JP2000142923A - Multilevel storage facility - Google Patents
Multilevel storage facilityInfo
- Publication number
- JP2000142923A JP2000142923A JP10326567A JP32656798A JP2000142923A JP 2000142923 A JP2000142923 A JP 2000142923A JP 10326567 A JP10326567 A JP 10326567A JP 32656798 A JP32656798 A JP 32656798A JP 2000142923 A JP2000142923 A JP 2000142923A
- Authority
- JP
- Japan
- Prior art keywords
- frame
- guide rail
- arm
- wheel drive
- storage facility
- 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.)
- Granted
Links
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は立体収納設備に関す
るものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional storage facility.
【０００２】[0002]
【従来の技術】図７から図９は従来の立体収納設備の一
例を示すもので、この立体収納設備は、走行路１に並列
に配置した物品収納用の複数の架構２と、走行路１に接
し且つ架構２のそれぞれが互いに近接離反し得るように
各架構２の左右両側に枢支した無フランジの車輪３と、
該車輪３を回転させ得るように各架構２に設けた車輪駆
動機構４と、上部及び下部に全長にわたる溝５を有し且
つ走行路１の一側に沿って水平に配置したガイドレール
６と、該ガイドレール６の溝５に嵌入するように各架構
２にブラケット７を介して枢支したガイドローラ８とを
備えている。2. Description of the Related Art FIGS. 7 to 9 show an example of a conventional three-dimensional storage facility. The three-dimensional storage facility includes a plurality of frames 2 for article storage arranged in parallel on a traveling path 1 and a traveling path 1. A non-flanged wheel 3 pivotally supported on the left and right sides of each frame 2 so that the frames 2 can contact each other and move away from each other;
A wheel drive mechanism 4 provided on each frame 2 so that the wheels 3 can be rotated; a guide rail 6 having grooves 5 over the entire length in the upper and lower parts and arranged horizontally along one side of the traveling path 1; Each frame 2 is provided with a guide roller 8 pivotally supported via a bracket 7 so as to fit into the groove 5 of the guide rail 6.
【０００３】各架構２は、それぞれの車輪駆動機構４を
作動させると、単独で走行路１を自走する。Each of the frames 2 runs independently on the traveling path 1 when the respective wheel drive mechanism 4 is operated.
【０００４】また、走行路１の全長Ｌ、架構２の前後方
向の寸法Ｅ、及び架構２の数は、走行路１内にフォーク
リフトなどの物品搬送機が出入り可能な間隙Ｓ（図７参
照）が形成できるように設定されている。The total length L of the traveling path 1, the dimension E of the frame 2 in the front-rear direction, and the number of the frames 2 are determined by a gap S (see FIG. 7) through which an article transfer machine such as a forklift can enter and exit the traveling path 1. Is set so as to be formed.
【０００５】図７から図９に示す立体収納設備におい
て、物品の入出庫を行なう際には、各架構２を順次移動
させて、入出庫作業を行なうべき架構２の端面と、それ
に隣接する他の架構２の端面との間に、前記の間隙Ｓを
形成する。[0005] In the three-dimensional storage facility shown in FIGS. 7 to 9, when articles are taken in and out, each frame 2 is sequentially moved so that the end face of the frame 2 to which the loading / unloading operation is to be performed and the other adjacent face. The gap S is formed between the frame 2 and the end face of the frame 2.
【０００６】この立体収納設備は、無フランジの車輪３
によって各架構２を移動させるので走行路１に突起や溝
が形成されず、よって、物品搬送機が間隙Ｓへ容易に乗
り入れることができる。[0006] This three-dimensional storage facility is a three-wheeled vehicle without flanges.
As a result, since each frame 2 is moved, no protrusions or grooves are formed on the traveling path 1, so that the article transporter can easily get into the gap S.
【０００７】[0007]
【発明が解決しようとする課題】しかしながら、図７か
ら図９に示す立体収納設備では、摩耗などに起因して架
構２の左側の車輪３と右側の車輪３の外径が異なってい
たり、あるいは、走行路１に緩やかな傾斜や凹凸が形成
されていると、架構２が走行路１に対して斜めに進む斜
行が発生する。However, in the three-dimensional storage facility shown in FIGS. 7 to 9, the outer diameters of the left wheel 3 and the right wheel 3 of the frame 2 are different due to wear or the like, or If the traveling path 1 is formed with a gentle inclination or unevenness, the frame 2 may be skewed obliquely with respect to the traveling path 1.
【０００８】更に、架構２の移動に伴って斜行角度が大
きくなると、ガイドローラ８を枢支しているブラケット
７などがガイドレール６に接して、架構２が移動できな
くなることがある。Further, when the skew angle increases with the movement of the frame 2, the bracket 7 or the like pivotally supporting the guide roller 8 may contact the guide rail 6, and the frame 2 may not be able to move.
【０００９】本発明は上述した実情に鑑みてなしたもの
で、架構の斜行を防止し得る立体収納設備を提供するこ
とを目的とするものである。SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a three-dimensional storage facility capable of preventing skewing of a frame.
【００１０】[0010]
【課題を解決するための手段】上記目的を達成するた
め、本発明の立体収納設備では、走行路に並列に配置し
た物品収納用の複数の架構と、走行路に接するように各
架構の左右両側に枢支した無フランジの車輪と、各架構
に設けられ且つ左右の車輪を別個に回転させ得る車輪駆
動機構と、上部あるいは下部に全長にわたる溝を有し且
つ走行路の一側に沿って配置したガイドレールと、各架
構にガイドレール側へ突出するように固着したアーム
と、該アームに枢支され且つガイドレールの溝に摺動自
在に嵌入した移動片と、該移動片に対するアームの相対
的角度を検知する角度検知器と、該角度検知器からの信
号に基づき前記の両車輪駆動機構を制御する移動制御器
とを備えている。In order to achieve the above object, in the three-dimensional storage facility of the present invention, a plurality of frames for article storage arranged in parallel on a traveling path, and left and right of each frame so as to be in contact with the traveling path. A flange-free wheel pivotally supported on both sides, a wheel drive mechanism provided on each frame and capable of rotating the left and right wheels separately, and having a full length groove at the top or bottom and along one side of the running path An arranged guide rail, an arm fixed to each frame so as to protrude toward the guide rail, a moving piece pivotally supported by the arm and slidably fitted in a groove of the guide rail, and an arm for the moving piece. An angle detector for detecting a relative angle, and a movement controller for controlling the two-wheel drive mechanism based on a signal from the angle detector are provided.
【００１１】本発明の立体収納設備においては、移動中
の架構が斜行しようとすると、移動片に対するアームの
相対的角度が変化する。[0011] In the three-dimensional storage facility of the present invention, when the moving frame tries to skew, the relative angle of the arm to the moving piece changes.
【００１２】更に、移動制御器が角度検知器からの信号
に基づき、架構進行方向に向かって先行している車輪の
回転数を減少させるように車輪駆動機構を制御する。Further, based on a signal from the angle detector, the movement controller controls the wheel drive mechanism so as to reduce the rotation speed of the preceding wheel in the frame traveling direction.
【００１３】[0013]
【発明の実施の形態】以下、本発明の実施の形態を、図
示例に基づき説明する。Embodiments of the present invention will be described below with reference to the drawings.
【００１４】図１及び図２は本発明の立体収納設備の実
施の形態の一例であり、図中、図７から図９と同一の符
号を付した部分は同一物を表している。FIGS. 1 and 2 show an embodiment of a three-dimensional storage facility according to the present invention. In the drawings, the same reference numerals as in FIGS. 7 to 9 denote the same parts.
【００１５】この立体収納設備は、走行路１に並列に配
置され且つ左右両側に無フランジの車輪９，１０を有す
る複数の架構２と、左側の車輪９を回転させ得るように
各架構２に設けた左側車輪駆動機構１１と、右側の車輪
１０を回転させ得るように各架構２に設けた右側車輪駆
動機構１２と、上部に全長にわたる溝１３を有し且つ走
行路１の一側に沿って水平に配置したガイドレール１４
と、各架構２にガイドレール１４側へ突出するように固
着したアーム１５と、該アーム１５に枢支され且つガイ
ドレール１４の溝１３に摺動自在に嵌入した移動片１６
と、該移動片１６に対するアーム１５の相対的角度を検
知する角度検知器１７と、該角度検知器１７からの角度
検知信号１８に基づき前記の左右両側の車輪駆動機構１
１，１２を制御する移動制御器１９とを備えている。The three-dimensional storage facility includes a plurality of frames 2 which are arranged in parallel on the traveling path 1 and have flangeless wheels 9 and 10 on both left and right sides, and each frame 2 so that the left wheels 9 can be rotated. A left wheel drive mechanism 11 provided, a right wheel drive mechanism 12 provided on each frame 2 so that the right wheel 10 can be rotated, and a groove 13 extending over the entire length at an upper portion and along one side of the traveling path 1 Guide rails 14 arranged horizontally
And an arm 15 fixed to each frame 2 so as to protrude toward the guide rail 14, and a moving piece 16 pivotally supported by the arm 15 and slidably fitted in the groove 13 of the guide rail 14.
An angle detector 17 for detecting a relative angle of the arm 15 with respect to the moving piece 16, and the left and right wheel driving mechanisms 1 based on an angle detection signal 18 from the angle detector 17.
And a movement controller 19 for controlling the first and the second control units 12.
【００１６】移動制御器１９は、操作盤（図示せず）か
らの移動指令信号２０に基づき、該移動指令信号２０に
応じた方向へ架構２が移動するように左側車輪駆動機構
１１及び右側車輪駆動機構１２を制御し、また、角度検
知器１７からの角度検知信号１８に基づき、架構２に斜
行が生じはじめているか否かを判定し、図３に示すよう
な手順で、左側車輪駆動機構１１及び右側車輪駆動機構
１２を制御するように構成されている。The movement controller 19 is adapted to move the frame 2 in a direction corresponding to the movement command signal 20 based on a movement command signal 20 from an operation panel (not shown). The driving mechanism 12 is controlled, and based on the angle detection signal 18 from the angle detector 17, it is determined whether or not the frame 2 is starting to skew. 11 and the right wheel drive mechanism 12 are controlled.
【００１７】図１及び図２に示す立体収納設備におい
て、物品の入出庫を行なう際には、操作盤から各架構２
の移動制御器１９に対して、各架構２の必要とする移動
方向及び移動量に適応した移動指令信号２０を出力す
る。In the three-dimensional storage facility shown in FIG. 1 and FIG.
A movement command signal 20 adapted to the movement direction and the movement amount required by each frame 2 is output to the movement controller 19.
【００１８】移動指令信号２０が出力されると、各架構
２に設けた移動制御器１９が、それぞれに出力された移
動指令信号２０に基づき、それぞれの架構２を該移動指
令信号２０に応じた方向へ指令された移動量に応じて順
次移動させる。When the movement command signal 20 is output, the movement controller 19 provided in each frame 2 causes each frame 2 to respond to the movement command signal 20 based on the movement command signal 20 output to each frame. It moves sequentially according to the movement amount commanded in the direction.
【００１９】その結果、入出庫を行なうべき架構２の端
面と、それに隣接する他の架構２の端面との間に、フォ
ークリフトなどの物品搬送機が出入り可能な間隙Ｓ（図
７参照）が形成される。As a result, a gap S (see FIG. 7) is formed between the end face of the frame 2 to be loaded and unloaded and the end face of another frame 2 adjacent thereto, through which an article transporter such as a forklift can enter and exit. Is done.
【００２０】このとき、移動中の架構２が斜行しようと
すると、当該架構２に設けられている移動片１６に対す
るアーム１５の相対的角度が変化し、この角度の変化を
角度検知器１７が検知して角度検知信号１８を出力す
る。At this time, when the moving frame 2 attempts to skew, the relative angle of the arm 15 with respect to the moving piece 16 provided on the moving frame 2 changes, and the change in the angle is detected by the angle detector 17. Upon detection, an angle detection signal 18 is output.
【００２１】角度検知器１７から角度検知信号１８が出
力されると、該角度検知信号１８に基づいて、移動制御
器１９が斜行しようとしている架構２に対して、架構進
行方向に向かって先行している左側車輪９（または、右
側車輪１０）の回転数を減少させるように左側車輪駆動
機構１１（または右側車輪駆動機構１２）を制御し、該
架構２の斜行を防止する。When an angle detection signal 18 is output from the angle detector 17, the movement controller 19, based on the angle detection signal 18, precedes the frame 2 that is about to skew in the frame traveling direction. The left wheel driving mechanism 11 (or the right wheel driving mechanism 12) is controlled so as to reduce the rotation speed of the left wheel 9 (or the right wheel 10), thereby preventing the frame 2 from skewing.
【００２２】次に、移動制御器１９の機能を図３に示す
ブロック図によって説明する。Next, the function of the movement controller 19 will be described with reference to the block diagram shown in FIG.
【００２３】架構２の移動開始後、架構移動中に移動片
１６に対するアーム１５の相対角度に角度偏差が生じて
いないときは、図３に示す左右車輪同一回転数駆動に進
み、左右の車輪９，１０の回転数を同一に制御し、図４
に示すように移動方向が起点側（図４のＢ側）及び終点
側（図４のＡ側）にかかわらず、架構２を走行路１に沿
って直進させる。After the start of the movement of the frame 2, if there is no angular deviation in the relative angle of the arm 15 with respect to the moving piece 16 during the movement of the frame 2, the operation proceeds to the driving of the left and right wheels at the same rotational speed as shown in FIG. , 10 are controlled identically, and FIG.
As shown in (1), the frame 2 is made to travel straight along the traveling path 1 regardless of the moving direction on the starting point side (B side in FIG. 4) and the end point side (A side in FIG.
【００２４】角度偏差が生じたときは、図３に示す偏差
方向チェックシーケンスに分岐し、該偏差方向チェック
シーケンスでは、偏差方向が起点側か否かの判別をす
る。When an angle deviation has occurred, the flow branches to a deviation direction check sequence shown in FIG. 3, in which it is determined whether or not the deviation direction is on the starting side.
【００２５】図５に示すように、偏差方向が起点側（図
５のＢ側）で、架構２が起点側方向（図５のＢ側方向）
へ移動しているときには、左側（図５のＣ側）の車輪９
の回転数を減少させるように左側車輪駆動機構１１を制
御し、架構２の斜行を是正する。As shown in FIG. 5, the deviation direction is on the starting side (B side in FIG. 5), and the frame 2 is on the starting side (B side direction in FIG. 5).
When moving to the left, the wheel 9 on the left side (the C side in FIG. 5)
The left wheel drive mechanism 11 is controlled so as to reduce the rotation speed of the frame 2 to correct the skew of the frame 2.
【００２６】同様に、偏差方向が起点側（図５のＢ側）
で、架構２が終点側方向（図５のＡ側方向）へ移動して
いるときには、右側（図５のＤ側）の車輪１０の回転数
を減少させるように右側車輪駆動機構１２を制御し、架
構２の斜行を是正する。Similarly, the deviation direction is on the starting side (the B side in FIG. 5).
When the frame 2 is moving toward the end point (the direction A in FIG. 5), the right wheel drive mechanism 12 is controlled so as to reduce the rotation speed of the right wheel 10 (the side D in FIG. 5). Correct the skew of frame 2.
【００２７】また、図６に示すように、偏差方向が終点
側（図６のＡ側）で、架構２が起点側方向（図６のＢ側
方向）へ移動しているときには、右側（図６のＤ側）の
車輪１０の回転数を減少させるように右側車輪駆動機構
１２を制御し、架構２の斜行を是正する。As shown in FIG. 6, when the deviation direction is on the end point side (A side in FIG. 6) and the frame 2 is moving toward the starting point side (B side direction in FIG. 6), the right side (FIG. The right wheel drive mechanism 12 is controlled so as to reduce the number of rotations of the wheel 10 (D side 6) to correct the skew of the frame 2.
【００２８】同様に、偏差方向が終点側（図６のＡ側）
で、架構２が終点側方向（図６のＡ側方向）へ移動して
いるときには、左側（図６のＣ側）の車輪９の回転数を
減少させるように左側車輪駆動機構１１を制御し、架構
２の斜行を是正する。Similarly, the deviation direction is the end point side (A side in FIG. 6).
When the frame 2 is moving toward the end point (the direction A in FIG. 6), the left wheel drive mechanism 11 is controlled so as to decrease the rotation speed of the left wheel 9 (the side C in FIG. 6). Correct the skew of frame 2.
【００２９】このように、図１及び図２に示す立体収納
設備では、移動中の架構２が斜行しようとすると、移動
片１６に対するアーム１５の相対的角度が変化し、移動
制御器１９が、角度検知器１７の角度検知信号１８に基
づき、架構２の架構進行方向に向かって先行している車
輪９，１０の回転数を減少させるように車輪駆動機構１
１，１２を制御するので、摩耗などに起因して架構２の
左側車輪９と右側車輪１０の外径が異なっていたり、あ
るいは、走行路１に緩やかな傾斜や凹凸が形成されてい
ても、架構２の斜行を防止することができる。As described above, in the three-dimensional storage facility shown in FIGS. 1 and 2, when the moving frame 2 tries to skew, the relative angle of the arm 15 with respect to the moving piece 16 changes, and the movement controller 19 On the basis of the angle detection signal 18 of the angle detector 17, the wheel drive mechanism 1 reduces the rotation speed of the wheels 9, 10 leading in the frame traveling direction of the frame 2.
Since the outer diameters of the left wheel 9 and the right wheel 10 of the frame 2 are different due to wear or the like, or a gentle slope or unevenness is formed on the traveling path 1 due to wear and the like. The skew of the frame 2 can be prevented.
【００３０】なお、本発明の立体収納設備は上述した実
施の形態のみに限定されるものではなく、本発明の要旨
を逸脱しない範囲内において種々変更を加え得ることは
勿論である。It should be noted that the three-dimensional storage facility of the present invention is not limited to only the above-described embodiment, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.
【００３１】[0031]
【発明の効果】以上述べたように、本発明の立体収納設
備によれば、角度検出器からの信号に基づき、移動制御
器が、架構進行方向に向かって先行している車輪の回転
数を減少させるように車輪駆動機構を制御するので、移
動する複数の架構の斜行を、斜行を確実に防止すること
が可能となり、架構が移動できなくなるなどの事故を未
然に防止できるという優れた効果を奏し得る。As described above, according to the three-dimensional storage facility of the present invention, based on the signal from the angle detector, the movement controller determines the number of rotations of the wheel that is leading in the frame traveling direction. Since the wheel drive mechanism is controlled so as to reduce the skew, it is possible to reliably prevent the skew of a plurality of moving frames, and prevent an accident such as the frame being unable to move. It can be effective.
【図１】本発明の立体収納設備の実施の形態の一例の斜
視図である。FIG. 1 is a perspective view of an example of an embodiment of a three-dimensional storage facility of the present invention.
【図２】図１に関連する角度検知器部分の側面図であ
る。FIG. 2 is a side view of the angle detector portion related to FIG. 1;
【図３】図１に関連する制御系のブロック図である。FIG. 3 is a block diagram of a control system related to FIG. 1;
【図４】図１に関連する架構の角度偏差なしの場合の平
面図である。FIG. 4 is a plan view of the frame related to FIG. 1 without an angular deviation;
【図５】図１に関連する架構の偏差方向起点側の場合の
平面図である。FIG. 5 is a plan view of the frame related to FIG. 1 on the side of the starting point in the deviation direction.
【図６】図１に関連する架構の偏差方向終点側の場合の
平面図である。FIG. 6 is a plan view of the frame related to FIG. 1 on the end point side in the deviation direction.
【図７】従来の立体収納設備の一例の全体平面図であ
る。FIG. 7 is an overall plan view of an example of a conventional three-dimensional storage facility.
【図８】図７に関連する架構の斜視図である。FIG. 8 is a perspective view of a frame related to FIG. 7;
【図９】図７に関連するガイドローラ部分の側面図であ
る。FIG. 9 is a side view of a guide roller portion related to FIG. 7;
１ 走行路 ２ 架構 ９ 左側車輪（車輪） １０ 右側車輪（車輪） １１ 左側車輪駆動機構（車輪駆動機構） １２ 右側車輪駆動機構（車輪駆動機構） １３ 溝 １４ ガイドレール １５ アーム １６ 移動片 １７ 角度検知器 １８ 角度検知信号（信号） １９ 移動制御器 DESCRIPTION OF SYMBOLS 1 Running path 2 Frame 9 Left wheel (wheel) 10 Right wheel (wheel) 11 Left wheel drive mechanism (wheel drive mechanism) 12 Right wheel drive mechanism (wheel drive mechanism) 13 Groove 14 Guide rail 15 Arm 16 Moving piece 17 Angle detection Instrument 18 Angle detection signal (signal) 19 Movement controller
───────────────────────────────────────────────────── フロントページの続き (72)発明者 小川 健 大阪府大阪市中央区本町４丁目２番12号 石川島播磨重工業株式会社関西支社内 Ｆターム(参考） 3F022 FF24 JJ12 MM52 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Ken Ogawa 4-2-1-12 Honcho, Chuo-ku, Osaka-shi, Ishikawajima-Harima Heavy Industries, Ltd. Kansai Branch F-term (reference) 3F022 FF24 JJ12 MM52
Claims (1)
数の架構と、走行路に接するように各架構の左右両側に
枢支した無フランジの車輪と、各架構に設けられ且つ左
右の車輪を別個に回転させ得る車輪駆動機構と、上部あ
るいは下部に全長にわたる溝を有し且つ走行路の一側に
沿って配置したガイドレールと、各架構にガイドレール
側へ突出するように固着したアームと、該アームに枢支
され且つガイドレールの溝に摺動自在に嵌入した移動片
と、該移動片に対するアームの相対的角度を検知する角
度検知器と、該角度検知器からの信号に基づき前記の両
車輪駆動機構を制御する移動制御器とを備えたことを特
徴とする立体収納設備。1. A plurality of frames for storing articles arranged in parallel on a traveling path, non-flanged wheels pivotally supported on both left and right sides of each frame so as to be in contact with the traveling path, A wheel drive mechanism that can rotate the wheels separately, a guide rail having a groove extending over the entire length at the top or bottom and arranged along one side of the traveling path, and fixed to each frame so as to project toward the guide rail. An arm, a moving piece pivotally supported by the arm and slidably fitted in a groove of the guide rail, an angle detector for detecting a relative angle of the arm with respect to the moving piece, and a signal from the angle detector. And a movement controller for controlling the two-wheel drive mechanism based on the information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32656798A JP4123604B2 (en) | 1998-11-17 | 1998-11-17 | Three-dimensional storage equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32656798A JP4123604B2 (en) | 1998-11-17 | 1998-11-17 | Three-dimensional storage equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000142923A true JP2000142923A (en) | 2000-05-23 |
| JP4123604B2 JP4123604B2 (en) | 2008-07-23 |
Family
ID=18189270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP32656798A Expired - Fee Related JP4123604B2 (en) | 1998-11-17 | 1998-11-17 | Three-dimensional storage equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4123604B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000313504A (en) * | 1998-08-04 | 2000-11-14 | Soufuku Koki Kk | Trackless, movable rack |
| US6845834B2 (en) | 2001-03-19 | 2005-01-25 | Daifuku Co., Ltd. | Movable rack system |
| AU2005200825B2 (en) * | 2004-03-19 | 2006-08-17 | Nairan Pty. Ltd. | Improvements in mobile storage furniture |
| CN110495747A (en) * | 2018-05-18 | 2019-11-26 | 因特梅特罗工业公司 | Compact storage shelf system |
| CN117404405A (en) * | 2023-12-15 | 2024-01-16 | 成都乐创自动化技术股份有限公司 | Independent motion controller and use method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101916815B1 (en) * | 2016-12-29 | 2018-11-08 | (주)동성나이키 | Driving apparatus of mobile rack |
-
1998
- 1998-11-17 JP JP32656798A patent/JP4123604B2/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000313504A (en) * | 1998-08-04 | 2000-11-14 | Soufuku Koki Kk | Trackless, movable rack |
| US6845834B2 (en) | 2001-03-19 | 2005-01-25 | Daifuku Co., Ltd. | Movable rack system |
| AU2005200825B2 (en) * | 2004-03-19 | 2006-08-17 | Nairan Pty. Ltd. | Improvements in mobile storage furniture |
| CN110495747A (en) * | 2018-05-18 | 2019-11-26 | 因特梅特罗工业公司 | Compact storage shelf system |
| CN117404405A (en) * | 2023-12-15 | 2024-01-16 | 成都乐创自动化技术股份有限公司 | Independent motion controller and use method thereof |
| CN117404405B (en) * | 2023-12-15 | 2024-03-19 | 成都乐创自动化技术股份有限公司 | Independent motion controller and use method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4123604B2 (en) | 2008-07-23 |
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