JPH0597206A - Abnormality detector of inner circumferential end of air-core coil - Google Patents
Abnormality detector of inner circumferential end of air-core coilInfo
- Publication number
- JPH0597206A JPH0597206A JP28700991A JP28700991A JPH0597206A JP H0597206 A JPH0597206 A JP H0597206A JP 28700991 A JP28700991 A JP 28700991A JP 28700991 A JP28700991 A JP 28700991A JP H0597206 A JPH0597206 A JP H0597206A
- Authority
- JP
- Japan
- Prior art keywords
- coil
- fork
- disc body
- air
- abnormality
- 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
- Winding Of Webs (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、空心コイルの巻乱れに
よる内周端の中心側への飛び出しなどの異常を検出する
ための装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting an abnormality such as a protrusion of an inner peripheral end toward the center side due to winding disorder of an air-core coil.
【０００２】[0002]
【従来の技術】従来、鋼板ストリップなどを巻いて形成
された鋼板コイルや、線材を巻いて形成された線材コイ
ル等に於いて、コイルの内周面から中心側に向けて巻き
始めの端部が大きく飛び出てしまう場合がある。このよ
うな異常のある場合、フォーク部材と巻き始め端とが干
渉し、コイルの乱れを生じることがある。この問題点を
防止するため、例えばコイルを目視により作業者がチェ
ックすることが考えられる。しかしながら、コイルを多
段の棚に保管する立体自動倉庫等に於いては、各棚毎に
載置されているコイルを１つずつ作業者がチェックする
ことは煩雑であるため、自動的にコイルの内周面の異常
を検出し得ることが望ましい。2. Description of the Related Art Conventionally, in a steel sheet coil formed by winding a steel sheet strip or the like, or a wire rod coil formed by winding a wire rod, the end portion of the winding start from the inner peripheral surface of the coil toward the center side. May pop out greatly. When there is such an abnormality, the fork member and the winding start end interfere with each other, which may cause coil disorder. In order to prevent this problem, for example, an operator may visually check the coil. However, in a three-dimensional automated warehouse or the like in which coils are stored on multiple shelves, it is complicated for the operator to check the coils placed on each shelf one by one. It is desirable to be able to detect abnormalities on the inner peripheral surface.
【０００３】[0003]
【発明が解決しようとする課題】本発明は、このような
従来技術の問題点を解消するべく案出されたものであ
り、その主な目的は、空心コイルの内周端である巻き始
めの異常を自動的に検出することを可能とする空心コイ
ルの内周面の異常検出装置を提供することにある。SUMMARY OF THE INVENTION The present invention has been devised to solve the above-mentioned problems of the prior art, and the main purpose of the present invention is to reduce the winding start of the inner peripheral end of the air-core coil. An object of the present invention is to provide an abnormality detecting device for the inner peripheral surface of an air-core coil, which is capable of automatically detecting an abnormality.
【０００４】[0004]
【課題を解決するための手段】このような目的は、本発
明によれば、鋼板や線材などを巻いてなる空心コイルの
孔内に該コイルを釣り上げるために挿入されるべきフォ
ーク部材と、前記フォーク部材のコイル支持面の延長面
に対して出没するように移動可能であってかつ該突出状
態で前記孔の内径よりは小さい外径の輪郭を有するよう
に前記フォーク部材の先端部に設けられた拡縮部材と、
前記フォーク部材の挿入方向とは相反する向きの前記拡
縮部材の変位を検出するための変位検出手段とを有する
ことを特徴とする空心コイルの内周端の異常検出装置を
提供することにより達成される。According to the present invention, such an object is to provide a fork member to be inserted to catch the coil in the hole of an air-core coil formed by winding a steel plate or a wire, The fork member is provided at the tip of the fork member so as to be movable in and out of the extension surface of the coil supporting surface and to have an outer diameter contour smaller than the inner diameter of the hole in the protruding state. Expansion / contraction member,
It is achieved by providing an abnormality detecting device for an inner peripheral end of an air-core coil, comprising: a displacement detecting means for detecting a displacement of the expansion / contraction member in a direction opposite to the insertion direction of the fork member. It
【０００５】[0005]
【作用】このような構成によれば、空心コイルの孔内に
挿入部材を挿入した際に、巻き乱れ等によりコイルの巻
き始めである内周端が中心側に向けて大きく飛び出して
いると、その内周端部に当て板が衝突して、当て板が押
し戻されるため、その変位を検出することにより、内周
端の上記異常を自動的に検出することができる。また、
空心コイルを搬送するためのクレーンに設けられたフォ
ークに上記当て板等を設け、その当て板を、フォークの
コイル支持面に対して出没可能に変位し得る可動板によ
り構成することにより、コイル搬送作業と同時に上記検
出動作を行うことができる。According to this structure, when the insertion member is inserted into the hole of the air-core coil, the inner circumferential end, which is the beginning of winding of the coil, largely protrudes toward the center when the insertion member is inserted, Since the backing plate collides with the inner peripheral end portion and the backing plate is pushed back, the abnormality of the inner peripheral end can be automatically detected by detecting the displacement. Also,
Coil transfer by providing the above-mentioned contact plate etc. on the fork provided in the crane for transferring the air-core coil, and configuring the contact plate by a movable plate that can be displaced so as to be retractable with respect to the coil supporting surface of the fork. The above detection operation can be performed simultaneously with the work.
【０００６】[0006]
【実施例】以下に添付の図面に示された具体的な実施例
に基づいて本発明の構成を詳細に説明する。図１は、本
発明が適用される立体自動倉庫の概略構成を示してい
る。この立体自動倉庫は、鋼板ストリップや線材などを
巻いて形成されたコイル１を保管するためのもので、複
数列・複数段からなる保管棚２と、指定された棚列へ向
かって自動的に走行するスタッカクレーン３、指定され
た棚段へ向かって自動的に昇降するフォーク昇降装置
４、及びコイル１を釣り上げて搬送するためのフォーク
５とから構成されている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The construction of the present invention will be described in detail below with reference to specific embodiments shown in the accompanying drawings. FIG. 1 shows a schematic configuration of a three-dimensional automated warehouse to which the present invention is applied. This three-dimensional automated warehouse is for storing the coil 1 formed by winding a steel strip or wire rod, and it automatically moves toward the designated shelf row and the storage shelf 2 consisting of multiple rows and stages. It is composed of a stacker crane 3 that runs, a fork lifting device 4 that automatically moves up and down toward a designated shelf, and a fork 5 for catching and transporting the coil 1.
【０００７】保管棚２は、列及び段によって格子状に区
分けされており、各収納部にコイル１を載置するための
架台６が設けられている。これらの架台６上には、例え
ばランダムに各種のコイルが投入されて良いが、実施例
では同一径のコイル１が載置されている。The storage rack 2 is divided into rows and columns in a grid pattern, and a pedestal 6 for mounting the coils 1 is provided in each storage unit. For example, various coils may be randomly placed on these pedestals 6, but in the embodiment, the coils 1 having the same diameter are placed.
【０００８】コイル支持用フォーク５は、図２に併せて
示すように、挿入部材としてコイル１の中心部の孔１ａ
に挿入し得る１本の爪からなり、昇降駆動装置７によっ
て昇降駆動されるフォーク昇降装置４に懸吊されると共
に、架台６上のコイル１の孔１ａ内に対して出入り可能
なように、駆動手段としての走行駆動装置８により図２
の矢印Ａに示されるように孔１ａの軸線方向に沿って往
復動可能に駆動されるようになっている。このようにし
て構成された装置により、架台６に対してコイル１の入
・出庫を行ない得る。なお、ロータリエンコーダなどの
パルス発信器９が昇降駆動装置部に付設されており、フ
ォーク昇降装置４の高さ方向移動距離を常時計測してフ
ォーク５の昇降位置の検出を行なうようになっている。As shown in FIG. 2, the coil supporting fork 5 serves as an insertion member and has a hole 1a at the center of the coil 1.
Which can be inserted into the hole 1a of the coil 1 on the pedestal 6 while being suspended by the fork lifting device 4 which is lifted and lowered by the lifting drive device 7, By the traveling drive device 8 as a drive means, FIG.
As indicated by the arrow A, it is reciprocally driven along the axial direction of the hole 1a. The coil 1 can be loaded / unloaded from / to the gantry 6 by the apparatus thus configured. A pulse transmitter 9 such as a rotary encoder is attached to the lifting drive unit to constantly measure the moving distance of the fork lifting unit 4 in the height direction to detect the lifting position of the fork 5. ..
【０００９】フォーク５の先端部には、図３及び図４に
併せて示されるように、本発明に基づく異常検出装置１
１が設けられている。異常検出装置１１は、図４に示さ
れるように図の左方である先端側に向けて開放されたフ
ォーク５の先端部の開口端に固着されたブラケット１２
と、ブラケット１２の上下に設けられた一対のスライド
軸受１３によりフォーク５の軸線に沿って往復動自在に
支持された軸受部材１４と、フォーク５の軸線に直交す
る面上を回転し得るように軸受部材１４により回転軸１
５ａを枢支された円盤体１５と、円盤体１５の外周部分
の周方向に等ピッチで４枚配設された当て板２１と、回
転軸１５ａを駆動するべく軸受部材１４のフォーク５内
方側に取り付けられたモータ１６とを有している。At the tip of the fork 5, as shown in FIGS. 3 and 4, the abnormality detecting device 1 according to the present invention is provided.
1 is provided. As shown in FIG. 4, the abnormality detecting device 11 includes a bracket 12 fixed to the open end of the tip portion of the fork 5 that is open toward the tip side, which is the left side of the figure.
And a bearing member 14 supported by a pair of slide bearings 13 provided above and below the bracket 12 so as to be reciprocally movable along the axis of the fork 5 and rotatable on a plane orthogonal to the axis of the fork 5. Rotating shaft 1 by bearing member 14
5a is pivotally supported on the disk body 15, four outer plates of the disk body 15 are arranged at equal pitches in the circumferential direction of the disk body 15, and the inner side of the fork 5 of the bearing member 14 is for driving the rotary shaft 15a. And a motor 16 attached to the side.
【００１０】また、異常検出装置１１には、両スライド
軸受１３の固定部と、両スライド軸受１３の可動部に固
設された軸受部材１４との間に、軸受部材１４をフォー
ク５の先端側に突出させる向きに付勢する圧縮コイルば
ね１７が軸受部材１４の基端部を外囲するように設けら
れている。更に、圧縮コイルばね１７の付勢力に抗して
フォーク５の挿入方向とは相反する向きに円盤体１５が
変位したことを検出するために、変位検出手段として、
円盤体１５にはブラケット１２側に延出されたドグ１８
が設けられ、かつブラケット１２の対応する位置にリミ
ットスイッチ１９が設けられている。Further, in the abnormality detecting device 11, the bearing member 14 is provided between the fixed portion of both the slide bearings 13 and the bearing member 14 fixed to the movable portion of the both slide bearings 13 so that the tip end side of the fork 5 is provided. A compression coil spring 17 is provided so as to enclose the base end portion of the bearing member 14 so as to energize the compression coil spring 17 in such a direction as to protrude. Further, in order to detect displacement of the disk body 15 in a direction opposite to the inserting direction of the fork 5 against the biasing force of the compression coil spring 17, as displacement detecting means,
The disc body 15 has a dog 18 extending toward the bracket 12 side.
And a limit switch 19 is provided at a corresponding position on the bracket 12.
【００１１】前記円盤体１５には、拡縮部材として周方
向に等ピッチに配設された４枚の当て板２１が設けられ
ている。当て板２１は、図３に良く示されるようにＬ字
形の柄を有する鎌形をなしており、そのＬ字形状部の角
部を円盤体１５の半径方向中間部にて、フォーク５の軸
線に沿う枢支ピン２２を介して回動自在に枢支されて、
図３の実線に示される全開状態と想像線（一部のみ示
す）に示される全閉状態との２位置間で揺動し得るよう
にされている。当て板２１の基端部には概ね半径方向に
沿う長孔２３が設けられており、軸受部材１４の先端部
の半径方向外向突部に固定されてフォーク５の軸線に沿
う固定ピン２４と長孔２３とが互いに係合している。前
記したモータ１６により図３の矢印Ｂに示される向きに
円盤体１５が回転駆動されると、円盤体１５と共に枢支
ピン２２が周方向に移動するため、固定ピン２４を中心
として上記２位置間で当て板２１が揺動する。The disk body 15 is provided with four contact plates 21 arranged at equal pitches in the circumferential direction as expansion / contraction members. As shown in FIG. 3, the backing plate 21 has a sickle shape having an L-shaped handle, and the corner portion of the L-shaped portion is aligned with the axis of the fork 5 at the radial intermediate portion of the disc body 15. Is rotatably pivoted via a pivot pin 22 along
It is possible to swing between two positions, a fully open state shown by a solid line in FIG. 3 and a fully closed state shown by an imaginary line (only part of which is shown). An elongated hole 23 extending substantially in the radial direction is provided at the base end portion of the contact plate 21, and is fixed to a radially outward protrusion of the tip end portion of the bearing member 14 and a fixing pin 24 along the axis of the fork 5 and a long hole. The holes 23 are engaged with each other. When the disk body 15 is rotationally driven in the direction shown by the arrow B in FIG. 3 by the motor 16 described above, the pivot pin 22 moves together with the disk body 15 in the circumferential direction. The backing plate 21 swings between them.
【００１２】尚、当て板２１の遊端部は、全開状態に於
いて、４枚の当て板２１の外周部により円形をなすよう
に、それぞれ概ね９０度の範囲に亘って円弧状に形成さ
れている。これら当て板２１は、全開状態では、コイル
１搬送時にはコイル１の内周面を支持することになるフ
ォーク５の図３に於ける上側の円弧状支持面５ａの延長
面に対して半径方向外方に突出し、かつ図３の想像線に
示されるコイル１の内周面１ａの内径よりは所定長縮径
された小さい外径の輪郭を有する円形になるようにされ
ており、全閉状態では、上記支持面５ａの延長面に対し
て半径方向内方に没入するように移動可能である。The free end portion of the contact plate 21 is formed in an arc shape over a range of about 90 degrees so that the outer peripheral portions of the four contact plates 21 form a circular shape in the fully opened state. ing. In the fully open state, these contact plates 21 are radially outside the extension surface of the upper arcuate support surface 5a of the fork 5 in FIG. 3 that supports the inner peripheral surface of the coil 1 when the coil 1 is conveyed. It has a circular shape that protrudes in the same direction and has a contour with a smaller outer diameter that is reduced by a predetermined length from the inner diameter of the inner peripheral surface 1a of the coil 1 shown by the imaginary line in FIG. , Is movable inwardly in the radial direction with respect to the extension surface of the support surface 5a.
【００１３】次に、この異常検出装置１１の動作につい
て説明する。先ず、別途入力装置にて保管棚の位置（列
及び段）を指定すると、スタッカクレーン３が自走して
目的の棚列前にて停止すると同時に、フォーク昇降装置
４が昇降して目的の棚段前にて停止する。この時、目標
とするコイル１の孔１ａの心合わせに対するフォーク５
の高さ位置は、目標棚段の設計上の高さ寸法に、取扱う
コイルに応じたある固定値を加算した値によって定めれ
ば良い。次いで、モータ１６により円盤体１５を回転さ
せて、当て板２１を全開状態にした後、フォーク５を架
台６のコイル１の孔内へ向けて進行させる。Next, the operation of the abnormality detecting device 11 will be described. First, if the positions (rows and columns) of storage shelves are designated by a separate input device, the stacker crane 3 self-propels and stops in front of the desired row of shelves, and at the same time, the fork lifting device 4 moves up and down to move to the desired shelf Stop at the front. At this time, the fork 5 is aligned with the target hole 1a of the coil 1.
The height position may be determined by a value obtained by adding a certain fixed value according to the coil to be handled to the designed height dimension of the target tray. Then, the disk body 15 is rotated by the motor 16 to fully open the contact plate 21, and then the fork 5 is advanced toward the inside of the coil 1 of the mount 6.
【００１４】この時、例えば何らかの原因によりコイル
１の巻き始めである内周端が中心方向に向けて大きく飛
び出していたら、その飛び出し部分に当て板２１の外周
部が衝突する。すると、当て板２１と共に円盤体１５
が、図４の矢印Ｃに示されるようにフォーク５の基端側
に押し戻されるため、円盤体１５に設けられたドグ１８
がリミットスイッチ１９を叩き、上記内周端の異常を自
動的に検出することができる。At this time, for example, if the inner peripheral end, which is the beginning of winding of the coil 1, largely protrudes toward the center for some reason, the outer peripheral portion of the backing plate 21 collides with the protruding portion. Then, the disk 15 together with the backing plate 21
Is pushed back to the base end side of the fork 5 as shown by the arrow C in FIG.
Can hit the limit switch 19 to automatically detect the abnormality of the inner peripheral edge.
【００１５】飛び出し量が許容値以内であれば、当て板
２１が何の障害も受けずに、フォーク１をコイル１の孔
１ａ内に完全に挿入し得る。そして、モータ１６を逆転
させて当て板２１を全閉状態にした後、フォーク５を若
干上昇させることにより、フォーク５の支持面５ａ上に
コイル１の孔１ａの内周面を載置した状態で、コイル１
を搬送することができる。If the protruding amount is within the allowable value, the fork 1 can be completely inserted into the hole 1a of the coil 1 without any damage to the contact plate 21. Then, the motor 16 is rotated in the reverse direction to fully close the contact plate 21, and then the fork 5 is slightly lifted to place the inner peripheral surface of the hole 1a of the coil 1 on the support surface 5a of the fork 5. And coil 1
Can be transported.
【００１６】尚、当て板２１の開閉は、本実施例ではモ
ータ１６により選択的に駆動するようにしたが、常時全
開状態になるようにばね付勢しておき、フォーク５によ
り支持する際には、ばね力に抗して当て板２１が全閉位
置に向けて変位し得るようにすることもできる。In this embodiment, the contact plate 21 is selectively driven by the motor 16 in this embodiment. However, when the support plate 21 is supported by the fork 5, the spring 16 is always biased so as to be fully opened. Can also be arranged such that the backing plate 21 can be displaced towards the fully closed position against the spring force.
【００１７】[0017]
【発明の効果】このように本発明によれば、空心コイル
に於いて、その巻き始めである内周端の例えば中心側へ
の飛び出しによる異常を自動的に検出することができる
ため、その検出作業性を大きく向上し得ると共に、作業
コストを低廉化し得る。また、当て板の外径を可変にす
ることにより、コイル搬送用のフォークに設けることが
でき、出庫作業時に効率良く異常検出を行うことができ
る。As described above, according to the present invention, in the air-core coil, it is possible to automatically detect an abnormality due to the inner peripheral end, which is the winding start, popping out toward, for example, the center side. The workability can be greatly improved and the work cost can be reduced. Further, by making the outer diameter of the contact plate variable, it can be provided on the fork for carrying the coil, and the abnormality can be efficiently detected during the warehousing operation.
【図１】本発明が適用される立体自動倉庫の概略構成
図。FIG. 1 is a schematic configuration diagram of a three-dimensional automated warehouse to which the present invention is applied.
【図２】図１の立体自動倉庫に用いられるスタッカクレ
ーンに於けるフォーク部分を示す拡大部分図。FIG. 2 is an enlarged partial view showing a fork portion in a stacker crane used in the three-dimensional automated warehouse of FIG.
【図３】本発明の異常検出装置を一部破断して示す拡大
正面図。FIG. 3 is an enlarged front view showing the abnormality detection device of the present invention with a part thereof cut away.
【図４】図３の矢印IV−IV線に沿って示す側断面図。4 is a side sectional view taken along the line IV-IV in FIG.
１ コイル １ａ 孔 ２ 保管棚 ３ スタッカクレーン ４ フォーク昇降装置 ５ フォーク ５ａ 支持面 ６ 架台 ７ 昇降駆動装置 ８ 在荷検出器 ９ パルス発信器 １１ 異常検出装置 １２ ブラケット １３ スライド軸受 １４ 軸受部材 １５ 円盤体 １５ａ 回転軸 １６ モータ １７ 圧縮コイルばね １８ ドグ １９ リミットスイッチ ２１ 当て板 ２２ 枢支ピン ２３ 長孔 ２４ 固定ピン 1 Coil 1a Hole 2 Storage Rack 3 Stacker Crane 4 Fork Lifting Device 5 Fork 5a Supporting Surface 6 Stand 7 Lifting Drive Device 8 Loading Detector 9 Pulse Transmitter 11 Abnormality Detection Device 12 Bracket 13 Slide Bearing 14 Bearing Member 15 Disk 15a Rotating shaft 16 Motor 17 Compression coil spring 18 Dog 19 Limit switch 21 Abutment plate 22 Pivoting pin 23 Long hole 24 Fixing pin
Claims (1)
の孔内に該コイルを釣り上げるために挿入されるべきフ
ォーク部材と、前記フォーク部材のコイル支持面の延長
面に対して出没するように移動可能であってかつ該突出
状態で前記孔の内径よりは小さい外径の輪郭を有するよ
うに前記フォーク部材の先端部に設けられた拡縮部材
と、前記フォーク部材の挿入方向とは相反する向きの前
記拡縮部材の変位を検出するための変位検出手段とを有
することを特徴とする空心コイルの内周端の異常検出装
置。1. A fork member to be inserted into a hole of an air-core coil formed by winding a steel plate, a wire rod, or the like, and a fork member that appears in and out of an extension surface of a coil supporting surface of the fork member. A direction in which the expansion / contraction member provided at the tip portion of the fork member so as to be movable and having an outer diameter smaller than the inner diameter of the hole in the protruding state and the insertion direction of the fork member are opposite to each other. A displacement detecting means for detecting the displacement of the expansion / contraction member, and an abnormality detecting apparatus for an inner peripheral end of an air-core coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3287009A JP2528405B2 (en) | 1991-10-07 | 1991-10-07 | Abnormality detection device for the inner peripheral edge of the air-core coil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3287009A JP2528405B2 (en) | 1991-10-07 | 1991-10-07 | Abnormality detection device for the inner peripheral edge of the air-core coil |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0597206A true JPH0597206A (en) | 1993-04-20 |
| JP2528405B2 JP2528405B2 (en) | 1996-08-28 |
Family
ID=17711852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3287009A Expired - Lifetime JP2528405B2 (en) | 1991-10-07 | 1991-10-07 | Abnormality detection device for the inner peripheral edge of the air-core coil |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2528405B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017220285A1 (en) * | 2016-06-23 | 2017-12-28 | Amova Gmbh | High-bay warehouse with storage-and-retrieval units provided therein for storing and retrieving, or transferring, articles |
-
1991
- 1991-10-07 JP JP3287009A patent/JP2528405B2/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017220285A1 (en) * | 2016-06-23 | 2017-12-28 | Amova Gmbh | High-bay warehouse with storage-and-retrieval units provided therein for storing and retrieving, or transferring, articles |
| CN109071192A (en) * | 2016-06-23 | 2018-12-21 | 阿莫瓦有限公司 | High rack warehouse with storage and export unit for cargo storage and export or roll-over to be arranged |
| TWI656080B (en) * | 2016-06-23 | 2019-04-11 | 阿莫瓦有限公司 | Elevated storage device with storage and delivery units for storing and unloading or unloading warehoused goods |
| AU2017283014B2 (en) * | 2016-06-23 | 2019-12-19 | Amova Gmbh | High-bay warehouse with storage-and-retrieval units provided therein for storing and retrieving, or transferring, articles |
| CN109071192B (en) * | 2016-06-23 | 2020-11-10 | 阿莫瓦有限公司 | Overhead warehouse with storage and delivery units for storing and delivering goods or transferring goods |
| US10882693B2 (en) | 2016-06-23 | 2021-01-05 | Amova Gmbh | High-bay warehouse with storage-and-retrieval units provided therein for storing and retrieving, or transferring, articles |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2528405B2 (en) | 1996-08-28 |
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| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19960319 |