CN112478555B - 支架、搬运机器人以及集装箱 - Google Patents

支架、搬运机器人以及集装箱 Download PDF

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Publication number
CN112478555B
CN112478555B CN202011456172.1A CN202011456172A CN112478555B CN 112478555 B CN112478555 B CN 112478555B CN 202011456172 A CN202011456172 A CN 202011456172A CN 112478555 B CN112478555 B CN 112478555B
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CN112478555A (zh
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荒瀬勇
天道悟之
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Mujin Technology
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Mujin Technology
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    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0471—Storage devices mechanical with access from beneath
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/14—Stack holders or separators
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/30—Stacking of articles by adding to the bottom of the stack
    • B65G57/301—Stacking of articles by adding to the bottom of the stack by means of reciprocatory or oscillatory lifting and holding or gripping devices
    • B65G57/302—Stacking of articles by adding to the bottom of the stack by means of reciprocatory or oscillatory lifting and holding or gripping devices added articles being lifted to substantially stationary grippers or holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/667—Delivering or retrieving payloads

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN202011456172.1A 2019-02-25 2019-04-26 支架、搬运机器人以及集装箱 Active CN112478555B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962810363P 2019-02-25 2019-02-25
US62/810,363 2019-02-25
CN201980024145.6A CN111936398A (zh) 2019-02-25 2019-04-26 支架、搬运机器人以及集装箱

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CN201980024145.6A Division CN111936398A (zh) 2019-02-25 2019-04-26 支架、搬运机器人以及集装箱

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CN112478555A CN112478555A (zh) 2021-03-12
CN112478555B true CN112478555B (zh) 2022-01-25

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Application Number Title Priority Date Filing Date
CN202011456172.1A Active CN112478555B (zh) 2019-02-25 2019-04-26 支架、搬运机器人以及集装箱
CN201980024145.6A Pending CN111936398A (zh) 2019-02-25 2019-04-26 支架、搬运机器人以及集装箱
CN202011451637.4A Active CN112478552B (zh) 2019-02-25 2019-04-26 保管系统
CN201980024157.9A Pending CN111971237A (zh) 2019-02-25 2019-04-26 保管系统
CN201980095716.5A Pending CN113710593A (zh) 2019-02-25 2019-06-28 保管系统、支架、控制装置、程序以及搬运机器人
CN202111504613.5A Active CN114348509B (zh) 2019-02-25 2019-06-28 车辆控制用的控制装置、非暂时性计算机可读介质及方法

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Application Number Title Priority Date Filing Date
CN201980024145.6A Pending CN111936398A (zh) 2019-02-25 2019-04-26 支架、搬运机器人以及集装箱
CN202011451637.4A Active CN112478552B (zh) 2019-02-25 2019-04-26 保管系统
CN201980024157.9A Pending CN111971237A (zh) 2019-02-25 2019-04-26 保管系统
CN201980095716.5A Pending CN113710593A (zh) 2019-02-25 2019-06-28 保管系统、支架、控制装置、程序以及搬运机器人
CN202111504613.5A Active CN114348509B (zh) 2019-02-25 2019-06-28 车辆控制用的控制装置、非暂时性计算机可读介质及方法

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US (1) US12371264B2 (enExample)
JP (6) JP6971452B2 (enExample)
CN (6) CN112478555B (enExample)
DE (1) DE112019006910B4 (enExample)
WO (3) WO2020174704A1 (enExample)

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CN112478555B (zh) 2019-02-25 2022-01-25 牧今科技 支架、搬运机器人以及集装箱
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CN111301357A (zh) * 2020-03-04 2020-06-19 博众精工科技股份有限公司 换电系统、换电方法和换电站
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JP7736448B2 (ja) * 2021-05-14 2025-09-09 ユングハインリヒ・アーゲー 積み重ね貯蔵装置及び積み重ね貯蔵装置を動作させる方法
TWI843186B (zh) * 2021-08-27 2024-05-21 大陸商北京極智嘉科技股份有限公司 貨架、倉儲系統、轉運機器人及系統、倉儲排程方法及裝置、計算設備、電腦可讀儲存媒體、電腦程式產品
CN114348688B (zh) * 2021-11-12 2024-05-28 中车长江运输设备集团有限公司 一种货物装卸系统、方法以及装卸运输车
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Also Published As

Publication number Publication date
JP6632177B1 (ja) 2020-01-22
WO2020174704A1 (ja) 2020-09-03
DE112019006910T5 (de) 2021-11-04
JP2020132432A (ja) 2020-08-31
CN111936398A (zh) 2020-11-13
CN112478552B (zh) 2022-02-25
CN114348509B (zh) 2022-11-11
DE112019006910B4 (de) 2024-03-21
JP6971452B2 (ja) 2021-11-24
US12371264B2 (en) 2025-07-29
JP7406772B2 (ja) 2023-12-28
CN112478552A (zh) 2021-03-12
CN111971237A (zh) 2020-11-20
JP2020132428A (ja) 2020-08-31
JP6596641B1 (ja) 2019-10-30
CN112478555A (zh) 2021-03-12
CN114348509A (zh) 2022-04-15
JP2020132429A (ja) 2020-08-31
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