US20150107967A1 - High volume conveyor transport for clean environments - Google Patents

High volume conveyor transport for clean environments Download PDF

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Publication number
US20150107967A1
US20150107967A1 US14/520,977 US201414520977A US2015107967A1 US 20150107967 A1 US20150107967 A1 US 20150107967A1 US 201414520977 A US201414520977 A US 201414520977A US 2015107967 A1 US2015107967 A1 US 2015107967A1
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United States
Prior art keywords
wheel
belt
drive
ring
wheels
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.)
Abandoned
Application number
US14/520,977
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English (en)
Inventor
George W. Horn
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Individual
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Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to US14/520,977 priority Critical patent/US20150107967A1/en
Priority to TW104112762A priority patent/TWI653702B/zh
Priority to KR1020177013870A priority patent/KR102521513B1/ko
Priority to PCT/US2015/026773 priority patent/WO2016064448A1/en
Priority to DE112015004820.0T priority patent/DE112015004820T5/de
Priority to CN201580057509.2A priority patent/CN107250006B/zh
Priority to US14/691,881 priority patent/US9540172B2/en
Publication of US20150107967A1 publication Critical patent/US20150107967A1/en
Abandoned legal-status Critical Current

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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
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
    • B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
    • 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
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B65G39/02—Adaptations of individual rollers and supports therefor
    • 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
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/28—Conveyors with a load-conveying surface formed by a single flat belt, not otherwise provided for
    • 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
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/60—Arrangements for supporting or guiding belts, e.g. by fluid jets
    • 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
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/02—Belt- or chain-engaging elements
    • B65G23/04—Drums, rollers, or wheels
    • 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
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/02—Belt- or chain-engaging elements
    • B65G23/04—Drums, rollers, or wheels
    • B65G23/10—Drums, rollers, or wheels arranged intermediate the ends of the conveyors
    • 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
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B65G39/02—Adaptations of individual rollers and supports therefor
    • B65G39/06—Adaptations of individual rollers and supports therefor the roller sleeves being shock-absorbing, e.g. formed by helically-wound wires

Definitions

  • a semiconductor manufacturing environment is an example of an environment where, due to high tool cost, a work entity enters a given tool, or type of tool, multiple times. Processing tools in a semiconductor manufacturing environment are typically spatially distributed in the factory according to function. Thus, the work flow resembles a chaotic movement of the work entity. With multiple work entities being operated upon and moving between multiple tools at the same time, the respective work flows intersect.
  • Conveyor systems are one particular type of transportation system used in contemporary factory environments.
  • a conveyor network may be shared by several hundred moving work carriers concurrently dispatched to various tools. Delivery capacity will depend on flow density and conveyor speed. However, flow density and speed are limited by the additional requirement of zero tolerance for collisions between work entities within the conveyor system. Thus, a conflict arises between the above requirements.
  • a conveyor network typically has intersections, nodes, and branches to multiple locations in a factory.
  • the open conveyor ends, at work processing locations, are the input and output ports for the conveyor transport domain. At these ports, work entities enter and leave the conveyor domain.
  • a path needs to be cleared for the transit to satisfy the requirement of collision avoidance.
  • external or centralized dispatch software arranges for such a transit by simultaneously controlling the movement of all other work entities that would otherwise interfere with the work entity in question. This dispatch software is complex, due to the aforementioned throughput requirements.
  • the work entities need be moved concurrently with each other and at maximum rate without collisions.
  • a hysteresis clutch has been utilized in conjunction with synchronous or stepper motor driven rollers or wheels, depending upon the embodiment, to eliminate such slippage.
  • Hysteresis clutches enable asynchronous soft buffering, a process for moving carriers independent of each other and starting and stopping the carriers in a smooth fashion.
  • hysteresis clutches may make it difficult to achieve high rates of acceleration, including in the multiple g range. Very fast acceleration and deceleration are required in order to increase throughput and thus the density of carriers traveling on the soft buffered conveyor where carriers must never collide. Since the carriers move asynchronously, they need to stop fast and short of a collision with a downstream carrier to achieve increased density in a conveyor environment, as well as start fast so as to minimize interference with upstream carriers.
  • the belt be woven in a serpentine path between wheels, such as over two idler wheels and then down under the next. While successful in maintaining contact between the belt and all of the respective wheels, this resulted in an increased motor torque requirement, which also required increased electrical current and thus operational cost.
  • the conveyor infrastructure as presently disclosed is divided into segments, each having a length substantially equivalent to that of a work entity or work piece carrier.
  • a work piece carrier is prevented from entering a conveyor segment if that segment is already occupied by another work piece carrier.
  • Such collision avoidance is autonomous, embedded in the conveyor itself, allowing a natural, independent flow of dispatched work piece carriers, an approach that is distinct from the centralized control model as practiced in the prior art.
  • Work piece carriers can be sent from port to port autonomously with high flow densities. With the use of localized, segment-based sensing and conveyor control, carriers can occupy adjacent segments, if needed, and can pass through nodes on a first come, first served or “natural” basis.
  • roller conveyors utilized moderate transport speeds to avoid the slipping of the work piece carriers on the rollers when sudden stopping was necessary to avoid collisions with a downstream, stationary work piece carrier.
  • the physics of the limited contact surface between work piece carriers and the driving conveyor rollers required such moderate speeds.
  • a peripheral groove is formed in each wheel disposed beneath the belt.
  • a soft, pliant ring of material is then disposed in the groove. The ring protrudes slightly beyond the crown of the idler wheel.
  • Each pliant ring is configured to achieve constant contact with the overlying belt when unloaded by a carrier.
  • the pliant ring is compressed and the belt comes into contact with the relatively hard wheel crown or periphery itself, increasing the area of contact between the belt and wheel.
  • the pliant ring material and extent of protrusion above the wheel crown are selected to achieve a high degree of belt contact between the pliant ring and the belt when unloaded and direct contact between the wheel crown and the belt when loaded. Rapid acceleration and deceleration of carriers is achieved with a relatively low degree of required torque and with minimized particulation.
  • FIG. 1 is a section view of a wheel according to the present invention disposed from a supporting rail frame;
  • FIG. 2 is a detailed view of the wheel of FIG. 1 ;
  • FIG. 3 is a section view of the wheel of FIG. 1 further illustrating the location of a drive belt atop a pliant ring in the wheel;
  • FIG. 4 is a detailed view of the wheel of FIG. 3 ;
  • FIG. 5 is a perspective view of a conveyor drive segment in which is illustrated a drive belt, at least one drive wheel, and a plurality of idler wheels according to the present invention
  • FIG. 6 is a detailed view of the wheel of FIG. 3 under loaded conditions
  • FIG. 7 is an plan view of one end of a drive shaft shown in FIG. 5 having planar protrusions on opposite ends;
  • FIG. 8 is a side perspective view of a drive wheel according to one embodiment of the present invention.
  • FIG. 1 illustrates an idler wheel hub 10 disposed in relation to a supporting rail frame 20 .
  • the wheel hub also simply referred to herein as “the wheel,” may be formed of a hard, resilient material that is resistant to particulation, such as polyurethane.
  • One preferred embodiment of the wheel 10 employs 75 Shore D cast electrostatic discharge (ESD) polyurethane rods that are machined to the desired shape and size after casting.
  • ESD electrostatic discharge
  • TPU 67 D polyester-type Thermoplastic Polyurethane
  • ESTANE TM of Lubrizol Advanced Materials, Inc., Cleveland, Ohio
  • the radius of the wheel at either a front edge 11 or rear edge 13 is less than the radius measured closer to the middle of the wheel. This difference in radius can be linear or curved, the latter being illustrated in the figures.
  • the wheel 10 is disposed upon a bearing assembly 16 of conventional design and configuration.
  • the bearing assembly 16 is disposed about an axle 18 that projects from a drive rail 20 .
  • the axle is shown as being threaded in the figures, and can be mated with a complimentarily threaded bore in the drive rail. However, the axle may be mechanically mated with respect to the drive rail in any conventional manner.
  • the drive rail is shown as being L-shaped in FIG. 1 , though it can be provided in a variety of shapes.
  • a slot 12 Disposed about the wheel outer peripheral surface is a slot 12 .
  • the slot is continuous about the periphery of the wheel to form a ring-shaped or circular slot into which is provided a ring of pliant material 14 .
  • the slot and the ring of pliant material are rectangular in cross-section, though in other embodiments, different geometries can be utilized.
  • the pliant ring may have a circular or ovoid cross-section, while the slot has a complimentary semicircular or semi-ovoid cross-section.
  • the pliant ring is preferably configured to have a maximum thickness, measured in the radial direction of the wheel, that is slightly greater than the maximum depth of the slot.
  • the pliant ring normally extends a distance x beyond the proximal surface of the wheel itself.
  • the pliant ring is provided of polyurethane in a first embodiment, though other soft, compressible, non-friable materials can be used. Such other materials may include silicone and rubber.
  • the pliant ring is stretched and forced over the wheel outer periphery and into the slot. The diameter of the pliant ring at rest may be less than the diameter of the slot, such that the pliant ring is held in place through friction fit in one embodiment. In other embodiments, the pliant ring is held in place through an adhesive bond or through mechanical means, including friction fit between the side walls of the pliant ring and the side walls of the slot (not shown).
  • a drive belt 22 is shown in cross-section, disposed across the top of the pliant ring 14 . This is also depicted in greater detail in FIG. 4 .
  • the belt lower surface remains in contact at least with the upper or outer surface of the pliant ring 14 , whereby the respective wheel may respond immediately and without slipping to movement of the belt.
  • the belt may also at times come into contact with the outer surface of the wheel itself.
  • the pliant ring is intended to ensure that the belt is always in contact with the respective wheel, either directly or indirectly, in order to avoid particulation resulting from intermittent contact between the belt and wheel.
  • the choice of materials for the drive belt 22 depends in part upon desired values for durometer and electrical conductivity.
  • Pyrathane 83ASD and Stat-Rite S-1107 are typical belt materials.
  • a belt of Pyrathane is somewhat softer and more elastic but simultaneously less electrically conductive.
  • a belt of Stat-Rite is harder and more stiff, but simultaneously more electrically conductive.
  • the elastomeric belt is stretched onto the wheels and serves to directly transport overlying work piece carriers through interaction with all of the idler and drive wheels.
  • the weight of the carrier is sufficient to compress the pliant ring 14 such that the belt 22 undersurface comes into direct contact with the relatively hard surface of the wheel outer surface, as shown in FIG. 6 .
  • the hardness of the wheel ensures that the belt does not dip as the weight of the carrier traverses each wheel and instead provides a level, smooth transition for the carrier.
  • the increased area of contact between the belt lower extent and the wheel periphery compared to the area of contact between the belt lower extent and the pliant ring periphery, ensures sufficient frictional force to achieve accurate rotational tracking between the belt and wheel.
  • FIG. 5 a perspective view of one embodiment of a drive segment can be seen.
  • the length of a conveyor segment is determined by a number of drive segments it comprises.
  • a drive segment is defined as the length of a work piece carrier plus some margin of free space.
  • a conveyor segment may be configured to hold one, two, or more drive segments.
  • a linear array of wheels 10 is provided in relation to a drive rail 20 .
  • each such wheel 10 of the array is provided with a peripherally disposed pliant ring 14 to improve the degree of rotational contact between the wheels and an overlying, continuous belt 22 .
  • each of the wheels 10 in the linear array across the conveyor segment are idler wheels.
  • each of the wheels of the linear array are unpowered and are rotated through continuous contact with the overlying belt.
  • the idler wheels are crowned, as shown in FIGS. 1 and 2 , but are not provided with a slot 12 or pliant ring 14 .
  • some or all of the idler wheels have a flat outer surface, parallel to the axle 18 , upon which a respective belt 22 rolls.
  • the belt 22 extends slightly less than 180 degrees about respective end wheels 10 in substantially the opposite direction towards two lower return idler wheels 26 .
  • the belt extends approximately 90 degrees about these return wheels and thence about the upper surface of a drive rod 28 .
  • Each of the return wheels 26 and the drive rod 28 may also be provided with a respective pliant ring 14 in an alternative embodiment, while in other embodiments, one or both do not have a respective pliant ring.
  • the drive rod 28 is selectively rotated by a motor 56 ( FIG. 8 ) according to techniques known in the art. By rotating one end of the drive rod by operation of the motor, cooperating belts on opposite sides of the conveyor segment are rotated in unison, thus resulting in linear, even transport of a carrier disposed on an upper surface of the two belts.
  • the drive shaft in one embodiment is a combination of shaft and universal coupling to allow some degree of misalignment between the two sides of the conveyor rail.
  • the drive shaft 28 is provided with a flat protrusion on each end, with the protrusion 40 on the proximate end in the drawing being orthogonal to the protrusion 42 on the opposite, distal end.
  • the flat protrusion on one end of the drive shaft fits into a slot 52 in the center of a respective drive wheel 50 mounted on one rail frame 20 (not shown in FIG. 8 ) and to a motor 56 by a spindle 54 , as shown in FIG. 8 , while the opposite flat protrusion fits into a respective slot in the center of a respective slave wheel on the other, parallel rail frame.
  • the slave wheel is rotatable about a respective spindle through bearing means known in the art.
  • the conveyor belts on both sides of the conveyor segment are synchronized to run at identical speeds, thus avoiding the twisting of work piece carriers on top of the belts as they travel across the conveyor segment.
  • the drive wheel 50 and slaved drive wheel on the opposite end of the drive shaft have identical cylindrical shapes.
  • the radius R of each drive wheel is identical. This assures that the left and right belts are driven at identical speeds, in spite of the normal tendency of the belts to each seek its own highest tension by locating themselves on the highest point of the idler wheels' crowns.
  • the conveyor belt is a timing belt, having a flat surface presented upwards towards work piece carriers traveling thereon.
  • the inner surface of the drive belt is provided with mechanical features that cooperate with complimentary mechanical features on the outer periphery of the idler wheels.
  • the inner surface of the belt is provided with a linear and continuous array of projections such as pyramidal or frusto-pyramidal projections and the idler wheels are provided with a linear array of complimentarily shaped apertures, each configured to receive a respective belt projection as it passes over the idler wheel.
  • the projections such as pyramidal or frusto-pyramidal projections, are formed in a linear band about the outer periphery of the idler wheels, while the belt is provided with complimentarily shaped and spaced apertures adapted to receive the idler wheel projections as the belt travels over the idler wheels.
  • the belt apertures may extend through the belt to the work piece carrier contact surface or, if the belt is of sufficient thickness, may only extend partway through.
  • the timing belt ensures the idler wheels continuous rotate in sync with the overlying belt and particulates are avoided through the avoidance of intermittent belt/wheel contact.
  • Centering wheels 30 are provided to center the carrier on the belts, in the illustrated embodiment.
  • One or more intermediate idler wheels 32 may also be employed where the placement of the drive rod 28 results in a gap between adjacent idler wheels 10 in the linear array.
  • Such intermediate idler wheels may or may not be provided with pliant rings, as disclosed.
  • one of the wheels 10 at either end of the linear array may be powered, or one of the return wheels 26 may be powered, instead of the drive rod as shown.
  • the drive rod 28 may replace pairs of wheels 10 on opposite sides of the conveyor segment, such as at one end of the linear array of wheels, or one pair of return wheels 26 .
  • the drive rod as depicted in FIG. 5 would then be replaced by idler wheels on opposite sides of the conveyor segment.
  • plural drive rods could be employed, though again this would require accurate synchronization of drive elements associated with each such drive rod.
  • each drive segment is provided with at least one sensor 60 , and preferably at least two sensors, for detecting the presence of one or more work piece carriers within the conveyor segment.
  • at least two sensors one sensor can be provided proximate each end of the respective drive segment such that the respective controller can know whether a work piece carrier occupies the drive segment.
  • sensors are of conventional design and can include the use of optical, magnetic, passive resonant circuit, weight, mechanical interference, and inductive sensors.
  • the one or more sensors associated with one conveyor drive segment are preferably in communication with a local controller 58 associated with the respective conveyor segment drive motor 56 .
  • the controller is preferably provided with a communications interface and is in communication with the respective controllers of the at least one conveyor segments on either side thereof, such as via a communications bus of conventional design and configuration.
  • the bus is an industrial Controller Area Network (CAN) bus.
  • CAN Controller Area Network
  • Multiple segment-specific controllers are in communication with a respective higher-level controller.
  • This higher level controller has a map of the conveyor segment for which it is responsible, and is programmed with the ability to direct how each carrier within this conveyor domain are to be routed. This information is used to control the response of the individual segment-specific controllers. Depending upon the complexity and size of the overall conveyor system, multiple levels of higher-order controllers may be employed.
  • the controller for each drive segment is thus capable of detecting the presence of a work piece carrier in an adjacent drive segment and can react to receipt of a new work piece carrier accordingly, such as by decelerating that work piece carrier and bringing it to a stop to avoid a collision with a downstream carrier.
  • the controller is also capable of detecting the movement of a previously stationary work piece carrier in an adjacent drive segment and can respond by accelerating a work piece carrier contained within the respective segment from a stopped condition or can continue transporting the work piece carrier through that drive segment to the next.
  • Acceleration and deceleration profiles are preferably stored in a memory 62 associated with the local conveyor segment controller. These profiles may be standard profiles to be used for changing work piece carrier speed, or may be maximum values, whereby the controller is programmed to have flexibility in adjusting work piece carrier speed according to the presence or absence of carriers within the respective conveyor drive segment and/or within adjacent conveyor drive segments.
  • the drive segment is approximately the same length as a work piece carrier, plus a small measure of free space. Thus, for a 300 mm wafer carrier found in semiconductor manufacturing environments, a drive segment is 0.5 meter in length.
  • a typical carrier in a semiconductor manufacturing environment has a mass of approximately 8.5 kg and can travel at speeds of approximately 1 meter per second.
  • a deceleration profile must be selected to enable deceleration of this mass to a stop before it enters a downstream, occupied drive segment. This deceleration profile is generally linear in a first embodiment.
  • stepper motors generally, motor torque in stepper motors is higher at low speeds.
  • controllers of a larger range of nearby drive or conveyor segments can be in mutual communication to enable faster response to segment occupancy changes and to enable predictive response.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)
  • Structure Of Belt Conveyors (AREA)
  • Non-Mechanical Conveyors (AREA)
US14/520,977 2013-10-22 2014-10-22 High volume conveyor transport for clean environments Abandoned US20150107967A1 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
US14/520,977 US20150107967A1 (en) 2013-10-22 2014-10-22 High volume conveyor transport for clean environments
TW104112762A TWI653702B (zh) 2013-10-22 2015-04-21 用於潔淨環境之大體積輸送機運輸系統
KR1020177013870A KR102521513B1 (ko) 2014-10-22 2015-04-21 깨끗한 환경들을 위한 대량의 컨베이어 이송 장치
PCT/US2015/026773 WO2016064448A1 (en) 2013-10-22 2015-04-21 High volume conveyor transport for clean environments
DE112015004820.0T DE112015004820T5 (de) 2013-10-22 2015-04-21 Hochvolumen Transportförderer für Reinumgebungen
CN201580057509.2A CN107250006B (zh) 2013-10-22 2015-04-21 用于清洁环境的高容量输送传送装置
US14/691,881 US9540172B2 (en) 2013-10-22 2015-04-21 High volume conveyor transport for clean environments

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201361894079P 2013-10-22 2013-10-22
US14/520,977 US20150107967A1 (en) 2013-10-22 2014-10-22 High volume conveyor transport for clean environments

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US14/691,881 Continuation-In-Part US9540172B2 (en) 2013-10-22 2015-04-21 High volume conveyor transport for clean environments

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US14/691,881 Active US9540172B2 (en) 2013-10-22 2015-04-21 High volume conveyor transport for clean environments

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CN (1) CN107250006B (zh)
DE (1) DE112015004820T5 (zh)
TW (2) TW201522182A (zh)
WO (2) WO2015061435A1 (zh)

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CN108639703A (zh) * 2018-07-11 2018-10-12 东莞市敏顺自动化科技有限公司 一种生产线用运载接驳机构
CN108792449A (zh) * 2018-07-11 2018-11-13 东莞市敏顺自动化科技有限公司 一种高精度输送的生产线
WO2019204170A1 (en) * 2018-04-18 2019-10-24 Walmart Apollo, Llc Transparent rolling platform for item scanning tunnel

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US10315866B2 (en) 2016-10-20 2019-06-11 Intelligrated Headquarters, Llc 3D-2D vision system for robotic carton unloading
US10239701B2 (en) 2016-10-20 2019-03-26 Intelligrated Headquarters, Llc Conveyor screening during robotic article unloading
US10597234B2 (en) 2016-10-20 2020-03-24 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery
US10597235B2 (en) 2016-10-20 2020-03-24 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery
DE102017002019B4 (de) * 2017-03-02 2022-08-04 Interroll Holding Ag Zuführvorrichtung und Verfahren zum Bereitstellen einer Zuführvorrichtung
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DE112015004820T5 (de) 2017-07-13
TW201616596A (zh) 2016-05-01
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US20150225174A1 (en) 2015-08-13
US9540172B2 (en) 2017-01-10

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