CN1886313A - 自动仓库行车和升降机 - Google Patents
自动仓库行车和升降机 Download PDFInfo
- Publication number
- CN1886313A CN1886313A CNA2004800351708A CN200480035170A CN1886313A CN 1886313 A CN1886313 A CN 1886313A CN A2004800351708 A CNA2004800351708 A CN A2004800351708A CN 200480035170 A CN200480035170 A CN 200480035170A CN 1886313 A CN1886313 A CN 1886313A
- Authority
- CN
- China
- Prior art keywords
- elevator
- cam
- lift
- plate
- rail vehicle
- 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.)
- Pending
Links
Images
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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- 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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0414—Storage devices mechanical using stacker cranes provided with satellite cars adapted to travel in storage racks
-
- 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
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US10/724,339 US7073634B2 (en) | 2003-11-28 | 2003-11-28 | Automated warehouse row cart and lift |
| US10/724,339 | 2003-11-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1886313A true CN1886313A (zh) | 2006-12-27 |
Family
ID=34620050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2004800351708A Pending CN1886313A (zh) | 2003-11-28 | 2004-09-03 | 自动仓库行车和升降机 |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US7073634B2 (enExample) |
| EP (1) | EP1687219B1 (enExample) |
| JP (1) | JP2007512207A (enExample) |
| CN (1) | CN1886313A (enExample) |
| AT (1) | ATE449019T1 (enExample) |
| CA (1) | CA2543547C (enExample) |
| DE (1) | DE602004024230D1 (enExample) |
| ES (1) | ES2354412T3 (enExample) |
| WO (1) | WO2005056460A2 (enExample) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104039666A (zh) * | 2011-11-20 | 2014-09-10 | 伊利诺斯工具制品有限公司 | 存储系统和方法 |
| CN104619612A (zh) * | 2012-09-05 | 2015-05-13 | 村田机械株式会社 | 堆装起重机 |
| CN107472849A (zh) * | 2017-08-31 | 2017-12-15 | 苏州天浩昌智能科技有限公司 | 一种多方向运转的便捷化运转小车及其工作方法 |
| WO2018064839A1 (zh) * | 2016-10-09 | 2018-04-12 | 浙江国自机器人技术有限公司 | 一种库存物品管理系统、搬运机器人及其搬运货架的方法 |
| CN109677819A (zh) * | 2017-10-18 | 2019-04-26 | 北京京东尚科信息技术有限公司 | 自动引导运输车和货物搬运系统 |
| CN112407712A (zh) * | 2019-08-23 | 2021-02-26 | 永恒力股份公司 | 容器堆垛仓储器-装载车 |
| CN113120495A (zh) * | 2021-04-30 | 2021-07-16 | 安徽哥伦布智能科技有限公司 | 用于立体仓库的货物接驳系统和用于该系统的接驳搬运车 |
| CN113165805A (zh) * | 2018-12-20 | 2021-07-23 | 自动存储科技股份有限公司 | 容器处理载具在不同高度的储存网格之间的运输 |
| CN113335819A (zh) * | 2021-06-29 | 2021-09-03 | 重庆德凯实业股份有限公司 | 一种仓储机器人及智能立体仓 |
| CN114867668A (zh) * | 2019-12-20 | 2022-08-05 | 摩登纳股份公司 | 用于立式自动仓库的升降机锁定装置 |
| CN119683202A (zh) * | 2025-02-06 | 2025-03-25 | 捷尔西(苏州)科技有限公司 | 一种自动化立体仓库用搬运车 |
| TWI919273B (zh) | 2023-06-23 | 2026-03-21 | 日商椿本鏈條股份有限公司 | 自動倉庫系統 |
Families Citing this family (76)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITBG20060068A1 (it) * | 2006-12-29 | 2008-06-30 | Automha Srl | Dispositivo per lo stoccaggio automatico di una unita' di carico in una corsia di stoccaggio |
| EP1953334B1 (en) * | 2007-01-08 | 2016-11-09 | National Oilwell Varco, L.P. | A pipe handling system and method |
| US20080240900A1 (en) * | 2007-03-29 | 2008-10-02 | Eric Reisenauer | System for storage and retrieval |
| US20080240894A1 (en) * | 2007-03-29 | 2008-10-02 | Eric Reisenauer | Storage and retrieval system |
| ITBG20070035A1 (it) * | 2007-06-26 | 2008-12-27 | Automha S R L | Dispositivo per lo stoccaggio automatico di una unita' di carico in una corsa di stoccaggio. |
| US20110014017A1 (en) * | 2009-07-14 | 2011-01-20 | Pflow Industries, Inc. | Storage retrieval machine |
| FR2967145B1 (fr) * | 2010-11-08 | 2013-11-15 | Savoye | Systeme de stockage automatise comprenant au moins un elevateur dont au moins un mat porteur est forme par au moins un montant de la structure d'au moins une etagere |
| DE102011014394C5 (de) | 2011-03-11 | 2022-02-17 | Ssi Schäfer Automation Gmbh | Zirkulares Roaming für ein Lager- und Kommissioniersystem |
| DE102011103130A1 (de) * | 2011-05-25 | 2012-11-29 | Servus Intralogistics Gmbh | Verfahren und Vorrichtung zur Steuerung eines schienengebundenen Transportroboters in einem Materiallager |
| CN102633076A (zh) * | 2012-04-23 | 2012-08-15 | 金陵科技学院 | 一种带升降穿梭小车的立体仓库 |
| NL2009148C2 (nl) * | 2012-07-06 | 2014-01-07 | Thyssenkrupp Accessibility B V | Werkwijze en inrichting voor het uitvoeren van duurtesten van elektromotoren. |
| CN102752975A (zh) * | 2012-07-21 | 2012-10-24 | 江苏集云信息科技有限公司 | 便于安装服务器的集装箱式集合型机柜 |
| CN102849389B (zh) * | 2012-08-15 | 2014-09-17 | 杭州扬果科技有限公司 | 升降式触屏智能货仓升降机机构 |
| US9562407B2 (en) | 2013-01-23 | 2017-02-07 | Nabors Industries, Inc. | X-Y-Z pipe racker for a drilling rig |
| US9725240B2 (en) | 2013-03-14 | 2017-08-08 | Signode Industrial Group Llc | Storage system and methods |
| US20140271069A1 (en) * | 2013-03-14 | 2014-09-18 | Illinois Tool Works Inc. | Storage Carts |
| MX2016005035A (es) * | 2013-10-18 | 2017-01-09 | Swisslog Logistics Inc | Soporte de riel libre de orificios. |
| CN103612857A (zh) * | 2013-11-19 | 2014-03-05 | 机科发展科技股份有限公司 | 一种一体式货架 |
| EP3097026A4 (en) | 2014-01-24 | 2017-11-08 | Swisslog Logistics, Inc. | Apparatus for positioning an automated lifting storage cart and related methods |
| EP3114051B1 (en) | 2014-03-05 | 2022-02-23 | SwissLogistics, Inc. | Automated lifting storage cart |
| ES2888932T3 (es) * | 2015-05-04 | 2022-01-10 | Dematic Nv | Sistema de almacenamiento en almacén automatizado con lanzadera portadora de carga multidireccional |
| US10207867B2 (en) * | 2015-07-01 | 2019-02-19 | Swisslog Logistics, Inc. | Automated pallet storage and retrieval system |
| EP3387596A1 (en) | 2015-12-07 | 2018-10-17 | 6 River Systems, Inc. | Warehouse automation systems and methods using a motor-driven cart |
| DE102017002965B4 (de) * | 2016-04-22 | 2025-02-13 | Sew-Eurodrive Gmbh & Co Kg | Verfahren zum Betreiben einer Fertigungsanlage mit einem Transportsystem |
| EP3258433A1 (en) | 2016-06-17 | 2017-12-20 | Starship Technologies OÜ | Method and system for delivering items |
| US11880784B2 (en) | 2016-08-05 | 2024-01-23 | Starship Technologies Oü | System and mobile freight station and method for distribution, delivery, and collection of freight |
| EP3330908A1 (en) | 2016-12-02 | 2018-06-06 | Starship Technologies OÜ | System and method for securely delivering packages to different delivery recipients with a single vehicle |
| WO2018099930A1 (en) | 2016-12-02 | 2018-06-07 | Starship Technologies Oü | System and method for securely delivering packages to different delivery recipients with a single vehicle |
| USD826508S1 (en) | 2016-12-07 | 2018-08-21 | 6 River Systems, Inc. | Enhanced warehouse cart |
| WO2018108832A1 (en) | 2016-12-14 | 2018-06-21 | Starship Technologies Oü | Robot, system and method detecting and/or responding to transitions in height |
| EP3622499B1 (en) | 2017-05-11 | 2025-07-16 | Starship Technologies OÜ | A signalling device and system for increasing visibility of a mobile robot |
| EP3631363B1 (en) | 2017-05-24 | 2025-12-31 | Starship Technologies OÜ | DEVICE AND METHOD FOR THE DETECTION AND LOCATION OF VEHICLES |
| WO2018215581A1 (en) | 2017-05-26 | 2018-11-29 | Starship Technologies Oü | A battery and a system for swapping and/or charging a battery of a mobile robot |
| EP3630558A1 (en) | 2017-05-26 | 2020-04-08 | Starship Technologies OÜ | A device, method and system for swapping and/or charging a battery of a mobile robot |
| WO2019020407A1 (en) | 2017-07-28 | 2019-01-31 | Starship Technologies Oü | DEVICE AND SYSTEM FOR SECURELY DELIVERY OF PARCELS BY A MOBILE ROBOT |
| US10282995B2 (en) | 2017-09-05 | 2019-05-07 | Starship Technologies Oü | Mobile robot having collision avoidance system for crossing a road from a pedestrian pathway |
| WO2019053162A1 (en) | 2017-09-15 | 2019-03-21 | Starship Technologies Oü | SYSTEM AND METHOD FOR ARTICLE DISTRIBUTION BY A MOBILE ROBOT |
| WO2019068634A1 (en) | 2017-10-02 | 2019-04-11 | Starship Technologies Oü | DEVICE AND METHOD FOR DISTRIBUTING ARTICLES CONSUMABLE BY A MOBILE ROBOT |
| EP3704555B1 (en) | 2017-11-02 | 2023-07-19 | Starship Technologies OÜ | Visual localization and mapping in low light conditions |
| US10343286B2 (en) | 2017-12-01 | 2019-07-09 | Starship Technologies Oü | Storage system, use and method with robotic parcel retrieval and loading onto a delivery vehicle |
| EP4556406A1 (en) | 2018-01-09 | 2025-05-21 | AutoStore Technology AS | A displacement mechanism for a remotely operated vehicle |
| NO344662B1 (en) * | 2018-06-12 | 2020-03-02 | Autostore Tech As | An automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location |
| US12282330B2 (en) | 2018-05-22 | 2025-04-22 | Starship Technologies Oü | Autonomous vehicle with a plurality of light sources arranged thereon |
| CN112512944B (zh) * | 2018-05-22 | 2022-09-20 | 匹克八西普科技股份有限公司 | 货物容器和货物物流方法 |
| US11741709B2 (en) | 2018-05-22 | 2023-08-29 | Starship Technologies Oü | Method and system for analyzing surroundings of an autonomous or semi-autonomous vehicle |
| CN115158949B (zh) | 2018-06-12 | 2025-01-21 | 自动存储科技股份有限公司 | 储存系统、在储存系统中取回和储存物品的方法及转移方法 |
| US12179807B2 (en) | 2018-06-12 | 2024-12-31 | Autostore Technology AS | Automated storage system |
| JP7360403B2 (ja) | 2018-06-12 | 2023-10-12 | アウトストア・テクノロジー・エーエス | 自動収納回収システム向けの容器荷役車両およびドローンの操作を制御する方法およびシステム |
| NO344619B1 (en) * | 2018-06-12 | 2020-02-10 | Autostore Tech As | Storage system |
| US11572231B2 (en) | 2018-06-12 | 2023-02-07 | Autostore Technology AS | Storage system with modular container handling vehicles |
| JP7373507B2 (ja) | 2018-06-12 | 2023-11-02 | アウトストア・テクノロジー・エーエス | アクセスポイントを備えた配送システム、および、配送システムのアクセスポイントにアクセスする方法 |
| US11498757B2 (en) | 2018-06-12 | 2022-11-15 | Autostore Technology AS | Storage system |
| ES3054001T3 (en) | 2018-06-12 | 2026-01-28 | Autostore Tech As | Automated storage system with a container vehicle and a charging system |
| NO344742B1 (en) * | 2018-06-12 | 2020-03-30 | Autostore Tech As | A delivery system with an access point and a method of accessing an access point of the delivery system |
| EP3807175B1 (en) | 2018-06-12 | 2025-07-23 | Autostore Technology As | System for storing and transporting storage containers |
| EP3807183B1 (en) | 2018-06-12 | 2024-09-11 | Autostore Technology AS | A method of operating an automated storage and retrieval system |
| US11097895B1 (en) * | 2018-07-13 | 2021-08-24 | Vecna Robotics, Inc. | System and method of providing delivery of items from one container to another container |
| EP3841516A1 (en) | 2018-08-22 | 2021-06-30 | Starship Technologies OÜ | Method and system for traffic light signal detection and usage |
| CN109095054A (zh) * | 2018-09-21 | 2018-12-28 | 中电科技(合肥)博微信息发展有限责任公司 | 一种穿梭车 |
| WO2020078900A1 (en) | 2018-10-15 | 2020-04-23 | Starship Technologies Oü | Method and system for operating a robot |
| US11941571B2 (en) | 2019-04-01 | 2024-03-26 | Starship Technologies Oü | System and method for vending items |
| DE102019111329B4 (de) * | 2019-05-02 | 2025-12-11 | Fixture Tech Solutions Gmbh | Basisplatte einer Halterungs- oder Messeinrichtung |
| WO2020229451A1 (en) | 2019-05-16 | 2020-11-19 | Starship Technologies Oü | Method, robot and system for interacting with actors or item recipients |
| JP6806856B2 (ja) * | 2019-07-25 | 2021-01-06 | 住友重機械搬送システム株式会社 | 自動倉庫システム |
| NO346306B1 (en) | 2019-08-22 | 2022-05-30 | Autostore Tech As | A delivery system, an automated storage and retrieval system and a method of transporting a container |
| WO2021175682A1 (en) | 2020-03-02 | 2021-09-10 | Starship Technologies Oü | Method, system and device for analyzing pedestrian motion patterns |
| GB202003090D0 (en) * | 2020-03-04 | 2020-04-15 | Ocado Innovation Ltd | Automated storage systems, and devices |
| EP4139765B1 (en) | 2020-04-27 | 2024-06-19 | Starship Technologies OÜ | Methods, devices and systems for facilitating operations of mobile robots |
| GB2594516A (en) * | 2020-05-01 | 2021-11-03 | Edwards Vacuum Llc | Transport device and method of moving vacuum system components in a confined space |
| CN112224737A (zh) * | 2020-11-23 | 2021-01-15 | 江苏汉卿新材料科技研究院有限公司 | 一种智能穿梭车 |
| CN113023620B (zh) * | 2021-04-12 | 2022-09-30 | 北京京东乾石科技有限公司 | Agv小车 |
| CN113306475A (zh) * | 2021-07-16 | 2021-08-27 | 北京京东乾石科技有限公司 | 底盘组件及自动导引车 |
| FR3133386B1 (fr) * | 2022-03-10 | 2025-06-27 | Holding Financiere Ciuch En Abrege H F C | Dispositif transfert a convoyeurs transversaux imbriques |
| WO2023198452A1 (de) * | 2022-04-11 | 2023-10-19 | Rocket Solution Gmbh | Shuttleaufzug für regalsystem, regalsystem und verfahren zum verlagern eines shuttles |
| US20240383615A1 (en) * | 2023-05-19 | 2024-11-21 | DroneUp, LLC | Package acceptance system of an unmanned vehicle pick-up and delivery system and methods of use |
| GB2630597A (en) * | 2023-05-30 | 2024-12-04 | Hysort Ltd | Sorter carrier |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US340156A (en) * | 1886-04-20 | richards | ||
| DE1186719B (de) * | 1960-07-08 | 1965-02-04 | Bbc Brown Boveri & Cie | Vorrichtung zur Umwandlung einer hin- und hergehenden, stetigen Drehbewegung in eine gleichartige durch Anschlaege begrenzte Sprungdrehbewegung |
| FR1327633A (fr) * | 1962-07-04 | 1963-05-17 | Concast Ag | Dispositif pour animer d'un mouvement d'oscillation une coquille de coulée continue |
| US3722706A (en) * | 1969-12-09 | 1973-03-27 | Westvaco Corp | Weight aligned grapple |
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| DE2436022A1 (de) * | 1974-07-26 | 1976-02-05 | Reis Standardwerk | Mechanische zaehlvorrichtung, insbesondere fuer muenzenzaehlmaschinen |
| US4112472A (en) * | 1977-02-28 | 1978-09-05 | International Business Machines Corporation | Longitudinal scan, cam shaped, turntable rotor for magnetic recording |
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| DE9107229U1 (de) * | 1991-06-12 | 1991-07-25 | Copla Förder- und Lagertechnik Gesellschaft für Anlagenbau mbH, 1000 Berlin | Schiene für Lager, insbesondere Hochregallager, für rollenförmiges Lagergut, insbesondere Papierrollen |
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| JP3039768B2 (ja) * | 1995-12-11 | 2000-05-08 | 日本ビクター株式会社 | ディスク情報処理装置 |
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-
2003
- 2003-11-28 US US10/724,339 patent/US7073634B2/en not_active Expired - Lifetime
-
2004
- 2004-09-03 ES ES04783229T patent/ES2354412T3/es not_active Expired - Lifetime
- 2004-09-03 WO PCT/US2004/028904 patent/WO2005056460A2/en not_active Ceased
- 2004-09-03 CN CNA2004800351708A patent/CN1886313A/zh active Pending
- 2004-09-03 AT AT04783229T patent/ATE449019T1/de not_active IP Right Cessation
- 2004-09-03 CA CA002543547A patent/CA2543547C/en not_active Expired - Lifetime
- 2004-09-03 JP JP2006541135A patent/JP2007512207A/ja not_active Withdrawn
- 2004-09-03 DE DE602004024230T patent/DE602004024230D1/de not_active Expired - Lifetime
- 2004-09-03 EP EP04783229A patent/EP1687219B1/en not_active Expired - Lifetime
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11492198B2 (en) | 2011-11-20 | 2022-11-08 | Signode Industrial Group Llc | Storage system and methods |
| US9643780B2 (en) | 2011-11-20 | 2017-05-09 | Illinois Tool Works Inc. | Storage system and methods |
| US9334114B2 (en) | 2011-11-20 | 2016-05-10 | Illinois Tool Works Inc. | Storage system and methods |
| US10974898B2 (en) | 2011-11-20 | 2021-04-13 | Signode Industrial Group Llc | Storage system and methods |
| US9643781B2 (en) | 2011-11-20 | 2017-05-09 | Illinois Tool Works Inc. | Storage system and methods |
| CN104080717B (zh) * | 2011-11-20 | 2017-07-28 | 依工西班牙控股有限公司 | 存储系统和方法 |
| US11897694B2 (en) | 2011-11-20 | 2024-02-13 | Signode Industrial Group Llc | Storage system and methods |
| US9850066B2 (en) | 2011-11-20 | 2017-12-26 | Signode Industrial Group Llc | Storage system and methods |
| CN104039666B (zh) * | 2011-11-20 | 2018-03-27 | Spg包装爱尔兰有限责任公司 | 存储系统和方法 |
| US12421038B2 (en) | 2011-11-20 | 2025-09-23 | Signode Industrial Group Llc | Storage system and methods |
| CN104039666A (zh) * | 2011-11-20 | 2014-09-10 | 伊利诺斯工具制品有限公司 | 存储系统和方法 |
| CN104080717A (zh) * | 2011-11-20 | 2014-10-01 | 伊利诺斯工具制品有限公司 | 存储系统和方法 |
| CN104619612A (zh) * | 2012-09-05 | 2015-05-13 | 村田机械株式会社 | 堆装起重机 |
| US10106383B2 (en) | 2016-10-09 | 2018-10-23 | Zhejiang Guozi Robot Technology Co. Ltd. | Inventory item management system, transporting robots and the method for transporting inventory holder |
| WO2018064839A1 (zh) * | 2016-10-09 | 2018-04-12 | 浙江国自机器人技术有限公司 | 一种库存物品管理系统、搬运机器人及其搬运货架的方法 |
| CN107472849A (zh) * | 2017-08-31 | 2017-12-15 | 苏州天浩昌智能科技有限公司 | 一种多方向运转的便捷化运转小车及其工作方法 |
| CN109677819A (zh) * | 2017-10-18 | 2019-04-26 | 北京京东尚科信息技术有限公司 | 自动引导运输车和货物搬运系统 |
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| CN113335819A (zh) * | 2021-06-29 | 2021-09-03 | 重庆德凯实业股份有限公司 | 一种仓储机器人及智能立体仓 |
| TWI919273B (zh) | 2023-06-23 | 2026-03-21 | 日商椿本鏈條股份有限公司 | 自動倉庫系統 |
| CN119683202A (zh) * | 2025-02-06 | 2025-03-25 | 捷尔西(苏州)科技有限公司 | 一种自动化立体仓库用搬运车 |
Also Published As
| Publication number | Publication date |
|---|---|
| DE602004024230D1 (de) | 2009-12-31 |
| WO2005056460A3 (en) | 2005-11-03 |
| WO2005056460A2 (en) | 2005-06-23 |
| CA2543547C (en) | 2009-05-26 |
| US7073634B2 (en) | 2006-07-11 |
| ES2354412T3 (es) | 2011-03-14 |
| EP1687219A2 (en) | 2006-08-09 |
| CA2543547A1 (en) | 2005-06-23 |
| EP1687219B1 (en) | 2009-11-18 |
| ATE449019T1 (de) | 2009-12-15 |
| JP2007512207A (ja) | 2007-05-17 |
| EP1687219A4 (en) | 2008-10-08 |
| US20050118003A1 (en) | 2005-06-02 |
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