spacers part 14, the up-and-down movement mobile and carriage 20 of stacking crane 15 stopped.At this moment, clamp arm 21 opens according to the size (length surface that is parallel to shelf) of article W.
Subsequently, operate so that in the motion path of clamp arm 21, detect and confirm whether have any article W in the surveyed area S of sensor 26 towards the sensor 26 of partition part 14.
As shown in Figure 3, when sensor 26 did not detect article, sensor 26 was confirmed in clamp arm 21 moves to the path of shelf 12 in surveyed area S without any article W.That is, in the surveyed area S that sensor shown in Figure 3 26 detects, there is not article W.In this case, clamp arm 21 moves forward in the shelf 12, and remains on article W on the partition part 14 by clamping article W.Then, keep the clamp arm 21 of article W to move backward, thus article W is placed on the carriage 20.
On the other hand, when the existence of at least one sensor 26 for any object responds, confirm in clamp arm 21 moves forward into the path of shelf 12 motions, to have article W.That is, in the surveyed area S that sensor 26 detects, there is article W.In this case, the signal that is produced by sensor 26 is delivered to control unit 25, control unit is then reported for example state mal of article W in shelf 12, and makes clamp arm 21 not towards shelf 12 motions, thereby prevents the collision between clamp arm 21 and the article W.
According to first preferred embodiment, can obtain following beneficial effect.
(1) because the sensor 26 of the article W in the detection shelf 12 is set for each clamp arm 21, sensor 26 can detect and confirm whether have article W on the motion path of clamp arm 21 before in fact clamp arm 21 is moved into shelf 12, this prevents article W in the shelf 12 and the collision between the clamp arm 12 reliably.
(2) because the surveyed area S that has with the corresponding width of width of each clamp arm 21 is arranged in the shelf 12 by sensor 26, can confirm in the path that shelf 12 move, whether have article W (if any article are arranged) in surveyed area S so that detects the sensor 26 of article W at clamp arm 21 by operating.When not having article W in the surveyed area S, if clamp arm moves towards shelf 12, clamp arm 21 can not collide with article W.
(3) because sensor 26 stops and clamp arm 21 is operated when opening on its non-clamping position at stacking crane 15, before moving forward into shelf 12 motions, clamp arm 21 confirms whether to confirm existence product W in the path of shelf 12 motions at clamp arm 21.When not having article W in surveyed area S, clamp arm 21 can move forward in the shelf 12 at once, therefore reduces the loss of time.
(4) because the sensor 26 of clamp arm 21 directly confirms whether there is article W in the shelf 12, there is no need the dimensional standardization that the support column 13 of constant interval is set and makes article W.Therefore, reduce the restriction of the structure of article W and shelf 12 greatly, therefore improve the degree of freedom of article W and the alerting ability of shelf 12 greatly.
With reference now to Fig. 5 and 6 explanations article carrying apparatus 30 of the present invention, second preferred embodiment.The article carrying apparatus 30 of second preferred embodiment is the example that is applicable to rail frame or track mobile agent 35.
As illustrated in Figures 5 and 6, circuit orbit 31 is set, makes a plurality of rail framves 35 move thereon, and three article conveyor 36a, 36b, 36c arrange near rail frame 31.
Article conveyor 36a, 36b, 36c are designed to articles conveyed W, but and reverse operating, so that be carried in article W on the rail frame 35 and from rail frame 35 unload items W.
Many dividing plates shelf 32 are positioned on the another location so that hold article W along circuit orbit 31.Similar with the track 12 of first preferred embodiment, track 32 comprises support column 33 and partition part 34, and partition part 34 is rectangular plates.In addition, vertical circuit orbit 31 along rail frame 35 of partition part 34 extends separately, and therefore, a plurality of article W that are placed on the partition part 34 arrange with side by side relationship along circuit orbit 31.
Now rail frame 35 will be described.
The contact wire (not shown) supply electric power of rail frame 35 by being provided with along circuit orbit 31 is so that move on circuit orbit 31.Rail frame 35 can be operated so that load article W.At second preferred embodiment, between article conveyor 36a, 36b, 36c and track 32, receive or articles conveyed W by rail frame 35.
A pair of clamp arm or article holding device 38 are arranged on the frame body 37 of rail frame 35, rail frame 35 can operate in case towards or leave the track 32 arranged along circuit orbit 31 or article conveyor 36a, 36b, 36c moves.
As described in first preferred embodiment, this to clamp arm 38 and the sensor 39 that is described below together as the part of article carrying apparatus 30 so that between rail frame 35 and track 32 articles conveyed W.Clamp arm 38 keeps article W in track 32, and article W is transported on the rail frame 35, perhaps remains on article W that loads on the rail frame 35 and the partition part 34 that article W is placed on sky.In addition, in second preferred embodiment, article carrying apparatus 34 loads and unload items W between article conveyor 36a, 36b, 36c and rail frame 35.Each clamp arm 38 has sensor 39 at its tip.
Now sensor 39 will be described.
Sensor 39 can be operated so that produce in the surveyed area S of indication by sensor 39 settings whether have article.In second preferred embodiment, each clamp arm 38 has sensor 39 at its tip, thus at the surveyed area S of the built-in sensor 39 of writing a biography of the motion path of clamp arm 38.
In second preferred embodiment, clamp arm 38 can be operated, not only towards or leave along the shelf 32 of circuit orbit 31 location of rail frame 35 and move, and towards or leave article conveyor 36a, 36b, 36c motion.
The surveyed area S of sensor 39 is roughly identical with first preferred embodiment, and the description of therefore omitting the surveyed area S of first preferred embodiment.
In addition, sensor 39 is designed to not only operation when rail frame 35 stops on circuit orbit 31, and opens so that operate when increasing its middle distance at clamp arm 38.Therefore, when clamp arm 38 during towards track 32, clamp arm 38 in fact travel forward enter shelf 32 before, confirm in clamp arm 38 enters shelf 32 motion paths, whether have article W.
Article carrying apparatus 30 according to second preferred embodiment, when even a plurality of article W are placed on the partition part 34 of shelf 32, before clamp arm 38 travels forward, can confirm in the motion path of shelf 32, whether have article W at clamp arm 38, prevent article W in the shelf 32 and the collision between the clamp arm 38, this situation can occur when clamp arm 38 keeps the article in the shelf 32 and it is taken out.Therefore, realized the beneficial effect identical with first preferred embodiment.
The present invention is not limited to described embodiment, becomes following selected embodiment and can carry out modification.
In first and second preferred embodiments, clamp arm has sensor at its tip, but the position of sensor is not limited to the tip.Can select among the embodiment, for clamp arm is provided with sensor so that in clamp arm is moved into the path of shelf surveyed area is set.
In first and second preferred embodiments, adopt the scattered reflection formula sensor of noncontact type.Can select among the embodiment, sensor is a contact type.In this case, the sensor movement of contact type is in shelf.When object detects in the sensor for the noncontact type is difficult to the shelf of reliable Detection, advantageously use touch sensor.
Therefore, what this example and embodiment thought example does not have a restriction, and the present invention is not limited to details given here, and can carry out modification within the scope of the appended claims.
Claims (6)
1. articles conveyed article carrying apparatus between track mobile agent that moves in orbit and the shelf that are provided with along track comprises:
Be the article holding device that the track mobile agent is provided with, the article holding device can operate in case along track towards with leave the shelf that hold a plurality of article and move;
Be the sensor that the article holding device is provided with, the article that in the path that the article holding device advances towards shelf, whether exist for confirmation.
2. article carrying apparatus as claimed in claim 1 is characterized in that, the article holding device is a pair of the operation so that open and closed clamp arm.
3. article carrying apparatus as claimed in claim 2 is characterized in that, sensor is arranged on each tip of clamp arm.
4. article carrying apparatus as claimed in claim 2 is characterized in that the surveyed area of sensor is corresponding with the width of clamp arm.
5. article carrying apparatus as claimed in claim 1 is characterized in that, sensor can the track mobile agent stop and the open situation of article holding device under operate.
6. article carrying apparatus as claimed in claim 1 is characterized in that, sensor is non-contact type.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003323176A JP2005089059A (en) | 2003-09-16 | 2003-09-16 | Article transfer device |
| JP323176/2003 | 2003-09-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1597466A true CN1597466A (en) | 2005-03-23 |
Family
ID=34454325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2004100785677A Pending CN1597466A (en) | 2003-09-16 | 2004-09-15 | Article transporter |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP2005089059A (en) |
| KR (1) | KR100637650B1 (en) |
| CN (1) | CN1597466A (en) |
| SG (2) | SG110163A1 (en) |
| TW (1) | TWI281453B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100575239C (en) * | 2007-06-14 | 2009-12-30 | 王树生 | Wheel is to piler |
| CN101870399A (en) * | 2009-04-21 | 2010-10-27 | 三星移动显示器株式会社 | The method of hopper system and managing stocker |
| CN101041398B (en) * | 2006-03-22 | 2010-10-27 | 三星电子株式会社 | Transferring system |
| CN101644124B (en) * | 2009-08-28 | 2011-06-15 | 广州广电运通金融电子股份有限公司 | Automatic storage/retrieval safe |
| CN102897538A (en) * | 2012-09-18 | 2013-01-30 | 上海集成电路研发中心有限公司 | Automatic material conveying system and automatic material conveying method |
| CN105502227A (en) * | 2016-01-28 | 2016-04-20 | 苏州市职业大学 | Liftable cargo loading and unloading device |
| CN105593141A (en) * | 2013-09-30 | 2016-05-18 | 村田机械株式会社 | Storage warehouse |
| CN107428469A (en) * | 2015-04-15 | 2017-12-01 | 奥卡多创新有限公司 | Article-handling system and method |
| CN109118936A (en) * | 2018-10-23 | 2019-01-01 | 江苏大鑫教育装备有限公司 | A kind of automatic adjustment spacing and liftable conveying equipment instruments used for education |
| CN109508920A (en) * | 2018-09-04 | 2019-03-22 | 宁波市智能制造产业研究院 | A kind of unmanned supermarket's intelligence replenishment system |
| CN109789971A (en) * | 2016-10-07 | 2019-05-21 | 村田机械株式会社 | Handling device and method for carrying |
| CN111038905A (en) * | 2019-12-31 | 2020-04-21 | 东莞市沃德精密机械有限公司 | Standing curing system and material storing and taking method thereof |
| CN111605951A (en) * | 2015-04-22 | 2020-09-01 | Tgw机械有限公司 | Method and storage system for storing piece goods in a rack |
| CN113727922A (en) * | 2019-04-26 | 2021-11-30 | 牧野J株式会社 | Conveying device |
| CN114455277A (en) * | 2022-01-11 | 2022-05-10 | 福建省威诺数控有限公司 | Device and method for feeding materials with different lengths into finished product area from multiple stations |
| CN114906042A (en) * | 2021-02-09 | 2022-08-16 | 丰田自动车株式会社 | Shelf and delivery vehicle comprising same |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4855865B2 (en) * | 2006-08-17 | 2012-01-18 | 株式会社岡村製作所 | Load transfer device and load transfer method |
| DE102007021068A1 (en) * | 2007-05-04 | 2008-11-06 | Christian Beer | Method and device for dispensing and picking up workpieces on a working plane |
| JP5214337B2 (en) * | 2008-05-30 | 2013-06-19 | 株式会社イトーキ | Load transfer equipment and automatic warehouse |
| JP5751452B2 (en) * | 2012-05-17 | 2015-07-22 | 株式会社ダイフク | Goods transport equipment |
| ITUA20161918A1 (en) * | 2016-03-23 | 2017-09-23 | Label Elettr S R L | MANIPULATOR PERFECTED FOR THE HANDLING OF OBJECTS IN AN AUTOMATED WAREHOUSE |
| JP7095518B2 (en) * | 2018-09-19 | 2022-07-05 | 村田機械株式会社 | Transfer device and control method of transfer device |
| WO2020135460A1 (en) * | 2018-12-25 | 2020-07-02 | 北京极智嘉科技有限公司 | Transfer robot, warehouse logistics system and article transferring method |
| JP7156174B2 (en) * | 2019-05-27 | 2022-10-19 | 株式会社豊田自動織機 | Forklift cargo handling control device |
-
2003
- 2003-09-16 JP JP2003323176A patent/JP2005089059A/en active Pending
-
2004
- 2004-09-06 SG SG200405401A patent/SG110163A1/en unknown
- 2004-09-09 SG SG200406137A patent/SG110210A1/en unknown
- 2004-09-14 TW TW093127703A patent/TWI281453B/en not_active IP Right Cessation
- 2004-09-15 KR KR1020040073830A patent/KR100637650B1/en not_active IP Right Cessation
- 2004-09-15 CN CNA2004100785677A patent/CN1597466A/en active Pending
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101041398B (en) * | 2006-03-22 | 2010-10-27 | 三星电子株式会社 | Transferring system |
| CN100575239C (en) * | 2007-06-14 | 2009-12-30 | 王树生 | Wheel is to piler |
| CN101870399A (en) * | 2009-04-21 | 2010-10-27 | 三星移动显示器株式会社 | The method of hopper system and managing stocker |
| CN101870399B (en) * | 2009-04-21 | 2014-06-18 | 三星显示有限公司 | Stocker system and method of managing stocker |
| CN101644124B (en) * | 2009-08-28 | 2011-06-15 | 广州广电运通金融电子股份有限公司 | Automatic storage/retrieval safe |
| CN102897538B (en) * | 2012-09-18 | 2016-12-21 | 上海集成电路研发中心有限公司 | Automatic material transfer system and method thereof |
| CN102897538A (en) * | 2012-09-18 | 2013-01-30 | 上海集成电路研发中心有限公司 | Automatic material conveying system and automatic material conveying method |
| CN105593141A (en) * | 2013-09-30 | 2016-05-18 | 村田机械株式会社 | Storage warehouse |
| CN107428469A (en) * | 2015-04-15 | 2017-12-01 | 奥卡多创新有限公司 | Article-handling system and method |
| US11718474B2 (en) | 2015-04-15 | 2023-08-08 | Ocado Innovation Limited | Object handling system and method |
| US11203487B2 (en) | 2015-04-15 | 2021-12-21 | Ocado Innovation Limited | Object handling system and method |
| CN111605951A (en) * | 2015-04-22 | 2020-09-01 | Tgw机械有限公司 | Method and storage system for storing piece goods in a rack |
| CN105502227A (en) * | 2016-01-28 | 2016-04-20 | 苏州市职业大学 | Liftable cargo loading and unloading device |
| US10850923B2 (en) | 2016-10-07 | 2020-12-01 | Murata Machinery, Ltd. | Transporter and transporting method |
| CN109789971A (en) * | 2016-10-07 | 2019-05-21 | 村田机械株式会社 | Handling device and method for carrying |
| CN109508920A (en) * | 2018-09-04 | 2019-03-22 | 宁波市智能制造产业研究院 | A kind of unmanned supermarket's intelligence replenishment system |
| CN109118936A (en) * | 2018-10-23 | 2019-01-01 | 江苏大鑫教育装备有限公司 | A kind of automatic adjustment spacing and liftable conveying equipment instruments used for education |
| CN113727922A (en) * | 2019-04-26 | 2021-11-30 | 牧野J株式会社 | Conveying device |
| CN113727922B (en) * | 2019-04-26 | 2022-11-15 | 牧野J株式会社 | Conveying device |
| CN111038905A (en) * | 2019-12-31 | 2020-04-21 | 东莞市沃德精密机械有限公司 | Standing curing system and material storing and taking method thereof |
| CN114906042A (en) * | 2021-02-09 | 2022-08-16 | 丰田自动车株式会社 | Shelf and delivery vehicle comprising same |
| CN114455277A (en) * | 2022-01-11 | 2022-05-10 | 福建省威诺数控有限公司 | Device and method for feeding materials with different lengths into finished product area from multiple stations |
| CN114455277B (en) * | 2022-01-11 | 2024-01-30 | 福建省威诺数控有限公司 | Device and method for feeding materials with different lengths into finished product area from multiple stations |
Also Published As
| Publication number | Publication date |
|---|---|
| SG110163A1 (en) | 2005-04-28 |
| SG110210A1 (en) | 2005-04-28 |
| TW200521052A (en) | 2005-07-01 |
| KR100637650B1 (en) | 2006-10-23 |
| KR20050027954A (en) | 2005-03-21 |
| JP2005089059A (en) | 2005-04-07 |
| TWI281453B (en) | 2007-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1597466A (en) | Article transporter | |
| US9073691B2 (en) | Article transport facility | |
| JP4502127B2 (en) | Cassette storage and processing plate processing equipment | |
| US7437999B2 (en) | Overhead traveling vehicle system | |
| CN113428593B (en) | Article transport facility and article transport vehicle | |
| US9221605B2 (en) | Article transfer device and stacker crane having same | |
| CN109625962B (en) | Power battery cover plate overturning feeder | |
| KR101351701B1 (en) | Cassette transport apparatus | |
| JP2019188600A (en) | Gripper, and robot system | |
| CN209815140U (en) | Power battery apron upset feeder | |
| CN107777624B (en) | Material taking device suitable for industrial vehicle | |
| CN210339559U (en) | Liquid crystal display panel overturning and placing device | |
| CN212310156U (en) | Material picking and supplementing moving platform | |
| CN209192820U (en) | A kind of shelf interlayer pipeline and shelf | |
| JP2012071932A (en) | Transfer device | |
| CN115159076B (en) | Automatic material arranging machine for shaft rod | |
| CN217625831U (en) | Feeding device | |
| CN214692093U (en) | Tray feeding structure | |
| CN202854053U (en) | Detection equipment with turnover device | |
| CN213736990U (en) | Name card holder shell stock device | |
| CN218950387U (en) | Automatic double-station feeding device | |
| CN214191667U (en) | Glass business turn over storehouse device | |
| CN1386685A (en) | Friction roll driven bracket conveying device | |
| JPH06271013A (en) | Stacker crane for automatic warehouse | |
| JP5445397B2 (en) | Transfer equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |