JP2016506346A - 格納容器を輸送するためのシステム - Google Patents
格納容器を輸送するためのシステム Download PDFInfo
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- 238000013461 design Methods 0.000 claims description 10
- 239000011159 matrix material Substances 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
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Classifications
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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
- B65G1/0464—Storage devices mechanical with access from above
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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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
- B65G1/0478—Storage devices mechanical for matrix-arrangements
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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
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
-
- 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
-
- 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
-
- 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
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/025—Boxes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
Abstract
Description
1 遠隔動作車両/ロボット
2 格納容器
3 格納システム
4 車両本体/フレームワーク
5 (車両本体の)第1のセクション/構成要素セクション/側方部分
5a 第1のセクション、左
5b 第1のセクション、右
6 車両駆動手段/モータユニット
7 車両格納空間/第2の部分/空洞/中心に配置された空洞
8 格納列
8a 中央格納列
8b 隣接格納列
9 車両リフティングデバイス
10 車両回転手段の第1のセット/車輪の第1のセット
11 車両回転手段の第2のセット/車輪の第2のセット
12 容器受け取り開放部
13 支持レール
14 車両支持部
15 容器格納構造/グリッド
16 位置感知手段/位置センサ
17 車両支持部の左外側側方境界エリア/左側境界メッシュ
18 車両支持部の右外側側方境界エリア/右側境界メッシュ
50 容器リフトデバイス
60 送達ステーション/ポート
70 ヨーク/オーバーハング
72 上部蓋
73 包囲カバー
74 ハンドル
75 伝送手段/制御パネル/ワイヤレス通信手段
76 グリッド支持ベース
Claims (14)
- 格納システム(3)から格納容器(2)を取り上げるための遠隔動作車両(1)であって、前記遠隔動作車両(1)は、
車両駆動手段(6)を格納するための第1のセクション(5、5a、5b)と、前記格納システム(3)内の格納列(8、8a、8b)に格納された任意の格納容器(2)を受け取るための第2のセクション(7)とを備える車両本体(4)と、
前記第2のセクション(7)の中へ前記格納容器(2)を持ち上げるために、前記車両本体(4)に少なくとも間接的に接続された車両リフティングデバイス(9)と、
使用中、前記格納システム(3)内で、第1の方向(X)に沿った前記車両(1)の移動を可能にする前記車両本体(4)に接続された車両回転手段の第1のセット(10)と、
使用中、前記格納システム(3)内で、第2の方向(Y)に沿った前記車両(1)の移動を可能にする前記車両本体(4)に接続された車両回転手段の第2のセット(11)と
を備え、
前記第2の方向(Y)は、前記第1の方向(X)に対して垂直であり、
前記第2のセクション(7)が、前記車両本体(4)内で中心に配置された空洞(7)を備え、前記空洞(7)が、使用中に前記格納列(8、8a、8b)に向かって面する少なくとも1つの容器受け取り開放部(12)を有することと、
車両回転手段の前記セット(11)のうちの少なくとも1つが、前記車両本体(4)内に完全に配置されることと
を特徴とする、遠隔動作車両(1)。 - 前記車両が、前記第1の方向(X)と前記第2の方向(Y)との間における車両方向の変更中に、前記格納システム(3)内の、下にある車両支持部(14)から離れるように、前記車両回転手段の第1のセットまたは前記第2の車両回転手段のいずれかを可逆的かつ選択的に変位させるための手段をさらに備えることを特徴とする、請求項1に記載の遠隔動作車両(1)。
- 前記車両本体(4)が、使用中に、最大で、前記第1の方向(X)に1つの中央格納列(8a)の横断面を覆い、前記第2の方向(Y)に1つよりも多くの中央格納列(8a、8b)の横断面を覆うことを特徴とする、請求項1または2に記載の遠隔動作車両(1)。
- 前記車両本体(4)が、前記第2の方向(Y)に両側で前記中央格納列(8a、8b)の横断面を越えて延びることを特徴とする、請求項3に記載の遠隔動作車両(1)。
- 前記中央格納列(8a、8b)の横断面を越える前記延在が、前記第2の方向(Y)に両側において等しいことを特徴とする、請求項4に記載の遠隔動作車両(1)。
- 車両回転手段(10、11)の両方のセットが、前記中心に配置された空洞(7)の周りに対称的に分散させられることを特徴とする、前記請求項のうちの1つに記載の遠隔動作車両(1)。
- 車両回転手段(10、11)の少なくとも1つのセットが、少なくとも4つの車輪を備えることを特徴とする、前記請求項のうちの1つに記載の遠隔動作車両(1)。
- 車両回転手段(10、11)の両方のセットが、相互接続されるときに増加させられた側方安定性を提供するために、前記車両支持部(14)を構成する支持レール(13)上の対応する外側設計に一致する外側設計を有することを特徴とし、
前記支持レール(13)が、容器格納構造(15)の上部上の2次元マトリクスに配置され、前記マトリクスおよび前記容器格納構造(15)の主方向が、前記車両(1)の前記第1の方向(X)および前記第2の方向(Y)と合致する、
前記請求項のうちの1つに記載の遠隔動作車両(1)。 - 前記車両(1)が、使用中に前記格納システム(3)内の前記車両の位置の測定を可能にするための位置感知手段(16)を備えることを特徴とする、前記請求項のうちの1つに記載の遠隔動作車両(1)。
- 前記位置感知手段(16)が、前記支持レール(13)が交差している前記車両支持部(14)の位置を使用中に横切る前記車両本体(4)上の位置のうちの少なくともいくつかに配置された複数のセンサを備えることを特徴とする、請求項9に記載の遠隔動作車両(1)。
- 格納システム(3)であって、前記格納システム(3)は、
請求項1〜10のうちの1つに記載の遠隔動作車両(1)と、
誘導メッシュの2次元マトリクスを形成する複数の支持レール(13)を備える車両支持部(14)であって、前記車両支持部(14)は、使用中、前記第1の方向(X)および前記第2の方向(Y)における前記車両(1)の移動を誘導するように構成される、車両支持部(14)と、
前記車両支持部(14)を支持する容器格納構造(15)であって、前記構造(15)が、複数の格納列(8、8a、8b)を備え、
各格納列(8、8a、8b)が、格納容器(2)の垂直スタックを収容するように配置され、
前記容器格納構造(15)の主要部分が、前記支持レール(13)が交差している前記車両支持部(14)上の位置と一致する、
構造(15)と、
前記車両支持部(14)と送達ステーション(60)との間で、前記車両支持部(14)の横平面に対して垂直方向に、車両送達された格納容器(2)を搬送するように配置された容器リフトデバイス(50)と
を備えることを特徴とする、格納システム(3)。 - 前記車両支持部(14)の外側側方境界エリア(17、18)に配置された前記支持レール(13)のうちの少なくともいくつかが、外側誘導メッシュを形成し、前記外側誘導メッシュは、前記車両支持部(14)における残りの誘導メッシュの平均断面積と比較して減少させられた平均断面積を有することを特徴とする、請求項11に記載の格納システム(3)。
- 前記外側誘導メッシュの減少させられた平均断面積が、前記車両支持部(14)における前記残りの誘導メッシュの平均断面積の約半分であることを特徴とする、請求項12に記載の格納システム(3)。
- 前記外側誘導メッシュのサイズが、前記車両支持部(14)の前記第2の方向(Y)に沿ってのみ減少させられることを特徴とする、請求項12または13に記載の格納システム(3)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO20121488A NO335839B1 (no) | 2012-12-10 | 2012-12-10 | Robot for transport av lagringsbeholdere |
NO20121488 | 2012-12-10 | ||
PCT/EP2013/075671 WO2014090684A1 (en) | 2012-12-10 | 2013-12-05 | Robot for transporting storage bins |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
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JP2016144358A Division JP6463307B2 (ja) | 2012-12-10 | 2016-07-22 | 格納容器を輸送するためのシステム |
JP2016163657A Division JP6463308B2 (ja) | 2012-12-10 | 2016-08-24 | 格納システム |
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Publication Number | Publication Date |
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JP2016506346A true JP2016506346A (ja) | 2016-03-03 |
JP2016506346A5 JP2016506346A5 (ja) | 2016-10-27 |
JP6454645B2 JP6454645B2 (ja) | 2019-01-16 |
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JP2015546014A Active JP6454645B2 (ja) | 2012-12-10 | 2013-12-05 | 格納容器を輸送するためのシステム |
JP2016144358A Active JP6463307B2 (ja) | 2012-12-10 | 2016-07-22 | 格納容器を輸送するためのシステム |
JP2016163657A Active JP6463308B2 (ja) | 2012-12-10 | 2016-08-24 | 格納システム |
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JP2016144358A Active JP6463307B2 (ja) | 2012-12-10 | 2016-07-22 | 格納容器を輸送するためのシステム |
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JP2018047995A (ja) * | 2016-09-21 | 2018-03-29 | エヌエイチパーキングシステムズ株式会社 | ピッキングシステム |
JP2019533858A (ja) * | 2016-11-02 | 2019-11-21 | オートストアー テクノロジー アーエス | 車両が走行するトラックに対して車両の位置を検出するための方法およびシステム |
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JP2021514916A (ja) * | 2018-03-09 | 2021-06-17 | オカド・イノベーション・リミテッド | 輸送デバイス位置決定装置および方法 |
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