CN103508140A - Article storage device - Google Patents
Article storage device Download PDFInfo
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- CN103508140A CN103508140A CN201310219885.XA CN201310219885A CN103508140A CN 103508140 A CN103508140 A CN 103508140A CN 201310219885 A CN201310219885 A CN 201310219885A CN 103508140 A CN103508140 A CN 103508140A
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Abstract
The present invention provides an article storage device, which can help to raise storage efficiency and simultaneously can easily determine articles which generate abnormity of lifting gases such as smoke. In the article storage device, storage parts (8) disposed in an up-down arrangement on an article storage shelf are configured to be at a plurality of arrangement according to storing rows in respective to an article storage prospective region, monitoring target regions formed by one or more storage prospective regions are set to be multiple, partition bodies configured on top ceilings (13) of the storage parts (8), used for partitioning space below the top ceilings (13) into a plurality of monitoring target regions are set to be at the state of forming surveillance target regions corresponding to the monitoring target regions and allowing the articles to enter and exit in relative to the storage parts, and a detection part (10) is configured to be arranged in respective to the monitoring target regions corresponding to the surveillance target regions.
Description
Technical field
The present invention is about relating to article storage apparatus, this article storage apparatus is provided with: at least with the state of arranging at above-below direction, be provided with the article keeping frame of a plurality of Storage Departments, this Storage Department is usingd the state that load supporting by article support and taken care of as the article of object certainly; In the article of described article keeping frame, there is to the abnormal detector that abnormal situation detects in keeping.Described article keeping framework becomes: to have pillar group at frame Width every spaced state, this pillar group is a plurality of pillars along above-below direction of arranging in frame fore-and-aft direction compartment of terrain, between adjacent described pillar group, at frame Width, form a described Storage Department, described abnormal detector is respectively equipped with the abnormal test section of erroneous judgement detecting in described Storage Department for described each Storage Department.
Background technology
Keeping in the situation that the article of Storage Department occurred such as the fire etc. that produces cigarette, produced gas abnormal of rising, by the test section that possessed separately by Storage Department, detect that this is abnormal, above-mentioned article storage apparatus can be differentiated the article at which Storage Department in a plurality of Storage Departments and occur extremely.
Example in the past as such article storage apparatus, in JP 2012-25549 communique (patent documentation 1), the article storage apparatus (0027th～0030 section of patent documentation 1 and Fig. 2 etc.) that is respectively provided with a test section at each Storage Department is disclosed.
In the article storage apparatus of patent documentation 1, be configured to article of each Storage Department keeping of article storing frame, but in order to improve the article storing efficiency of equipment, be sometimes configured to a plurality of article of each Storage Department keeping of article storing frame.For example, in patent documentation 2, in order to support two article with frame fore-and-aft direction mounting at a Storage Department, making the article support of Storage Department is strip at frame fore-and-aft direction.Again, in patent documentation 3, in order, at a Storage Department at a plurality of article of frame Width mounting supporting, to be configured to the width extent of guaranteeing a plurality of article between adjacent pillar group.Like this, can be at a plurality of article of Storage Department keeping by being configured to, can reduce the quantity of pillar group of each unit space of article keeping frame, can improve the efficiency of taking in of article storage apparatus.
[prior art document]
[patent documentation]
[patent documentation 1] JP 2012-25549 communique
[patent documentation 2] JP 2010-70300 communique
[patent documentation 3] JP 2008-247558 communique
Summary of the invention
[technical matters that invention will solve]
As mentioned above, in order to improve, take in efficiency, when can form article storage rack in the mode of a plurality of article of Storage Department keeping, according to formation in the past, keeping, in abnormal detector that abnormal situation detects has occurred for the article of article keeping frame, is had to test section for each Storage Department.Which therefore, in article keeping frame, at Storage Department article, occurred extremely can differentiate, but which article of keeping in a plurality of article of this Storage Department have occurred extremely just can not differentiate.Therefore, likely can not in a plurality of article of article keeping frame, find abnormal article have occurred from keeping, likely postpone having there is the processing of abnormal article.
The present invention be directed to above-mentioned present situation and make, its object is, provides when seeking to improve keeping efficiency, easily determines the article storage apparatus that the abnormal article of the rising gases such as cigarette have occurred to produce.
[technological means of dealing with problems]
In order to reach this object, in the 1st feature of the article storage apparatus the present invention relates to forms,
Be provided with: with the state of at least arranging at above-below direction, be provided with the article keeping frame of a plurality of Storage Departments, described Storage Department is taken care of the article of this keeping object with the state of the article of article support mounting supporting keeping object; With in the article of described article keeping frame, there is to the abnormal detector that abnormal situation detects in keeping,
Described article keeping framework becomes: to be separated with the state of arranging compartment of terrain at frame Width, have pillar group, this pillar group is to be separated with at frame fore-and-aft direction the pillar group that compartment of terrain is arranged with a plurality of pillars along above-below direction, between adjacent described pillar group, at frame Width, be formed with a described Storage Department
Described abnormal detector has respectively the test section extremely detecting to the article of described Storage Department for Storage Department described in each, in described article storage apparatus,
Described test section is the parts to having detected from having there is the fluid with rising of abnormal article generation,
In described Storage Department, to the keeping presumptive area of article, according to keeping, with queue, the state with a plurality of arrangements is set, and the monitored object region consisting of one or more described keeping presumptive areas has been set a plurality of,
Be provided be disposed at described Storage Department ceiling, separate ceiling floor under space to form the spacer body in a plurality of detected objects region,
Described spacer body is set up with following state: form accordingly described monitored object region with described detected object region, and, allow article with respect to the turnover of described Storage Department,
Described test section is set up with respect to each described detected object region corresponding with described monitored object region.
According to eigen, form, be formed in each Storage Department between adjacent pillar group, the keeping presumptive area to article, according to keeping, with queue, the state with a plurality of arrangements is set.That is, with the keeping presumptive area being set in Storage Department, there is the state of a plurality of article, by article support mounting supports articles, thus, can be at a plurality of article of Storage Department keeping.Therefore, a plurality of article in the Storage Department being formed between adjacent pillar group, according to arranging such keeping and take care of with queue along for example frame fore-and-aft direction, frame Width.Thus, can suppress the quantity of the pillar group in constituent parts space in article accepting rack, improve the efficiency of taking in of article storing frame.
Then, the state that can pass in and out with respect to Storage Department with article at the ceiling floor that is disposed at the ceiling of Storage Department is provided with spacer body, and thus, the space under ceiling floor is separated, thereby forms a plurality of detected objects region.
At Storage Department, set a plurality of monitored objects region, this monitored object region consists of keeping the one or more of presumptive area respectively.By spacer body make ceiling floor under the detected object region that separated and form, space in the mode corresponding with monitored object region, form, therefore, keeping produces gas abnormal of the rising that cigarette etc. has occurred in the article in monitored object region, during from the fluid of this article generation rising, this fluid flow to the lower surface of ceiling floor, by corresponding detected object areas captured.Then, mobile along the lower surface of ceiling floor, but flow, be separated body prevention, therefore, the fluid of rising is prevented to outside movement from this detected object region.
Then, the detected object region corresponding with monitored object region is provided with test section separately, therefore, can, by the test section of being located at this detected object region, the captive fluid with rising in this detected object region be detected.On the other hand, have rising fluid in the flowing of ceiling floor, to the mobile body that is separated in adjacent detected object region, stop, therefore, can prevent the test section generation error detection in adjacent detected object region.Therefore, while having been produced gas abnormal of the rising that cigarette etc. occurs by any of a plurality of article of Storage Department keeping, by there is the test section in detected object region corresponding to the monitored object region at abnormal article place with this, detection, by the fluid of this abnormal rising producing, can be determined the monitored object region that abnormal article place has occurred.Thus, easily determine abnormal article have occurred.Again, the fluid of rising refers to: than keeping, there is the fluid of the gas that is full of in the Storage Department Nei space of article (for example, air) light specific gravity, and except pure gas, the fluid that also air inclusion mixes with corpuscle.
Like this, according to the formation of eigen, obtain a kind of article storage apparatus, it can easily determine that the abnormal article of gas of the rising of cigarette etc. have occurred in generation when seeking the raising of keeping efficiency.
The 2nd feature of the article storage apparatus the present invention relates to is configured to: described in each, Storage Department is configured to: the outer peripheral face except the positive place one side of turnover article is surrounded by zoning wall, and adjacent described Storage Department is separated by described zoning wall.
According to the formation of eigen, each Storage Department can pass in and out article by front, simultaneously, even abnormal in adjacent Storage Department presence of fire etc., by the outer peripheral face being surrounded by zoning wall, can not be vulnerable to the impact of fire, thereby can seek keeping in the safety of the article of Storage Department.
The 3rd feature of the article storage apparatus the present invention relates to is configured to: in described pillar group, at frame fore-and-aft direction, be positioned at the pair of posts at two ends, with described pair of posts in adjacent described pillar group respectively by be strip at frame Width, the a pair of horizontal member of arranging at frame fore-and-aft direction connects, described Storage Department is provided with the shelf crossing over described a pair of horizontal member and set as described article support, described ceiling floor in described Storage Department by with this Storage Department up the described shelf in adjacent described Storage Department form, the lower end of described spacer body is positioned at the height more than height of lower end of described horizontal member.
According to the formation of eigen, owing to taking care of to dispose the state of a plurality of article on the shelf setting at a pair of horizontal member of leap, therefore, can make article stably take care of in Storage Department.While shelf being set with this state, the space being formed between a pair of horizontal member of frame fore-and-aft direction separation becomes enclosure space, according to the formation of eigen, when the height of the height of the lower end of spacer body in the lower end of described horizontal member is above, can accommodate spacer body in the space being formed between a pair of horizontal member.Like this, by effective utilization, be formed at space between a pair of horizontal member as the space that arranges of spacer body, even if be provided with spacer body, the length of the above-below direction of Storage Department also can be constant large.
The 4th feature of the article storage apparatus the present invention relates to is configured to: the described keeping of described keeping presumptive area is the queue that described keeping presumptive area is at least arranged at frame fore-and-aft direction with queue.
According to the formation of eigen, keeping presumptive area becomes the queue of arranging at frame fore-and-aft direction, and therefore, Storage Department is arranged article keeping at frame fore-and-aft direction, makes the ability of taking in of article keeping frame especially become large.When the arrangement of frame fore-and-aft direction custody articles, for example, can carry out the transfer with respect to the article of Storage Department by load supporting at frame fore-and-aft direction sliding york free to advance or retreat, therefore, easily in a plurality of keeping presumptive areas, collect a plurality of article transfer, can seek to improve article with respect to the operating efficiency of moving into, taking out of of Storage Department.
During the 5th feature of the article storage apparatus the present invention relates to forms,
Be provided with article conveying device, this article conveying device is equipped with the frame fore-and-aft direction at described article keeping frame forwards approaching state, mobile at least along the vertical direction shifting apparatus freely, so that article are taken out of from described Storage Department, described shifting apparatus can take out a plurality of article of taking care of in a plurality of described keeping presumptive areas of frame fore-and-aft direction arrangement from described Storage Department simultaneously freely
Described article conveying device has the processing equipment that article are processed,
Described monitored object region consists of a keeping presumptive area,
Described abnormal detector is configured to: the detection information based on described test section, and the abnormal generation area of carrying out having occurred to differentiate in the described monitored object region at abnormal abnormal article place is differentiated processing,
Control the control setup of the action of described article conveying device, abnormal generation area based on described abnormal detector is differentiated the differentiation result of processing, a plurality of article in the monitored object region of arranging at frame fore-and-aft direction with the described monitored object region at described abnormal article place will be positioned at, from described Storage Department, take out together with described abnormal article simultaneously, at described article conveying device, keep under the state of article of this taking-up, execution is processed the abnormal countermeasure that described exception handling device moves, in order to only in the article of this taking-up, described abnormal article are processed.
According to the formation of eigen, monitored object region consists of a keeping presumptive area, therefore, the article that the keeping presumptive area of Storage Department is taken care of occur when abnormal, can be detected extremely by the corresponding test section in monitored object region to this keeping presumptive area, can determine that keeping has the keeping presumptive area that abnormal article have occurred.
Then, the article in Storage Department occur when abnormal, and a plurality of article that will arrange at frame fore-and-aft direction with these abnormal article be taken out from Storage Department by the shifting apparatus of article conveying device with this abnormal article while.Then, the abnormal generation area based on abnormal detector is differentiated the differentiation result of processing, and in being removed and being held in a plurality of article of article conveying device, only abnormal article is carried out the processing of processing equipment enforcement.Thus, article have occurred when abnormal, and the processing equipment having by article conveying device is only processed automatically to abnormal article, meanwhile, can prevent from normal article process and damage normal article.
Accompanying drawing explanation
Fig. 1 is a part of birds-eye view of automated warehouse equipment.
Fig. 2 is the front view that the profile of the Storage Department being arranged above and below in article keeping frame is shown.
Fig. 3 is the birds-eye view of transversal surface of the Storage Department of article keeping frame.
Fig. 4 is the block diagram that the Storage Department being arranged above and below of article keeping frame is shown.
Fig. 5 is the front view of piler.
Fig. 6 is control block diagram.
Fig. 7 is the birds-eye view of the transversal surface of the Storage Department that relates to of the 2nd embodiment.
Fig. 8 is the front view of the profile of the Storage Department that relates to of the 3rd embodiment.
Fig. 9 is the birds-eye view of the transversal surface of the Storage Department that relates to of the 4th embodiment.
Figure 10 is the birds-eye view of the transversal surface of the Storage Department that relates to of the 5th embodiment.
Figure 11 is the front view of the Storage Department that relates to of the 6th embodiment.
Figure 12 is the birds-eye view of the transversal surface of the Storage Department that relates to of the 6th embodiment.
[nomenclature]
1: article keeping frame
3: article conveying device
8: Storage Department
9: mounting framework
10: test section
11a, 11b: pillar
12a, 12b: horizontal member
13: ceiling floor, shelf
14,15: zoning wall
19: ceiling floor
34: shifting apparatus
D: monitored object region
E: exception handling device
G: pillar group
H1, H2: control setup
H3: abnormal detector
S: spacer body
W: article
Z: keeping presumptive area
The specific embodiment
With reference to the accompanying drawings the embodiment of the article storage apparatus the present invention relates to is described.
(the 1st embodiment)
As shown in Figure 1, the article storage apparatus of present embodiment is so-called automated warehouse equipment, and it comprises: with the relative state of article turnover direction, be separated with spaced a pair of article keeping frame 1; Along the track 2 of advancing that is layed in the linearity on the ground between a pair of article keeping frame 1, advance, carry out article W with respect to the piler of moving into, taking out of 3 of these article keeping framves 1.In present embodiment, article W is secondary battery, and article keeping frame 1 is configured to: by be full of electricity condition secondary battery or from be full of secondary battery that electricity condition carried out the charge condition of the electric discharge of set amount only for example, under the temperature environment (60 ℃) of regulation, display certain during (for example 24 hours) display warehouse.
At this article storage apparatus, comprise: be provided with whether keeping, in the article W of article keeping frame 1, abnormal countermeasure system abnormal detector, that abnormal generation is suitably disposed automatically extremely detecting has been occurred to.Below, the formation of this article storage apparatus and action that abnormal countermeasure system when abnormal has occurred etc. are described.
In article storage apparatus, the mode of the piler 3 of take is processed simultaneously a plurality of (being 4 in present embodiment) article W, moves into article keeping frame 1 by being supported in the warehouse-in of being located at warehouse-in mouthful with the article W that moves into object on load support table 4.In addition, the mode of the piler 3 of take is processed simultaneously a plurality of (being 4 in present embodiment) article W, takes out of in the article W as taking out of object of article keeping frame 1 load support table 5 for outbound of being located at outbound mouth by keeping.To warehouse-in, with load support table 4 conveyances, moving into object article W can be undertaken by fork truck or manual working by operator, in present embodiment, by warehouse-in use conveyer 6 and this warehouse-in with conveyer 6 and warehouse-in with load support table 4 between the chain-linked conveyer (not shown) of a plurality of lifting modes of conveyance article W automatically carry out.Similarly, for take out of the article W of object with load support table 5 conveyances from outbound, by outbound use conveyer 7 and this outbound with conveyer 7 and outbound with load support table 5 between the chain-linked conveyer (not shown) of a plurality of lifting modes of conveyance article W automatically carry out.
Article keeping frame 1 has the pillar group G that is separated with compartment of terrain arrangement at frame Width, and this pillar group G is separated with compartment of terrain at frame fore-and-aft direction and is arranged with front standing pillar 11a and the back prop 11b along above-below direction.In present embodiment, by 2 pillar 11a, 11b, form pillar group G, but also can be provided with at frame fore-and-aft direction, between front standing pillar 11a and back prop 11b other one or more pillars, by 3 above pillars, form pillar group G.
As shown in Figure 2, article keeping frame 1 has a plurality of Storage Departments 8 with the state of arranging at above-below direction.Storage Department 8 is between adjacent pillar group G, one of frame Width formation.As shown in Figure 4, the front standing pillar 11a in pillar group G and back prop 11b (quite " at frame fore-and-aft direction, being arranged in the pair of posts at two ends ") link by be pair of beams (front cross rail 12a and after cross member 12b) strip, that arrange at frame fore-and-aft direction at frame Width respectively with pair of posts 11a, the 11b of adjacent pillar group G.Pair of beams 12a, 12b are suitable with a pair of horizontal member of the present invention.Each Storage Department 8 is provided with the shelf 13 setting along pair of beams 12a, 12b.Shelf 13 is equivalent to the article support of the article W of mounting supporting keeping object.
Like this, in the article keeping frame 1 of present embodiment, using and load by the shelf 13 as article support the Storage Department 8 that the state of supporting carries out keeping to the article W of keeping object, at least with the state of arranging at above-below direction, be provided with a plurality of.
Each Storage Department 8 is configured to: except the outer peripheral face of the one side at the positive place of turnover article W is all surrounded by zoning wall, between adjacent Storage Department, by zoning wall, separated.That is, as shown in Figure 1, by cover Storage Department 8 frame Width two sides a pair of side panel 14 and cover Storage Department frame fore-and-aft direction after (following, be called the back side.) backplate 15, make in birds-eye view the tripartite except front all besieged.Side panel 14 and backplate 15 adopt the fire-proof plate consisting of nonflammable materials such as asbestos.
In addition, the shelf 13 that forms the bottom surface of Storage Department 8 is also used as below this Storage Department 8, cover the ceiling floor of the ceiling of adjacent Storage Department 8.That is, the ceiling floor of Storage Department 8 is consisted of the shelf 13 of adjacent with this Storage Department up Storage Department 8.Like this, Storage Department 8 tripartite except front in birds-eye view surrounded by side panel 14 and backplate 15, and in addition, the end face of Storage Department 8 and bottom surface are surrounded by shelf 13, at adjacent up and down Storage Department, by these side panels 14 and shelf 13, are separated.Below, to the ceiling floor of Storage Department 8, giving the symbol identical with shelf describes.
As depicted in figs. 1 and 2, shelf 13 has rectangular framework 9 for mounting, and its length direction is outstanding from the upper surface of shelf 13 along frame fore-and-aft direction and upper end, and the height of shelf 13 mounting supports articles W is higher than the upper surface of shelf 13.Thus, in mounting, be supported on and between the bottom surface of article W of shelf 13 and the upper surface of shelf, form the space that fork that transfer uses can pass in and out.Above-mentioned mounting is with framework 9 with paired state setting, and length is set to can be to be separated with 4 the article W of ordered state mounting supporting that set interval at length direction.
As shown in FIG. 1 to 3, for the shelf 13 of a Storage Department 8, with the state of arranging at frame Width, be provided with the framework 9 for mounting of 3 pairs 6, can be separated with and set 3 article W of compartment of terrain keeping at frame Width.Each right mounting can, at frame fore-and-aft direction to be separated with 4 the article W of ordered state mounting supporting that set interval, therefore, for a Storage Department 8, be configured to and can take care of 12 article W with framework 9.
In Storage Department 8, for the keeping presumptive area Z of an article W, at frame Width, arrange 3, at frame fore-and-aft direction, arrange 4, according to such keeping queue, with a plurality of ordered states, set keeping presumptive area Z1～keeping presumptive area Z12.Again, at Storage Department 8, be set with a plurality of monitored object region D as monitoring the abnormal unit area of article W, this monitored object region D consists of a keeping presumptive area Z, and a Storage Department 8 is set with 12 monitored object region D (monitored object region D1～monitored object region D12).Like this, the keeping queue of the keeping presumptive area Z of present embodiment is the queue in both sides' arrangement of frame fore-and-aft direction and frame Width.
As shown in Figure 1 to 4, the lower surface of ceiling floor 13 being disposed at the ceiling of Storage Department 8, is provided with a plurality of smoke detectors 10.Having there is fire in the situation that article W generation reaches the article W of super heat extremely in smoke detector 10, detects from these article W and (below, be sometimes referred to as abnormal article W.) cigarette of fluid of the rising that produces, as test section, play a role.By the plurality of smoke detector 10 and the detector controller H3 (with reference to Fig. 6) that is transfused to the detection information of these smoke detectors 10, form keeping, in the article W of article keeping frame 1, the abnormal detector that abnormal situation detects has been occurred to.Like this, the abnormal detector of the article storage apparatus of present embodiment all has the abnormal smoke detector 10 of the article W that detects Storage Department 8 for each Storage Department 8.
As shown in Figure 2, the ceiling floor 13 that is disposed at the ceiling of Storage Department 8 be provided with separate ceiling floor 13 under space to form the spacer body S in a plurality of detected objects region.In each detected object area configurations, there is a smoke detector 10.That is, detected object region is the region of being responsible for the detection of cigarette by a smoke detector 10.Like this, in each detected object region corresponding with monitored object region, be respectively provided with one as the smoke detector 10 of test section.
As shown in Figure 3 and Figure 4, it is consistent with plan view shape and the queue of monitored object region D that spacer body S is set as the plan view shape in the detected object region that makes smoke detector 10.Thus, it is abnormal and while producing the cigarette that fire causes that the article W that is positioned at monitored object region D occurs, the detected object region of this cigarette directly over the D of this monitored object region is hunted down, can cigarette positively be detected by the smoke detector 10 in this detected object region, can prevent in the error detection of overlooking the cigarette of adjacent other monitored object regions D generation.; utilize smoking set to have the feature of rising; after the cigarette occurring at monitored object region D rises to ceiling floor 13; the scope of overlooking when cigarette flows along the lower surface of ceiling floor 13 is limited in detected object region by spacer body S; thus; the cigarette occurring at monitored object region D, can be detected by the smoke detector 10 of arranging the consistent corresponding setting in detected object region when overlooking with this monitored object region D.
Like this, in present embodiment, by using a keeping presumptive area as a monitored object region, make the plan view shape in detected object region of smoke detector 10 consistent with plan view shape and the queue of monitored object region D with queue, for the distinctly generation of detection of fires of presumptive area Z certainly one by one.
As shown in Figure 3, in spacer body S, overlooking of Storage Department 8, be positioned at the part of periphery, for frame fore-and-aft direction, by front cross rail 12a and after cross member 12b dual-purpose, for frame Width, by side panel 14 dual-purposes.The part arranging with the outstanding state of the lower surface from shelf 13 in spacer body S, forms by the cross septation part 16Y along frame Width with along the vertical separator 16T of frame fore-and-aft direction.Cross septation part 16Y is located at 3 places corresponding with the border of a plurality of frame fore-and-aft directions of presumptive area Z1～Z12 certainly, and vertical separator 16T is located at 2 places corresponding with the border of a plurality of frame Widths of presumptive area Z1～Z12 certainly.Cross septation part 16Y and vertical separator 16T have the graphic flange that use is installed along horizontal surface of omission, and screw thread is fixed on the installation portion of the lower surface that is located at shelf 13.In addition, cross septation part 16Y and vertical separator 16T also can be integrally formed with shelf 13.
The height of cross septation part 16Y and vertical separator 16T lower end is positioned on the height of front cross rail 12a and after cross member 12b lower end.Thus, interval before and after can effectively utilizing under shelf 13 between pair of beams 12a, 12b, and the bottom that becomes the part of the lower surface that can prevent from being located in spacer body S shelf 13 interferes with the upper end of moving into the article W taking out of with respect to Storage Department 8, the state that article W can pass in and out with respect to Storage Department 8.
The detection information that detector controller H3 is configured to a plurality of smoke detectors 10 is transfused to the state that can mutually identify, and the detection information based on smoke detector 10 can be differentiated the monitored object region D that abnormal abnormal article W place has occurred.; form with software has the P1 of anomalous discrimination portion, and its detection information based on smoke detector 10 is differentiated the monitored object region D that abnormal abnormal article W place has occurred; detector controller H3 is configured to by being played a role by the P1 of anomalous discrimination portion, comes execute exception generation area to differentiate and processes.
As shown in Figure 5, piler 3 comprises: by the chassis 31 of advancing of advancing track 2 guiding, advancing freely along the travel path of setting along frame Width; Vertical be located at advance on chassis 31, on the lift path between a pair of lifting bar 32 in the front and back that are formed at direct of travel lifting bay-lift 33 freely; Have maximum 4 the article W of state mounting supporting to arrange at frame fore-and-aft direction multiple stage sliding fork device 27, with bay-lift 33 one liftings shifting apparatus 34 freely, this multiple stage sliding fork device 27 between falling back to the resignation position of travel path side and being projected into the extrusion position of Storage Department 8 sides of article keeping frame 1, frame fore-and-aft direction enterprising retire moving freely.The action of advancing by the chassis 31 of advancing along travel path, along the lifting action of the bay-lift 33 of lift path and along the move loading action of the shifting apparatus 34 of frame fore-and-aft direction, article W can be moved into simultaneously and takes out of at frame fore-and-aft direction with respect to Storage Department 8 with the state of maximum 4 arrangements.
Yi Fang end at the chassis 16 of advancing is provided with: advancing of the driver element of advancing driving as the chassis 16 of advancing is advanced carried out the lifting motor M2 of the lifting driver element of lifting driving with motor M1 and conduct to bay-lift 33.In addition, at bay-lift 33, be provided with: the advance and retreat position detecting device (outside figure) of the extrusion position of the frame fore-and-aft direction of motor M3 and detection multiple stage sliding fork device 27 for the transfer of the advance and retreat driver element driving as multiple stage sliding fork device 27 is advanced and retreat.These motors consist of for example electric servomotor, and the detection information based on advanced positions detecting device 21, lifting position detecting device 22 and advance and retreat position detecting device is controlled (with reference to Fig. 6) by piler controller H2.
By advance with motor M1 positive and negative rotarily actuate a pair of drive wheel 23a in wheel 23, that be equipped on Yi Ge end that advances at the both ends of the direct of travel of being located at the chassis 31 of advancing, the chassis 31 that makes to advance is advanced along the track 2 of advancing.In addition, in order to detect the wheel of advancing of the chassis 31 the other end of advancing, be flower wheel 23b.Lifting with motor M2 positive and negative rotarily actuate the winding drum 24 of lifting bar 32 of being located at freely a side of direct of travel around transverse axis heart rotation, by being guided in a plurality of guide wheels 26 to reeling, a pair of wire halyard 25 of the supporting bay-lift 33 that plays emits or reels, and makes bay-lift 33 along a pair of lifting bar 32 liftings.Transfer makes multiple stage sliding fork device 27 action of advancing and retreat with motor M3 by the driving transferring structure outside figure.
Like this, piler 3 is configured to: have keeping is taken out to shifting apparatus 34 freely in 4 article W of a plurality of keeping presumptive area Z that arrange at frame fore-and-aft direction from Storage Department 8 simultaneously, this shifting apparatus 34 approaches under the state in the place ahead at the frame fore-and-aft direction of article keeping frame 1, along above-below direction and frame Width, move freely, this shifting apparatus 34 is taken out of article W from Storage Department 8, as article conveying device of the present invention, plays a role.Simultaneously, in present embodiment, the shifting apparatus 34 of piler 3 is in order to carry out article W with respect to the transfer of Storage Department 8 by multiple stage sliding fork device 27, as described above, at shelf 13, be provided with framework 9 for mounting, but as shifting apparatus, for example, Fig. 3, Figure 10 of Fig. 2 of JP 2003-312809 communique and Fig. 3 and JP 2008-110779 communique record such, by a pair of holding part holding articles W in frame fore-and-aft direction advance and retreat, carry out transfer and the shifting apparatus that forms, can at shelf 13, mounting be set and form Storage Departments with framework 9 ground.
As shown in Figure 5, at piler 3, be provided with having there is the abnormal abnormal article W fire extinguisher plant E of spraying fire-extinguishing agent freely.That is, as the piler 3 of article conveying device, have as to having there is the fire extinguisher plant E of the exception handling device that abnormal article process.Fire extinguisher plant E scatters the carbonic acid gas (gasiform carbon dioxide) as fire extinguishing agent.As fire extinguishing agent, except carbonic acid gas, can also adopt various fire extinguishing with medicament.Fire extinguisher plant E has: filled liquefaction carbonic acid gas 2 carbonic acid gas pumps 29, the pressure hose 30 being connected with them, be connected in 4 nozzle N1～N4 of cover 35 pressure hose 30 top, that be installed on bay-lift 33.Pressure hose 30 is connected with bay-lift 33 to be built in the state of the guiding tube 28 that is installed to lifting bar 32, and the lifting action that can follow bay-lift 33 makes to set path and changes.
Bay-lift 33 is configured to: have with along above-below direction, be formed at lifting bar 32 guiding groove engaging a plurality of deflector rolls, by a pair of wire halyard 25 along the 1st lifting unit 18F of lifting bar 32 descending operations and the 2nd lifting unit 18R with at frame fore-and-aft direction, be separated with compartment of terrain relative that configure, along a pair of under(-)chassis 33B of the strip of direct of travel, interconnect.Then, the state being supported by under(-)chassis 33B in the interior side Ce，Yi Qi bottom of the 1st lifting unit 18F and the 2nd lifting unit 18R is provided with cover 35.
To being held in the nozzle N1～N4 of the abnormal article W sprinkling carbonic acid gas on bay-lift, to arrange at frame fore-and-aft direction, the state of decentralized configuration is arranged on cover 35.Nozzle N1～N4 that interval is set is consistent with the setting interval of the frame fore-and-aft direction of the keeping presumptive area Z of Storage Department 8, piler 3 will be in frame fore-and-aft direction keeping when 4 article W that arrange keeping presumptive area Z1～Z4 get bay-lift 33 by shifting apparatus 34, each nozzle N1～N4 be positioned at 4 article W directly over.4 nozzle N1～N4 are respectively equipped with fire valve V1～V4, and it switches freely in the switching between state of closing of spraying the state of opening of carbonic acid gas and the sprinkling of restriction carbonic acid gas.4 fire valve V1～V4 carry out open and close controlling (with reference to Fig. 6) by piler controller H2 respectively.
As shown in Figure 5, ground controller H1 is connected by radio communication freely with piler controller H2, and the action of piler 3 is controlled in the conveyance instruction that piler controller H2 sends based on ground controller H1.
In present embodiment, ground controller H1 divides into Z1～Z4, Z5～Z8, these 3 conveyance work units of Z9～Z12 to manage by 12 keeping presumptive area Z of Storage Department 8.For each Storage Department 8, be set with 3 transfers corresponding with conveyance work unit, that arrange at frame Width and use position, while specifying the mode of which conveyance work unit to send conveyance instruction with ground controller H1, piler controller H2 controls the action of advance chassis 31 and bay-lift 33, shifting apparatus 34 is positioned at for the transfer of the conveyance work unit of appointment and uses position.As transfer for conveyance work unit, with position, according to taking out of the conveyance instruction of use and moving into the conveyance instruction of use, there are 2 kinds of different transfers of position of above-below direction to use position piler controller H2 is pre-stored.
Piler controller H2 make shifting apparatus 34 stop at transfer with position after, in order to carry out the transfer of article W to forming 4 keeping presumptive area Z of conveyance work unit simultaneously, control the action of piler 3.Again, although using 4 keeping presumptive area Z as object, but sometimes in the actual mode that certainly has article W of a part in 4 of conveyance work unit keeping presumptive area Z only, to Storage Department 8, move into article W, the article W of the only part keeping in 4 keeping presumptive area Z of conveyance work unit is taken out of from Storage Department 8.
As mentioned above, in present embodiment, control consists of ground controller H1 and piler controller H2 as the control setup of the action of the piler 3 of article conveying device.
When the P1 of anomalous discrimination portion by detector controller H3 differentiates the monitored object region D at abnormal article W place, represent that keeping in the article W of this monitored object region D, abnormal abnormal generation announcement information has occurred and sent to ground controller H1 in the mode of the identifying information that comprises this monitored object region D.Once ground controller H1 receives abnormal generation announcement information, carry out abnormal countermeasure processing.
During abnormal countermeasure is processed, the identifying information of monitored object region D based on receiving from detector controller H3, according to the information of management database that has recorded the corresponding relation of monitored object region D and conveyance work unit, retrieval belongs to the conveyance work unit of the monitored object region D at abnormal article W place, and to piler controller H2, send the conveyance instruction of taking out of use, the position at frame fore-and-aft direction of the monitored object region D of this conveyance work unit and this conveyance work unit is specified in this instruction.Thus, piler 3 is taken out of article W with the conveyance work unit under the monitored object region D at abnormal article W place.That is, a plurality of article W in the monitored object region D arranging at frame fore-and-aft direction with the monitored object region D at abnormal article W place take out from Storage Department 8 together with abnormal article W simultaneously.
Piler controller H2 makes fire extinguisher plant E action, make to be kept by bay-lift 33 at piler 3 under the state of a plurality of article W of these taking-ups the article W that only has the monitored object region D of the abnormal article W in a plurality of article W of this taking-up to be taken care of to the keeping processing of putting out a fire.; ground controller H1 will take out of with conveyance instruction and send to piler controller H2; the position at frame fore-and-aft direction about the monitored object region D of the abnormal article W in conveyance work unit is specified in this instruction; therefore; based on taking out of of ground controller H1 indication, use conveyance instruction, piler controller H2 can obtain the location information at frame fore-and-aft direction in the monitored object region D that is contained in conveyance work unit, that take care of the monitored object region D that has abnormal article W.The location information at frame fore-and-aft direction of monitored object region D that has abnormal article W as keeping for example, is the information which monitored object region D of starting in frame fore-and-aft direction ,Cong the place ahead etc. can determine monitored object region D.
For only make to be located in 4 nozzle N1～N4 of cover 35 of bay-lift 33, keeping has the corresponding nozzle action in the position at frame fore-and-aft direction of the monitored object region D of abnormal article W, piler controller H2 has the location information at frame fore-and-aft direction of the monitored object region D of abnormal article W based on keeping, the fire valve V of this nozzle N is switched to out to state.Thus, can only to the abnormal article W in a plurality of article W of conveyance work unit, spray carbonic acid gas, therefore, can do one's utmost to prevent that the normal article W to beyond the abnormal article W in a plurality of article W of conveyance work unit from spraying carbonic acid gas.
For example, in Fig. 1, in a pair of article keeping frame 1, be arranged in the Storage Department 8 of the article keeping frame 1 of load support table 4 one sides for warehouse-in, there is extremely, produced fire in article W take care of from start second keeping presumptive area Z3 (with reference to Fig. 3) above at frame fore-and-aft direction, the cigarette that this fire causes is detected by the smoke detector 10 of being located at by the detected object region directly over presumptive area Z3 forms certainly monitored object region D1.Thus, detector controller H3 differentiates the monitored object region D at abnormal article W place, based on this, differentiate result, the conveyance instruction of taking out of use of the conveyance work unit of the monitored object region D3 that ground controller H1 comprises from this abnormal article W place to the indication of piler controller.Piler controller H2 is based on this conveyance instruction, make piler 3 carry out the keeping presumptive area Z3 to comprising abnormal article W 4 keeping presumptive area Z1～Z4 take out of operation, for example 4 the article W that comprise abnormal article W are taken into bay-lift 33 simultaneously.Then, in order only keeping to be had to article W that the monitored object region D3 of abnormal article W the is taken care of processing of putting out a fire at frame fore-and-aft direction, only the 3rd fire valve V3 is switched to out to state, from 4 the nozzle N1～N4 (with reference to Fig. 1) frame fore-and-aft direction is arranged, be positioned at abnormal article W directly over nozzle N3 scatter carbonic acid gas, make by this way fire extinguisher plant E action.
(the 2nd embodiment)
In the article storage apparatus of present embodiment, compare with the 1st embodiment, except the formation of spacer body S is different with the plan view shape in monitored object region, associated ground D and detected object region, other is the same with the formation of the 1st embodiment.
As shown in Figure 7, in present embodiment, for example, by two keeping presumptive area Z (taking care of presumptive area Z1 and keeping presumptive area Z2), form a monitored object region D (for example monitored object region D1_2), spacer body S and 6 monitored object region D1_2～D11_12 accordingly, the spatial separation under shelf 13 become to 6 detected object regions arrange.That is,, in the 2nd embodiment, at the lower surface of shelf 13, at frame fore-and-aft direction, only the position in the middle of being positioned at is provided with cross septation part 16Y, at frame Width, the same with the 1st embodiment, is provided with vertical separator 16T at 2 places.Thus, in the article W that 12 keeping presumptive area Z of Storage Department 8 are taken care of, any occurs abnormal, while producing the cigarette that fire causes, the smoke detector 10 in the detected object region that the monitored object region D that forms with the keeping presumptive area Z at this abnormal article W place is corresponding detects the cigarette of abnormal article W.
For example, in the Storage Department 8 of warehouse-in in article keeping frame 1 with the article keeping frame 1 of load support table 4 place sides, at frame fore-and-aft direction, from starting the 2nd the article W that presumptive area Z3 (with reference to Fig. 7) is taken care of certainly above, abnormal generation fire has occurred, the cigarette that this fire causes detects by set smoke detector 10 in the detected object region directly over the monitored object region D3_4 by presumptive area Z3 and keeping presumptive area Z4 form certainly.Thus, detector controller H3 can differentiate the monitored object region D3_4 that abnormal article W place has occurred.Therefore in a plurality of article W that, Storage Department 8 is taken care of, there is abnormal article W and can reduce the scope to and be arranged in certain the article W that forms two keeping presumptive area Z3 of monitored object region D3_4 and Z4.
(the 3rd embodiment)
In present embodiment, different from the formation of the spacer body S of the 1st embodiment and the 2nd embodiment.As shown in Figure 8, the vertical separator 16T that replaces the spacer body S of the 1st embodiment and the 2nd embodiment, the same with the side panel 14 that forms zoning wall, midfeather 14M from the upper end of Storage Department 8 to lower end is set to, at frame Width, Storage Department 8 is divided into a plurality of spaces (for example, 3 spaces Fig. 8 shown in) corresponding with keeping presumptive area.Thus, the inner space of Storage Department 8 is distinguished with conveyance work unit, can prevent at frame Width the error detection of the abnormal article of adjacent conveyance work unit.In addition, article W occurs abnormal and produces in the situation of fire, by positively stoping the flowing of the cigarette of frame Width, and other the rough sledding of article W etc. of conveyance work unit of can preventing something from spreading.
(the 4th embodiment)
In present embodiment, as shown in Figure 9, be that spacer body S does not have cross septation part 16Y and the example that forms.That is, spacer body S forms by the pair of beams (front cross rail 12a and after cross member 12b) of arranging at frame fore-and-aft direction with at the vertical separator 16T of a plurality of (in Fig. 9 being 2) of frame Width decentralized configuration.
(the 5th embodiment)
In present embodiment, as shown in figure 10, time as be set in the keeping presumptive area Z of Storage Department 8 queue for keeping, at frame fore-and-aft direction, set the example of a keeping presumptive area Z.; as shown in figure 10; be set in a plurality of keeping presumptive area Z1～Z3 that frame Width is arranged, each free keeping presumptive area Z of a plurality of monitored objects region D1～D3 forms, and a plurality of detected objects region being formed by spacer body S is corresponding with a plurality of keeping presumptive area Z1～Z3.
(the 6th embodiment)
In present embodiment, as shown in Figure 11 and Figure 12, on the pillar group G forming at a pair of front standing pillar 17a and back prop 17b by front and back, be separated with compartment of terrain be provided with bracket 18 at above-below direction, the relative a pair of bracket 18 in adjacent pillar group G forms a Storage Department 8.Storage Department 8 is configured to: by a pair of bracket 18,18, in frame fore-and-aft direction mounting, support a plurality of (in Figure 12 being 2) article W, and with a plurality of article W of this state keeping, a pair of bracket 18,18 is equivalent to article maintaining part.
In each Storage Department 8, the same with the 1st embodiment, except being positioned at the outer peripheral face of positive one side, by the side panel 14 as zoning wall and backplate 15, surrounded.In the upper end of Storage Department 8, be provided with top board 19, by this top board 19, distinguish neighbouring Storage Department 8.Middle at the frame fore-and-aft direction of top board 19, is provided with downwards outstanding cross septation part 16Y, at the face side ora terminalis of top board 19, is provided with outstanding separator of battery plates 20 downwards.
In this embodiment, spacer body S consists of cross septation part 16Y, side panel 14 and backplate 15 and separator of battery plates 20.Thus, a plurality of monitored objects region D1, D2 be respectively by a formation of a plurality of (in Figure 12 being 2) keeping presumptive area Z arranging at frame fore-and-aft direction, is provided with separately a smoke detector 10 with each monitored object region D1, inspection subject area that D2 is corresponding.
(other embodiments)
Above, the invention that inventor is made has been carried out specific description based on working of an invention mode, but the present invention is not limited to above-mentioned embodiment, in the scope that does not depart from its main idea, can carry out various changes.Illustration other embodiments of the present invention below.
(1) in above-mentioned embodiment, exemplified with an article conveying device, from the Storage Department of a pair of article keeping frame, take out of the example of article, but can be also that an article conveying device is taken out of article from the Storage Department of Individual Items storage rack.
(2), in above-mentioned embodiment, exemplified with article keeping frame being arranged to the example of an article conveying device, but also can 2 or 3 above a plurality of article conveying devices be set to article keeping frame.Especially a plurality of article conveying devices are by the situation that the illustrative piler of above-mentioned embodiment forms, for example,, as JP 2011-6228 communique is recorded, also can be configured to these pilers advances at the same track of advancing, in addition, as JP 2009-269730 communique is recorded, also can be configured to each piler and advance at the track of advancing separately, the mutual wrong body of these pilers moves.
(3) in above-mentioned embodiment, exemplified with the shelf that covers the bottom surface of Storage Department, double as covering the example of ceiling floor of the ceiling of the adjacent Storage Department in the below of this Storage Department, but also can for the shelf of Storage Department and below this Storage Department the ceiling floor of adjacent Storage Department arrange respectively.In this case, shelf and ceiling floor can be separated with compartment of terrain at above-below direction and set, and also can connect airtight and set.
(4) in above-mentioned embodiment, the example being surrounded by zoning wall exemplified with Storage Department, except the outer peripheral face of one side at the positive place of turnover article, but also besieged except being positioned at the outer peripheral face at positive one side and the back side.Also can be that Storage Department is not surrounded by zoning wall except being configured in the ceiling floor of ceiling of Storage Department.In this case, except being positioned at all the other tripartites of a positive side, the vertical plate that preferably setting is given prominence to downwards from ceiling floor is as a part for spacer body.
(5) in above-mentioned embodiment, exemplified with article, are batteries, what article occurred is fire extremely, the test section that detects this abnormal abnormal detector is the example that detects the smoke detector of cigarette, but as article, so long as there are to produce when abnormal the article of the fluid of rising in it, the fluid of the rising detecting as test section, for example, except with above-mentioned embodiment in the same gas of having sneaked into fine particle of the cigarette recorded, also can be by aqueous vapor, foul smell, flammable gas, damp, the various fluids such as saprophagous character gas are as detected object.
(6) in above-mentioned embodiment, exemplified with taking out of destination, take out of the identical example in destination when a plurality of article that do not comprise the abnormal article of generation are taken out of from Storage Department when comprising a plurality of article that abnormal article occur and take out of from Storage Department, but also can take out of the different destinations of taking out of by the former with the latter.
(7), in above-mentioned embodiment, as article conveying device, exemplified with piler, as article conveying device, can be also the illustrative article conveying devices such as Fig. 1 such as, Unexamined Patent 9-169408.In the article conveying device of Unexamined Patent 9-169408, make to contain the rectangular bay-lift of total length of the frame Width of article keeping frame, arrange freely approaching lifting under the state of canopy, shifting apparatus is made as on this bay-lift and moves freely at frame Width.
(8), in above-mentioned embodiment, exemplified with article keeping frame, there is the example of the Storage Department of a plurality of states in frame Width and above-below direction arrangement, but can be also the Storage Department that article keeping frame has a plurality of states of only arranging at above-below direction.In this case, when article conveying device is set, this article conveying device can be by only making the jacking system that shifting apparatus moves at above-below direction form.
(9) in above-mentioned embodiment, exemplified with there is the example of a test section for a detected object region, but in order positively to detect the rising fluid in detected object region, or, even also can maintain the function of abnormal detector while there is fault for a test section, also can there are 2 above a plurality of test sections for a detected object region.
Claims (5)
1. an article storage apparatus, be provided with: with the state of at least arranging at above-below direction, be provided with the article keeping frame of a plurality of Storage Departments, described Storage Department is taken care of the article of this keeping object with the state of the article of article support mounting supporting keeping object; With in the article of described article keeping frame, there is to the abnormal detector that abnormal situation detects in keeping,
Described article keeping framework becomes: to be separated with the state of arranging compartment of terrain at frame Width, have pillar group, this pillar group is to be separated with at frame fore-and-aft direction the pillar group that compartment of terrain is arranged with a plurality of pillars along above-below direction, between adjacent described pillar group, at frame Width, be formed with a described Storage Department
Described abnormal detector has respectively the test section extremely detecting to the article of described Storage Department for Storage Department described in each, and described article storage apparatus is characterised in that,
Described test section is the parts to having detected from having there is the fluid with rising of abnormal article generation,
In described Storage Department, to the keeping presumptive area of article, according to keeping, with queue, the state with a plurality of arrangements is set, and the monitored object region consisting of one or more described keeping presumptive areas has been set a plurality of,
Be provided be disposed at described Storage Department ceiling, separate ceiling floor under space to form the spacer body in a plurality of detected objects region,
Described spacer body is set up with following state: form accordingly described monitored object region with described detected object region, and, allow article with respect to the turnover of described Storage Department,
Described test section is set up with respect to each described detected object region corresponding with described monitored object region.
2. article storage apparatus as claimed in claim 1, is characterized in that,
Described in each, Storage Department is configured to: the outer peripheral face except the positive place one side of turnover article is surrounded by zoning wall, and adjacent described Storage Department is separated by described zoning wall.
3. article storage apparatus as claimed in claim 1 or 2, is characterized in that,
In described pillar group frame fore-and-aft direction be arranged in two ends pair of posts, by be a pair of horizontal member strip, that arrange at frame fore-and-aft direction at frame Width, be connected respectively with the described pair of posts of adjacent described pillar group,
Described Storage Department is provided with the shelf crossing over described a pair of horizontal member and set as described article support,
Described ceiling floor in described Storage Department by with this Storage Department up the described shelf in adjacent described Storage Department form,
The lower end of described spacer body is positioned at the height more than height of lower end of described horizontal member.
4. the article storage apparatus as described in any one in claim 1～3, is characterized in that,
The described keeping of described keeping presumptive area is the queue that described keeping presumptive area is at least arranged at frame fore-and-aft direction with queue.
5. article storage apparatus as claimed in claim 4, is characterized in that,
Be provided with article conveying device, this article conveying device is equipped with the frame fore-and-aft direction at described article keeping frame forwards approaching state, mobile at least along the vertical direction shifting apparatus freely, so that article are taken out of from described Storage Department, described shifting apparatus can take out a plurality of article of taking care of in a plurality of described keeping presumptive areas of frame fore-and-aft direction arrangement from described Storage Department simultaneously freely
Described article conveying device has the exception handling device of having processed having there are abnormal article,
Described monitored object region consists of a keeping presumptive area,
Described abnormal detector is configured to: the detection information based on described test section, and the abnormal generation area of carrying out having occurred to differentiate in the described monitored object region at abnormal abnormal article place is differentiated processing,
Control the control setup of the action of described article conveying device, abnormal generation area based on described abnormal detector is differentiated the differentiation result of processing, a plurality of article in the monitored object region of arranging at frame fore-and-aft direction with the described monitored object region at described abnormal article place will be positioned at, from described Storage Department, take out together with described abnormal article simultaneously, at described article conveying device, keep under the state of article of this taking-up, execution is processed the abnormal countermeasure that described exception handling device moves, in order to only in the article of this taking-up, the article that keeping has the described monitored object region of described anomalies product to be taken care of are processed.
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| JP2012142235A JP5630668B2 (en) | 2012-06-25 | 2012-06-25 | Goods storage facility |
| JP2012-142235 | 2012-06-25 |
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| CN103508140B CN103508140B (en) | 2017-04-12 |
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| CN109147180A (en) * | 2018-09-07 | 2019-01-04 | 三门核电有限公司 | A kind of fully automatic article granting recyclable device |
| CN109969667A (en) * | 2017-12-28 | 2019-07-05 | 住友重机械搬运系统工程株式会社 | Automated Warehouse System |
| CN110231789A (en) * | 2019-05-29 | 2019-09-13 | 中车青岛四方机车车辆股份有限公司 | A kind of method for monitoring performance of tooling device and the storage device of tooling device |
| CN110641889A (en) * | 2019-09-27 | 2020-01-03 | 珠海泰坦新动力电子有限公司 | Stacking unit, stacker crane and control method of stacker crane |
| CN113272234A (en) * | 2019-01-15 | 2021-08-17 | 株式会社椿本链条 | Low-temperature storage system |
| CN114681842A (en) * | 2021-12-20 | 2022-07-01 | 深圳市凯乐仕捷创嘉物流装备有限公司 | Fire fighting method for warehouse and fire fighting warehouse |
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Also Published As
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| JP5630668B2 (en) | 2014-11-26 |
| JP2014005121A (en) | 2014-01-16 |
| CN103508140B (en) | 2017-04-12 |
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