TWI729714B - Storage modules, storage shelves and storage systems - Google Patents
Storage modules, storage shelves and storage systems Download PDFInfo
- Publication number
- TWI729714B TWI729714B TW109106412A TW109106412A TWI729714B TW I729714 B TWI729714 B TW I729714B TW 109106412 A TW109106412 A TW 109106412A TW 109106412 A TW109106412 A TW 109106412A TW I729714 B TWI729714 B TW I729714B
- Authority
- TW
- Taiwan
- Prior art keywords
- storage
- connecting piece
- screw
- support plate
- short connecting
- Prior art date
Links
Images
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
本發明有關於一種倉儲模組,其包含有一個框架、一承載平台、一個左連接組件及一個右連接組件,承載平台是可拆卸地設於框架,待加工工件放置於承載平台上,左連接組件設於框架之左側面,右連接組件設於框架之右側面,使二個框架之間能利用左、右連接組件連接在一起,如此即可依照客戶端需求進行多元化的彈性組合。此外,本發明更提供一個由前述倉儲模組所排列而成之倉儲貨架及一個由前述倉儲貨架搭配一個工件取放裝置使用之倉儲系統。The present invention relates to a storage module, which includes a frame, a carrying platform, a left connecting component and a right connecting component. The carrying platform is detachably arranged on the frame, the workpiece to be processed is placed on the carrying platform, and the left connecting The components are arranged on the left side of the frame, and the right connecting component is arranged on the right side of the frame, so that the two frames can be connected together by the left and right connecting components, so that diversified and flexible combinations can be carried out according to the needs of the client. In addition, the present invention further provides a storage shelf arranged by the aforementioned storage modules and a storage system used by the aforementioned storage shelf with a workpiece pick-and-place device.
Description
本發明與倉儲設備有關,特別是指一種倉儲模組、一個由該等倉儲模組所排列而成之倉儲貨架,以及一個使用該等倉儲貨架之倉儲系統。 The present invention is related to storage equipment, and in particular refers to a storage module, a storage shelf arranged by the storage modules, and a storage system using the storage shelves.
CN 206265699 U所揭露的全自動立體倉儲模組主要利用多軸機械臂的Z軸升降移動來彌補取放機械手的不足,以便於取放機械手能自由移動至立式儲貨架的相應位置。然而在前述專利文獻中,立式儲貨架具有固定不變的構型,難以依照客戶端需求調整排列方式或增減格位數量,至於取放機械手僅能夾取手爪範圍內的物件,在操作上欠缺靈活度。 The fully automatic three-dimensional storage module disclosed by CN 206265699 U mainly uses the Z-axis lifting movement of a multi-axis mechanical arm to make up for the shortage of the pick-and-place manipulator, so that the pick-and-place manipulator can freely move to the corresponding position of the vertical storage shelf. However, in the aforementioned patent documents, the vertical storage rack has a fixed configuration, and it is difficult to adjust the arrangement or increase or decrease the number of grid positions according to the needs of the client. As for the pick-and-place manipulator, only objects within the range of the claw can be gripped. Lack of flexibility in operation.
US 9,144,870 B2所揭露的旋轉式托盤設備主要藉由滑台將托盤安放於可旋轉的平台上,然後藉由平台將托盤送到不同的工作站,每一個工作站具有一個可旋轉的門,以允許操作人員能夠透過門接觸到托盤。然而在前述專利文獻中,整個托盤設備具有固定不變的構型,難以依照客戶端需求調整排列方式或增減格位數量,至於平台僅能輸送托盤,並沒有提供可以抓取工件的相關配件。 The rotary pallet device disclosed in US 9,144,870 B2 mainly uses a sliding table to place the pallet on a rotatable platform, and then uses the platform to send the pallet to different workstations. Each workstation has a rotatable door to allow operation Personnel can access the tray through the door. However, in the aforementioned patent documents, the entire pallet equipment has a fixed configuration, and it is difficult to adjust the arrangement or increase or decrease the number of grid positions according to the needs of the client. As for the platform can only convey the pallet, it does not provide related accessories that can grab the workpiece. .
US 2010/0018836 A1所揭露的加工設施主要藉由托盤更換器移除用來承載工件的子托盤。在前述專利文獻中,雖然可以根據需 要增加或減少子托盤的數量,但是在排列方式上仍然難以調整或改變,因此在使用上缺乏靈活度。 The processing facility disclosed in US 2010/0018836 A1 mainly uses a pallet changer to remove the sub-pallets used to carry the workpiece. In the aforementioned patent documents, although you can It is necessary to increase or decrease the number of sub-trays, but the arrangement is still difficult to adjust or change, so there is a lack of flexibility in use.
本發明之主要目的在於提供一種倉儲模組,其能依照客戶端需求進行彈性化組合。 The main purpose of the present invention is to provide a storage module that can be combined flexibly according to the needs of the client.
為了達成上述主要目的,本發明之倉儲模組包含有一個框架、一個承載平台、一個左連接組件,以及一個右連接組件。該承載平台是可拆卸地設於該框架並用以承載至少一工件;該左連接組件設於該框架之左側面,該右連接組件設於該框架之右側面,使二個框架之間能利用該左、右連接組件連接在一起,如此即可依照客戶端需求進行多元化的彈性組合。 In order to achieve the above-mentioned main purpose, the storage module of the present invention includes a frame, a carrying platform, a left connecting component, and a right connecting component. The carrying platform is detachably arranged on the frame and used to carry at least one workpiece; the left connecting component is arranged on the left side of the frame, and the right connecting component is arranged on the right side of the frame, so that the two frames can be used The left and right connecting components are connected together, so that a diversified and flexible combination can be carried out according to the needs of the client.
較佳地,該承載平台的底面設有一支撐板,且該支撐板之四個角落分別具有一調整螺孔,各該調整螺孔內設置一根螺絲,該支撐板的底面還設有一墊片,該螺絲的底端抵接該墊片。藉此,當轉動其中一或多根螺絲時即可調整支撐板的傾斜角度,進而使該承載平台的傾斜角度能進行微調,以達到提升組裝精度的效果。 Preferably, the bottom surface of the carrying platform is provided with a supporting plate, and four corners of the supporting plate are respectively provided with an adjusting screw hole, each of the adjusting screw holes is provided with a screw, and the bottom surface of the supporting plate is also provided with a gasket , The bottom end of the screw abuts the washer. Thereby, when one or more of the screws are rotated, the inclination angle of the support plate can be adjusted, so that the inclination angle of the carrying platform can be fine-tuned, so as to achieve the effect of improving the assembly accuracy.
較佳地,該支撐板之前側邊的左右二端及該支撐板之左側邊的前後二端分別具有一個螺孔,該支撐板之前側邊的左右二端及該支撐板之左側邊的前後二端分別設置一個固定板,藉由四根水平角度調整螺絲可原地轉動地穿設於該四固定板且螺接於該支撐板之該四螺孔內,當轉動其中一或多根水平調整螺絲時,即可調整該承載平台的水平旋轉角度,以達到提升組裝精度的效果。 Preferably, the left and right ends of the front side of the support plate and the front and rear ends of the left side of the support plate respectively have a screw hole, the left and right ends of the front side of the support plate and the front and rear of the left side of the support plate Two fixing plates are respectively provided at the two ends, which can be rotatably inserted through the four fixing plates and screwed into the four screw holes of the supporting plate by means of four horizontal angle adjustment screws. When one or more of the horizontal angle adjustment screws are rotated When adjusting the screws, the horizontal rotation angle of the carrying platform can be adjusted to achieve the effect of improving the assembly accuracy.
此外,本發明更提供一個由多個倉儲單元所構成的倉儲貨架,各該倉儲單元具有多個前述倉儲模組,各該倉儲單元之該等倉儲模組以上下堆疊的方式排列,至於相鄰二該倉儲單元之間以多根定位螺絲連接在一起,各該定位螺絲連接彼此相鄰之一該左連接組件及一該右連接組件。藉此,該倉儲貨架可以依照客戶端需求彈性組合成直線態樣或弧形態樣,甚至也可以兩者相互搭配,亦即一部分呈直線排列,其他部分呈弧形排列。 In addition, the present invention further provides a storage rack composed of a plurality of storage units, each of the storage units has a plurality of the aforementioned storage modules, and the storage modules of each of the storage units are arranged in an up-and-down manner, as far as adjacent 2. The storage units are connected together by a plurality of positioning screws, and each positioning screw is connected to a left connecting component and a right connecting component adjacent to each other. In this way, the storage shelf can be flexibly combined into a linear shape or an arc shape according to the needs of the client, or even the two can be matched with each other, that is, one part is arranged in a straight line and the other parts are arranged in an arc shape.
此外,前述倉儲貨架可以進一步搭配一個工件取放裝置使用而形成一個倉儲系統。在高負載時利用該工件取放裝置之伸縮軸的零點夾持系統將工件轉移至工具機或該承載平台上,此時利用雙迴轉半徑的特色,可以讓該工件取放裝置在空間受限的區域內以摺疊的方式進出,藉此提升該工件取放裝置的適用性,在狹隘的空間中提供更多元的路徑組合。至於在輕負載時,以該工件取放裝置之末端關節模組搭配夾爪直接將工件夾取並轉移至工具機或該承載平台上,該末端關節模組之夾爪亦可搭配彈性快換系統切換不同加工條件下的夾治具,整體系統靈活度高,亦可提升生產效率。 In addition, the aforementioned storage rack can be further used with a workpiece pick-and-place device to form a storage system. When the load is high, the zero-point clamping system of the telescopic shaft of the workpiece pick-and-place device is used to transfer the workpiece to the machine tool or the load-bearing platform. At this time, the double radius of gyration is used to make the workpiece pick-and-place device in limited space Folding in and out in the area, thereby improving the applicability of the workpiece pick-and-place device, and provide more diverse path combinations in a narrow space. As for the light load, use the end joint module of the workpiece pick-and-place device with clamping jaws to directly clamp and transfer the workpiece to the machine tool or the load-bearing platform. The clamping jaws of the end joint module can also be equipped with flexible quick-change The system switches fixtures under different processing conditions, and the overall system is highly flexible and can also improve production efficiency.
有關本發明所提供對於倉儲模組、倉儲貨架及倉儲系統的詳細構造、特點、組裝或使用方式,將於後續的實施方式詳細說明中予以描述。然而,在本發明領域中具有通常知識者應能瞭解,該等詳細說明以及實施本發明所列舉的特定實施例,僅係用於說明本發明,並非用以限制本發明之專利申請範圍。 The detailed structure, characteristics, assembly or use of the storage module, storage rack, and storage system provided by the present invention will be described in the detailed description of the subsequent embodiments. However, those with ordinary knowledge in the field of the present invention should be able to understand that these detailed descriptions and specific examples for implementing the present invention are only used to illustrate the present invention, and are not intended to limit the scope of the patent application of the present invention.
10:倉儲模組 10: Storage module
12:倉儲單元 12: storage unit
20:框架 20: Frame
21:頂框 21: Top frame
211:水平連接件 211: Horizontal connector
23:底框 23: bottom frame
24:支柱 24: Pillar
25:左前立柱 25: Left front column
26:左後立柱 26: Left rear upright
27:右前立柱 27: Right front column
28:右後立柱 28: Right rear column
29:取料口 29: Reclaiming port
30:承載平台 30: Carrying platform
31:上沉頭孔 31: Upper countersunk hole
32:沉頭螺絲 32: countersunk screw
33:墊片 33: Gasket
34:支撐板 34: Support plate
341:調整螺孔 341: Adjusting screw hole
342:定位孔 342: positioning hole
343:止付螺絲 343: Stop Screw
35:容槽 35: Tolerance
37:螺孔 37: screw hole
38:拉栓 38: Pull bolt
39:導引件 39: guide
41:水平調整螺絲 41: Level adjustment screw
42:固定螺絲 42: fixing screw
43:固定板 43: fixed plate
44:穿孔 44: Piercing
50:左連接組件 50: Left connection component
51:第一短連接件 51: The first short connector
52:第一長連接件 52: The first long connector
53:右連接組件 53: Right connection component
54:第二短連接件 54: The second short connector
55:第二長連接件 55: The second long connector
56:定位螺絲 56: positioning screw
60:倉儲貨架 60: storage shelves
62:倉儲貨架 62: storage shelves
64:倉儲貨架 64: storage shelves
70:倉儲系統 70: Warehousing System
71:工件取放裝置 71: Workpiece pick-and-place device
72:馬達 72: Motor
73:滑台 73: sliding table
74:旋轉軸 74: Rotation axis
75:升降台 75: Lifting platform
76:夾爪 76: Gripper
77:伸縮軸台 77: Telescopic pillow block
C1:第一結合件 C1: The first combination
C2:第二結合件 C2: The second combination
T:三角形連接塊 T: triangular connecting block
圖1為本發明之倉儲模組的立體圖。 Figure 1 is a perspective view of the storage module of the present invention.
圖2為本發明之倉儲模組的局部立體分解圖。 Figure 2 is a partial three-dimensional exploded view of the storage module of the present invention.
圖3為圖2的局部放大圖。 Fig. 3 is a partial enlarged view of Fig. 2.
圖4為本發明之倉儲模組的局部俯視圖。 Figure 4 is a partial top view of the storage module of the present invention.
圖5為本發明之倉儲模組的另一立體圖,主要顯示左連接組件與右連接組件均為二長二短的態樣。 FIG. 5 is another perspective view of the storage module of the present invention, which mainly shows that the left connecting component and the right connecting component are two long and two short.
圖6為本發明之倉儲模組的另一立體圖,主要顯示只有左連接組件為二長二短的態樣。 Fig. 6 is another perspective view of the storage module of the present invention, which mainly shows that only the left connecting component is two long and two short.
圖7為本發明之倉儲貨架以直線方式排列的局部立體圖,主要顯示二個倉儲模組相互連接的狀態。 Fig. 7 is a partial three-dimensional view of the storage shelves of the present invention arranged in a straight line, mainly showing the state of two storage modules connected to each other.
圖8為本發明之倉儲貨架以弧形方式排列的局部立體圖,主要顯示二個倉儲模組相互連接的狀態。 Fig. 8 is a partial three-dimensional view of the storage shelves of the present invention arranged in an arc, mainly showing the state that two storage modules are connected to each other.
圖9為本發明之倉儲貨架以混合方式排列的局部立體圖,主要顯示二個倉儲模組相互連接的狀態。 Figure 9 is a partial three-dimensional view of the storage shelves of the present invention arranged in a mixed manner, mainly showing the state of two storage modules connected to each other.
圖10為本發明之倉儲系統的立體圖,其中的倉儲貨架以直線方式排列。 Figure 10 is a perspective view of the storage system of the present invention, in which storage shelves are arranged in a straight line.
圖11為本發明之倉儲系統的另一立體圖,其中的倉儲貨架以弧形方式排列。 Fig. 11 is another perspective view of the storage system of the present invention, in which the storage shelves are arranged in an arc shape.
圖12為本發明之倉儲系統的另一立體圖,其中的倉儲貨架以直線加弧形方式排列。 Fig. 12 is another perspective view of the storage system of the present invention, in which the storage shelves are arranged in a straight line and an arc shape.
圖13為本發明之倉儲系統所提供之工件取放裝置的立體圖。 Fig. 13 is a perspective view of a workpiece pick-and-place device provided by the storage system of the present invention.
申請人首先在此說明,於整篇說明書中,包括以下介紹的實施例以及申請專利範圍的請求項中,有關方向性的名詞皆以圖式中的方向為基準。其次,在以下將要介紹之實施例以及圖式中,相同之元件標號,代表相同或近似之元件或其結構特徵。 The applicant first explains here that throughout the specification, including the following embodiments and claims in the scope of the patent application, the nouns related to directionality are based on the directions in the drawings. Secondly, in the following embodiments and drawings, the same element numbers represent the same or similar elements or their structural features.
請參閱圖1及圖2,本發明之倉儲模組10包含有一個框架20、一個承載平台30、一個左連接組件50,以及一個右連接組件53。
Please refer to FIGS. 1 and 2, the
框架20具有由鋁擠型所製成的一個頂框21、一個底框23、一個左前立柱25、一個左後立柱26、一個右前立柱27及一個右後立柱28。底框23具有與頂框21相同的尺寸大小,左前立柱25、左後立柱26、右前立柱27及右後立柱28是通過多個三角形連接塊T並以螺絲鎖固的方式將頂框21與底框23的四個角落連接在一起,使得頂框21、底框23、左前立柱25及右前立柱27圍繞出一個取料口29。此外,頂框21更具有間隔設置的二個水平連接件211與四個支柱24,四個支柱24分為二組而分別架設於該二水平連接件211上。四個支柱24之頂端分別設置一個墊片33,四個墊片33共同承接一個支撐板34,支撐板34之頂面具有四個容槽35,每一個容槽35內設置一個導引件39,導引件39通過螺絲鎖附的方式而使支撐板34與導引件39結合為一體。如圖3所示,支撐板34於每一個容槽35的外圍都設有一個調整螺孔341與二個定位孔342,調整螺孔341位於該二定位孔342之間。支撐板34還設有四個止付螺絲343,止付螺絲343的頂端設有一個六角孔,止付螺絲343設於各個調整螺孔
341並且止付螺絲343的底端抵頂墊片33,藉以調整支撐板34以及後續將說明的承載平台30的傾斜角度。定位孔342是用來供螺絲(圖未繪示)通過,使支撐板34能和四個支柱24鎖固為一體。
The
請回到圖2,承載平台30是可拆卸地設於支撐板34的上方,用以承載待加工工件。承載平台30呈矩形,且承載平台30之四個角落分別具有一個上沉頭孔31,各個上沉頭孔31內埋設一根沉頭螺絲32,各個沉頭螺絲32螺接一個拉栓38,使承載平台30能通過各個拉栓38而定位於支撐板34上。另外,承載平台30的前側還設有一第一結合件C1。
Please return to FIG. 2, the carrying
此外,如圖2及圖4所示,支撐板34之前側邊的左右二端及支撐板34之左側邊的前後二端分別具有一個螺孔37,前方二個支柱24的前側面及左邊二個支柱24的左側面分別利用二根固定螺絲42鎖設一個固定板43,各個固定板43具有二個穿孔44,各個穿孔44分別被一根水平調整螺絲41所穿設,其中一根水平調整螺絲41是螺合於支撐板34的螺孔37。藉此,當轉動其中一或多根水平調整螺絲41時,即可透過支撐板34同步帶動承載平台30左右偏轉,如此即可微調承載平台30的水平旋轉角度,以提升承載平台30的組裝精度。
In addition, as shown in FIGS. 2 and 4, the left and right ends of the front side of the
左連接組件50總共具有二種態樣:第一種態樣具有四個第一短連接件51,如圖1所示,其中二個第一短連接件51固設於左前立柱25之頂底二端,另外二個第一短連接件51固設於左後立柱26之頂底二端;第二種態樣具有二個第一短連接件51與二個第一長連接件52,如圖5所示,二個第一短連接件51固設於左前立柱25之頂底二端,二個第一長連接件52固設於左後立柱26之頂底二端。
The left connecting
右連接組件53總共具有二種態樣:第一種態樣具有四個第二短連接件54,如圖1所示,其中二個第二短連接件54固設於右前立柱27之頂底二端,另外二個第二短連接件54固設於右後立柱28之頂底二端;第二種態樣具有二個第二短連接件54與二個第二長連接件55,如圖5所示,二個第二短連接件54固設於右前立柱27之頂底二端,二個第二長連接件55固設於右後立柱28之頂底二端。須說明的是,於本實施例中第一短連接件51與第二短連接件54的構型是完全相同的,而且第一長連接件52與第二長連接件55的構型也是完全相同的。
The right connecting
此外,各個第一短連接件51與各個第二短連接件54具有相同的長度且能利用一根定位螺絲56樞接在一起,各個第一長連接件52與各個第二長連接件55具有相同的長度且亦能利用一根定位螺絲56樞接在一起。
In addition, each first short connecting
由上述可知,本發明之倉儲模組10可以選擇不同態樣的左連接組件50與右連接組件53而組合成不同態樣的倉儲貨架60。舉例來說,如圖10所示,第一種倉儲貨架60包含有多個倉儲單元12(在此以六個為例,但不以此為限),每一個倉儲單元12具有三個以上下堆疊的方式排列之倉儲模組10(其中最上面的倉儲模組10並未設置承載平台30),然後相鄰二個倉儲模組10之間利用第一種左連接組件50(亦即四個第一短連接件51)與第一種右連接組件53(亦即四個第二短連接件54)樞接在一起,如圖7所示,使第一種倉儲貨架60排列成一直線。
From the foregoing, it can be seen that the
再如圖11所示,第二種倉儲貨架62包含有多個倉儲單元12(在此以七個為例,但不以此為限),每一個倉儲單元12具有三個以上
下堆疊的方式排列之倉儲模組10(其中最上面的倉儲模組10並未設置承載平台30),然後相鄰二個倉儲模組10之間利用第二種左連接組件50(亦即二個第一短連接件51與二個第一長連接件52)與第二種右連接組件53(亦即二個第二短連接件54與二個第二長連接件55)樞接在一起,如圖8所示,使第二種倉儲貨架62以弧形排列的態樣呈現。
As shown in FIG. 11, the second type of
再如圖12所示,第三種倉儲貨架64則是將前述二種倉儲貨架60、62組合在一起,亦即區分成一個第一部分14與一個第二部分16,第一部分14排列成一直線,第二部分16則是呈弧形排列,至於在交界處的倉儲模組10利用第二種左連接組件50(亦即二個第一短連接件51與二個第一長連接件52)與第二部分16組合在一起,然後利用第一種右連接組件53(亦即四個第二短連接件54)與第一部分14組合在一起,如圖9所示。
As shown in Figure 12, the third type of
另一方面,前面三種倉儲貨架60、62、64都可以進一步搭配一個工件取放裝置71使用而構成一個倉儲系統70。如圖13所示,工件取放裝置71為基本四軸運動自由度的基礎下搭配末端具自走軸之二軸水平旋轉關節手臂模組的七軸式機械手臂,工件取放裝置71可被驅動而移動或轉動。簡單來說,除了藉由馬達72帶動滑台73使整體架構能進行直線位移,以便能夠配合該等倉儲單元12的直線排列方向將待加工工件放置於承載平台30上,也能藉由旋轉軸74使整體架構進行360度的旋轉運動,以便能配合該等倉儲單元12的弧形排列方向將待加工工件放置於承載平台30上。此外,還能藉由升降台75讓夾爪76能夠依照倉儲貨架60、62、64的不同組合進行升降,以便拿取或放置待加工工件,最後藉
由伸縮軸台77供夾爪76能前後伸縮作動來拿取或放置待加工工件,此一伸縮軸台77具有彈性置換功能,一方面能依客戶端需求擴充長度,另一方面能依客戶端需求夾取形狀變化大的工件。此外,伸縮軸台77的前端也設有一第二結合件C2,第二結合件C2於本實施例中為一氣動夾持裝置。第二結合件C2能結合承載平台30的第一結合件C1,讓工件取放裝置71也能通過其伸縮軸台77的第二結合件C2而結合第一結合件C1,進而取放承載平台30,讓工件取放裝置71能同時具有取放代加工的工件或者是取放承載平台30的功能。由於工件取放裝置71利用雙迴轉半徑的特色,可在空間受限區域內以摺疊方式進出,藉此提升在狹隘空間內有多元化路徑的組合。在此需要補充說明的是,由於工件取放裝置非本案重點,在此容不贅述其細部結構及操作原理。
On the other hand, the first three
綜上所陳,本發明之倉儲系統70利用多個倉儲模組10所組合而成的倉儲貨架60、62、64及多軸式工件取放裝置71來搭配例如CNC工具機等加工機具作使用,其中的倉儲貨架60、62、64可依客戶端的空間需求而彈性組合成直線型、弧線型或直線加弧線的混合型等不同態樣,然後多軸式工件取放裝置71可依照不同的加工條件來更換不同的夾治具,以便進行不同待加工工件的取放放來達到無人化生產的效果,整體而言具有相當高的靈活度,亦可提升生產效率。
In summary, the
10:倉儲模組 10: Storage module
20:框架 20: frame
21:頂框 21: Top frame
23:底框 23: bottom frame
25:左前立柱 25: Left front column
26:左後立柱 26: Left rear upright
27:右前立柱 27: Right front column
28:右後立柱 28: Right rear column
29:取料口 29: Reclaiming port
30:承載平台 30: Carrying platform
32:沉頭螺絲 32: countersunk screw
50:左連接組件 50: Left connection component
51:第一短連接件 51: The first short connector
53:右連接組件 53: Right connection component
54:第二短連接件 54: The second short connector
T:三角形連接塊 T: triangular connecting block
Claims (17)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW109106412A TWI729714B (en) | 2020-02-27 | 2020-02-27 | Storage modules, storage shelves and storage systems |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW109106412A TWI729714B (en) | 2020-02-27 | 2020-02-27 | Storage modules, storage shelves and storage systems |
Publications (2)
Publication Number | Publication Date |
---|---|
TWI729714B true TWI729714B (en) | 2021-06-01 |
TW202132182A TW202132182A (en) | 2021-09-01 |
Family
ID=77517471
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW109106412A TWI729714B (en) | 2020-02-27 | 2020-02-27 | Storage modules, storage shelves and storage systems |
Country Status (1)
Country | Link |
---|---|
TW (1) | TWI729714B (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1669308A1 (en) * | 2004-12-10 | 2006-06-14 | Hartmut Lang | Method and device for loading and unloading goods from shelves of a storage rack |
CN106424790A (en) * | 2016-10-09 | 2017-02-22 | 江苏瑞尔隆盛叶轮科技有限公司 | High precision tool adjusting mechanism for lathe |
CN108016800A (en) * | 2017-05-31 | 2018-05-11 | 真玫智能科技(深圳)有限公司 | Storage module, control method, server and computer-readable medium |
CN110077773A (en) * | 2019-05-31 | 2019-08-02 | 天津施格自动化科技有限公司 | A kind of circular rack caching system |
KR20200016022A (en) * | 2018-08-06 | 2020-02-14 | 윤선미 | A fastening frame for pallet rack connection |
-
2020
- 2020-02-27 TW TW109106412A patent/TWI729714B/en active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1669308A1 (en) * | 2004-12-10 | 2006-06-14 | Hartmut Lang | Method and device for loading and unloading goods from shelves of a storage rack |
CN106424790A (en) * | 2016-10-09 | 2017-02-22 | 江苏瑞尔隆盛叶轮科技有限公司 | High precision tool adjusting mechanism for lathe |
CN108016800A (en) * | 2017-05-31 | 2018-05-11 | 真玫智能科技(深圳)有限公司 | Storage module, control method, server and computer-readable medium |
KR20200016022A (en) * | 2018-08-06 | 2020-02-14 | 윤선미 | A fastening frame for pallet rack connection |
CN110077773A (en) * | 2019-05-31 | 2019-08-02 | 天津施格自动化科技有限公司 | A kind of circular rack caching system |
Also Published As
Publication number | Publication date |
---|---|
TW202132182A (en) | 2021-09-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US7611180B1 (en) | Robotic end of arm tool method and apparatus | |
US20060245897A1 (en) | Robot handling system | |
US6655901B2 (en) | Three-dimensionally movable transfer robot | |
US6976821B2 (en) | Device for the translatory positioning of a platform | |
JPWO2008029486A1 (en) | Machining equipment using sub-pallets | |
TWI729714B (en) | Storage modules, storage shelves and storage systems | |
KR20210037563A (en) | Substrate processing apparatus | |
CN114850947A (en) | Automatic material turning numerical control equipment joint robot | |
US20210347038A1 (en) | Mechanical arm | |
JP2011025358A (en) | Production system | |
CN113387088B (en) | Storage module, storage goods shelf and storage system | |
CN109591049B (en) | Extension structure of mechanical arm and mechanical arm with extension structure | |
CN216884684U (en) | Finishing impression system of processing and go up unloading system thereof | |
CN110842103A (en) | Full-automatic punch type mechanical arm | |
CN212683993U (en) | Practical mechanical arm | |
JP7005674B2 (en) | Rack modules, rack warehouses and rack warehouse systems | |
CN116745066A (en) | Conveying device of machine tool | |
CN211615603U (en) | Multi-axis robot | |
CN111376014B (en) | Buckle and soundproof cotton rigging equipment | |
JPH0742596Y2 (en) | Work table | |
RU208600U1 (en) | Robotic cell | |
CN219144151U (en) | Wafer level manipulator and transportation device with same | |
JP2021034686A (en) | Substrate processing apparatus | |
KR20200142712A (en) | Parallel Robot Equipped With An End Stage Using A Hollow Actuator Module Capable Of Expanding Degrees Of Freedom | |
US20230347528A1 (en) | Multi-tool gripper head of a sorting apparatus and operating method thereof |