DE112019006910B4 - Lagersystem, Basis, Steuervorrichtung, Programm und Transportroboter - Google Patents

Lagersystem, Basis, Steuervorrichtung, Programm und Transportroboter Download PDF

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Publication number
DE112019006910B4
DE112019006910B4 DE112019006910.1T DE112019006910T DE112019006910B4 DE 112019006910 B4 DE112019006910 B4 DE 112019006910B4 DE 112019006910 T DE112019006910 T DE 112019006910T DE 112019006910 B4 DE112019006910 B4 DE 112019006910B4
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Germany
Prior art keywords
container
transport vehicle
shelf
control signals
frame supports
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Active
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DE112019006910.1T
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German (de)
English (en)
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DE112019006910T5 (de
Inventor
Satoshi Tendo
Isamu Arase
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Mujin Inc
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Mujin Inc
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Publication of DE112019006910T5 publication Critical patent/DE112019006910T5/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • 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
    • 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
    • B65G1/04—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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Structural Engineering (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)
DE112019006910.1T 2019-02-25 2019-06-28 Lagersystem, Basis, Steuervorrichtung, Programm und Transportroboter Active DE112019006910B4 (de)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US201962810363P 2019-02-25 2019-02-25
US62/810,363 2019-02-25
PCT/JP2019/018116 WO2020174703A1 (ja) 2019-02-25 2019-04-26 保管システム
JPPCT/JP2019/018127 2019-04-26
JPPCT/JP2019/018116 2019-04-26
PCT/JP2019/018127 WO2020174704A1 (ja) 2019-02-25 2019-04-26 架台、搬送ロボット、及び、コンテナ
PCT/JP2019/025970 WO2020174711A1 (ja) 2019-02-25 2019-06-28 保管システム、架台、制御装置、プログラム及び搬送ロボット

Publications (2)

Publication Number Publication Date
DE112019006910T5 DE112019006910T5 (de) 2021-11-04
DE112019006910B4 true DE112019006910B4 (de) 2024-03-21

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE112019006910.1T Active DE112019006910B4 (de) 2019-02-25 2019-06-28 Lagersystem, Basis, Steuervorrichtung, Programm und Transportroboter

Country Status (5)

Country Link
US (1) US12371264B2 (https=)
JP (6) JP6971452B2 (https=)
CN (6) CN112478552B (https=)
DE (1) DE112019006910B4 (https=)
WO (3) WO2020174703A1 (https=)

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US12497241B2 (en) 2022-03-03 2025-12-16 Jungheinrich Aktiengesellschaft Block storage arrangement
US12522438B2 (en) 2022-03-03 2026-01-13 Jungheinrich Aktiengesellschaft Block storage arrangement and method for operating a block storage arrangement

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CN112478552B (zh) * 2019-02-25 2022-02-25 牧今科技 保管系统
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EP3812305B1 (de) * 2019-10-25 2025-04-09 Jungheinrich Aktiengesellschaft Stapellageranordnung und verfahren zum betreiben einer stapellageranordnung
EP3815852B1 (de) * 2019-10-29 2025-05-07 IMS Gear SE & Co. KGaA Fahrerlose transportvorrichtung und fahrerloses transportsystem zum transportieren von gegenständen
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CN111301361A (zh) * 2020-03-04 2020-06-19 博众精工科技股份有限公司 换电运输系统、换电方法和换电站
CN111301358A (zh) * 2020-03-04 2020-06-19 博众精工科技股份有限公司 单缓存换电系统、换电方法和换电站
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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CN112330249A (zh) * 2020-11-05 2021-02-05 北京极智嘉科技有限公司 仓储管理系统及方法
DE102020130338A1 (de) * 2020-11-17 2022-05-19 Bayerische Motoren Werke Aktiengesellschaft Fördersystem, Verfahren und fahrerloses Transportfahrzeug zum Transportieren von Bauteilen
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CN112660686B (zh) * 2021-03-17 2021-06-01 杭州蓝芯科技有限公司 基于深度相机的料笼堆叠方法及装置、电子设备、系统
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
EP4393842A4 (en) * 2021-08-27 2024-11-27 Beijing Geekplus Technology Co., Ltd. WAREHOUSE SYSTEM AND WAREHOUSE PLANNING METHOD
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
ES3037822T3 (en) * 2022-03-03 2025-10-07 Jungheinrich Ag Block storage assembly
EP4238901B1 (de) * 2022-03-03 2024-08-14 Jungheinrich Aktiengesellschaft Verfahren zum betreiben einer blocklageranordnung und blockanordnung
PL4238897T3 (pl) * 2022-03-03 2025-07-28 Jungheinrich Aktiengesellschaft Układ składowania w stosach
CN116788734A (zh) * 2022-03-15 2023-09-22 北京极智嘉科技股份有限公司 仓储系统
US11976484B2 (en) * 2022-03-18 2024-05-07 Cary James Henson Modular dwelling constructed from vertically oriented intermodal containers
CN114590611B (zh) * 2022-05-07 2022-07-26 绵阳蓝奥重型机械制造有限公司 一种升降码包自动装车机
JP2023169801A (ja) * 2022-05-17 2023-11-30 株式会社日立インダストリアルプロダクツ 搬送装置、搬送制御システム、及び制御方法
EP4514716A1 (en) * 2022-05-26 2025-03-05 Signode Industrial Group LLC Automated storage and retrieval system
CN116300916B (zh) * 2023-02-24 2026-03-20 深圳市海柔创新科技有限公司 基于机器人学习的机器人移动路径调整方法及相关装置
DE102023109559B3 (de) * 2023-04-17 2024-04-25 Kuka Systems Gmbh Ladungsträger-Wechselsystem und Verfahren zum Ansteuern eines automatisch arbeitenden Ladungsträger-Wechselsystems
JP7564922B1 (ja) 2023-04-26 2024-10-09 泰科動力股▲分▼有限公司 物品搬送方法及び立体倉庫システム
JP7831438B2 (ja) 2023-08-03 2026-03-17 株式会社ダイフク 容器搬送設備
CN116835202A (zh) * 2023-08-03 2023-10-03 深圳市海柔创新科技有限公司 物流系统及其控制方法
CN116986325B (zh) * 2023-09-26 2024-01-05 苏州海豚之星智能科技有限公司 一种具有料框导正功能的移动式多层堆垛设备
WO2026041269A1 (de) * 2024-08-22 2026-02-26 Flexstore Systems Ug Warenlagersystem
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Publication number Priority date Publication date Assignee Title
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US12522438B2 (en) 2022-03-03 2026-01-13 Jungheinrich Aktiengesellschaft Block storage arrangement and method for operating a block storage arrangement

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WO2020174711A1 (ja) 2020-09-03
JP2020132428A (ja) 2020-08-31
JP7406772B2 (ja) 2023-12-28
CN113710593A (zh) 2021-11-26
WO2020174703A1 (ja) 2020-09-03
JP2020132430A (ja) 2020-08-31
CN111971237A (zh) 2020-11-20
JP6632177B1 (ja) 2020-01-22
CN111936398A (zh) 2020-11-13
DE112019006910T5 (de) 2021-11-04
JP6596641B1 (ja) 2019-10-30
JP2020132429A (ja) 2020-08-31
CN112478552A (zh) 2021-03-12
JP6971452B2 (ja) 2021-11-24
CN112478555A (zh) 2021-03-12
WO2020174704A1 (ja) 2020-09-03
CN112478555B (zh) 2022-01-25
US20220144546A1 (en) 2022-05-12
CN112478552B (zh) 2022-02-25
JP2020132432A (ja) 2020-08-31
CN114348509A (zh) 2022-04-15
JP7574505B2 (ja) 2024-10-29
JP2022009407A (ja) 2022-01-14
JP6661181B1 (ja) 2020-03-11
US12371264B2 (en) 2025-07-29
CN114348509B (zh) 2022-11-11
JPWO2020174711A1 (ja) 2021-10-14

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