JP6256702B2 - 物品搬送用容器昇降搬送装置 - Google Patents
物品搬送用容器昇降搬送装置 Download PDFInfo
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- JP6256702B2 JP6256702B2 JP2014262251A JP2014262251A JP6256702B2 JP 6256702 B2 JP6256702 B2 JP 6256702B2 JP 2014262251 A JP2014262251 A JP 2014262251A JP 2014262251 A JP2014262251 A JP 2014262251A JP 6256702 B2 JP6256702 B2 JP 6256702B2
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- 238000001514 detection method Methods 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 description 21
- 230000002159 abnormal effect Effects 0.000 description 14
- 230000003014 reinforcing effect Effects 0.000 description 13
- 230000003287 optical effect Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
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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
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/02—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially horizontal transit otherwise than by bridge
- B65G63/022—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially horizontal transit otherwise than by bridge for articles
- B65G63/025—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially horizontal transit otherwise than by bridge for articles for containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
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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
- B65G1/14—Stack holders or separators
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G57/02—Stacking of articles by adding to the top of the stack
-
- 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
- B65G60/00—Simultaneously or alternatively stacking and de-stacking of articles
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- 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
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
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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
- 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
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S294/00—Handling: hand and hoist-line implements
- Y10S294/902—Gripping element
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S294/00—Handling: hand and hoist-line implements
- Y10S294/907—Sensor controlled device
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- Warehouses Or Storage Devices (AREA)
- Intermediate Stations On Conveyors (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
- Special Conveying (AREA)
- Load-Engaging Elements For Cranes (AREA)
- De-Stacking Of Articles (AREA)
Description
2 コンテナ昇降搬送装置
3,8a,8b,12a,12b,14a〜15b ガイドレール
4 走行体
5 台車
6 コンテナ搬入用コンベヤ
7 コンテナ搬出用コンベヤ
9a,9b 可動台
10a,10b X方向駆動用無端ベルト
11a,11b 可動側枠
13a,13b Y方向駆動用無端ベルト
16a〜17b 可動体
20A,20B コンテナ把持手段
21a,21b 把持具
22a,22b 位置決め具
23 昇降柱状体
25 出退自在なピン
27 支持手段
28,37 連結用平行リンク機構
38a,38b 昇降用駆動手段
39a,39b 固定ベルト
41a,41b 同軸駆動用プーリー
43 減速機付きモーター
47 光電センサー
47a 光軸
49a 投光器
49b 受光器
C,Cx コンテナ
Ca コンテナの突出底部
Cb〜Cd コンテナの補強用リブ
Claims (2)
- 物品搬送用容器を両側から把持して昇降させる、少なくとも二組の容器把持手段を備え、これら容器把持手段は、互いに連動して昇降すると共に前記容器に対し前後水平方向に接近離間移動自在に構成された物品搬送用容器昇降搬送装置において、各容器把持手段の下端近傍位置に、容器を移載した後の上昇時に当該移載済み容器の上端高さを検出するためのセンサーが取り付けられ、このセンサーが検出した移載済み容器上端高さ検出値と、取り扱う容器の高さに基づいて演算される移載済み容器上端高さ正常値との比較演算により、移載された容器の姿勢異常を判別するように構成された、物品搬送用容器昇降搬送装置。
- 容器把持手段は、容器の前後両側に対応させて前後二組設けられ、これら両容器把持手段は、容器側面を把持する把持具と、左右水平方向に互いに接近離間移動自在で当該容器側面の左右両角部に嵌合して容器を位置決めする左右一対の位置決め具を備え、前記センサーは、一方の容器把持手段の前記把持具の近傍位置に取り付けられた投光器と、他方の容器把持手段の前記把持具の近傍位置に取り付けられた受光器とによって構成されている、請求項1に記載の物品搬送用容器昇降搬送装置。
Priority Applications (10)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014262251A JP6256702B2 (ja) | 2014-12-25 | 2014-12-25 | 物品搬送用容器昇降搬送装置 |
TW104132965A TWI647164B (zh) | 2014-12-25 | 2015-10-07 | 物品搬運用容器昇降搬運裝置 |
KR1020177014891A KR102465673B1 (ko) | 2014-12-25 | 2015-11-18 | 물품 반송용 용기 승강 반송 장치 |
BR112017013700-3A BR112017013700B1 (pt) | 2014-12-25 | 2015-11-18 | Aparelho de transporte de içamento/abaixamento para contêiner de transporte de artigo |
EP15872562.2A EP3205606A4 (en) | 2014-12-25 | 2015-11-18 | Raising/lowering conveyance apparatus for article conveying container |
CA2969207A CA2969207C (en) | 2014-12-25 | 2015-11-18 | Raising/lowering conveyance apparatus for article conveying container |
PCT/JP2015/082379 WO2016103993A1 (ja) | 2014-12-25 | 2015-11-18 | 物品搬送用容器昇降搬送装置 |
RU2017118173A RU2714659C2 (ru) | 2014-12-25 | 2015-11-18 | Транспортирующее устройство для подъема/опускания контейнера, предназначенного для транспортировки изделий |
CN201580069901.9A CN107108120B (zh) | 2014-12-25 | 2015-11-18 | 物品搬运用容器升降搬运装置 |
US15/615,159 US10233039B2 (en) | 2014-12-25 | 2017-06-06 | Raising/lowering conveyance apparatus for article conveying container with container condition sensors |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014262251A JP6256702B2 (ja) | 2014-12-25 | 2014-12-25 | 物品搬送用容器昇降搬送装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016121001A JP2016121001A (ja) | 2016-07-07 |
JP6256702B2 true JP6256702B2 (ja) | 2018-01-10 |
Family
ID=56150026
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014262251A Active JP6256702B2 (ja) | 2014-12-25 | 2014-12-25 | 物品搬送用容器昇降搬送装置 |
Country Status (10)
Country | Link |
---|---|
US (1) | US10233039B2 (ja) |
EP (1) | EP3205606A4 (ja) |
JP (1) | JP6256702B2 (ja) |
KR (1) | KR102465673B1 (ja) |
CN (1) | CN107108120B (ja) |
BR (1) | BR112017013700B1 (ja) |
CA (1) | CA2969207C (ja) |
RU (1) | RU2714659C2 (ja) |
TW (1) | TWI647164B (ja) |
WO (1) | WO2016103993A1 (ja) |
Families Citing this family (23)
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JP6418397B2 (ja) * | 2015-08-24 | 2018-11-07 | 株式会社ダイフク | 物品搬送用容器の昇降搬送装置 |
GB201521488D0 (en) * | 2015-12-06 | 2016-01-20 | Ocado Innovation Ltd | Sequencing systems and methods |
CA3056782C (en) * | 2017-03-20 | 2023-03-14 | Berkshire Grey, Inc. | Systems and methods for processing objects including a zone gantry system |
US10532884B2 (en) * | 2017-05-24 | 2020-01-14 | Hall Labs Llc | Mechanical end effector for planar motion mechanism |
WO2019051095A1 (en) | 2017-09-08 | 2019-03-14 | United States Postal Service | ARTICLE TRANSFER SYSTEM FROM A CONTAINER |
JP2019059568A (ja) * | 2017-09-25 | 2019-04-18 | 村田機械株式会社 | 懸垂式クレーン |
CN107825426A (zh) * | 2017-11-23 | 2018-03-23 | 纳博特南京科技有限公司 | 一种基于机器视觉的工业机器人运动控制装置 |
CN108190348A (zh) * | 2018-01-24 | 2018-06-22 | 成都三泰智能设备有限公司 | 搬运升降机器人、智能保管箱系统及保管箱取出方法 |
JP7146233B2 (ja) | 2018-03-20 | 2022-10-04 | 株式会社イシダ | 物品移載装置 |
CN108483054B (zh) * | 2018-05-14 | 2024-01-12 | 浙江万丰科技开发股份有限公司 | 汽车轮毂铸造用过滤网传送机构 |
JP6933829B2 (ja) * | 2018-07-05 | 2021-09-08 | 株式会社ダイフク | 物品搬送用容器の昇降搬送装置 |
JP7095474B2 (ja) * | 2018-08-07 | 2022-07-05 | 村田機械株式会社 | 搬送装置 |
US20220089385A1 (en) * | 2019-02-19 | 2022-03-24 | Murata Machinery, Ltd. | Transporting system |
US11390473B2 (en) * | 2019-05-15 | 2022-07-19 | United States Postal Service | System for transferring articles from a container |
CN110759103A (zh) * | 2019-11-15 | 2020-02-07 | 苏州菱麦自动化设备科技有限公司 | 一种棒材自动筛选叠料机及方法 |
US11858755B2 (en) * | 2020-02-06 | 2024-01-02 | Murata Machinery, Ltd. | Gripping apparatus and stacker |
CN111766882B (zh) * | 2020-07-03 | 2021-04-23 | 上海振华重工(集团)股份有限公司 | 一种适用于agv的集装箱检测方法及自动化码头管理系统 |
CN112173704B (zh) * | 2020-10-26 | 2022-04-12 | 广东博智林机器人有限公司 | 上料系统及上料检测方法 |
CN113023323B (zh) * | 2021-01-29 | 2023-03-03 | 广灵金隅水泥有限公司 | 物料供给系统 |
CN113086477A (zh) * | 2021-04-12 | 2021-07-09 | 东方电气集团科学技术研究院有限公司 | 一种混合料库人工辅助存取料筒传输装置 |
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GB2624696A (en) * | 2022-11-28 | 2024-05-29 | Ocado Innovation Ltd | Container-handling system |
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AT405395B (de) * | 1998-02-20 | 1999-07-26 | Johann Schluesselbauer | Vorrichtung zum lagern und fördern von stehenden, rohrförmigen werkstücken aus beton |
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EP1468942A1 (de) * | 2003-04-14 | 2004-10-20 | Güdel AG Antriebs- und Lineartechnik | Anordnung und Verfahren zur Bewirtschaftung eines Warenlagers |
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DE102009011300B4 (de) * | 2009-03-02 | 2022-08-11 | Kuka Roboter Gmbh | Beladung von Lademitteln mit Paketen mittels Manipulator |
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FI123447B (fi) * | 2011-03-18 | 2013-05-15 | Cimcorp Oy | Siltarobottijärjestelmä ja menetelmä sen käyttämiseksi |
PT2847105T (pt) * | 2012-05-11 | 2021-09-10 | Ocado Innovation Ltd | Sistema de armazenamento e processos de recolha de unidades de um sistema de armazenamento |
JP6323993B2 (ja) * | 2012-08-28 | 2018-05-16 | キヤノン株式会社 | 情報処理装置、情報処理方法、及びコンピュータプログラム |
JP2014144836A (ja) * | 2013-01-28 | 2014-08-14 | Mitsubishi Heavy Industries Machinery Technology Corp | コンテナクレーン |
JP5999508B2 (ja) * | 2013-03-15 | 2016-09-28 | 株式会社ダイフク | 物品搬送用箱の搬送装置 |
JP6183714B2 (ja) | 2014-06-13 | 2017-08-23 | 株式会社ダイフク | コンテナ昇降搬送装置 |
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RU2714659C2 (ru) | 2020-02-18 |
TWI647164B (zh) | 2019-01-11 |
JP2016121001A (ja) | 2016-07-07 |
BR112017013700B1 (pt) | 2021-11-30 |
KR102465673B1 (ko) | 2022-11-10 |
RU2017118173A3 (ja) | 2019-04-04 |
WO2016103993A1 (ja) | 2016-06-30 |
EP3205606A1 (en) | 2017-08-16 |
CA2969207C (en) | 2022-08-30 |
KR20170097025A (ko) | 2017-08-25 |
TW201632442A (zh) | 2016-09-16 |
US10233039B2 (en) | 2019-03-19 |
BR112017013700A2 (ja) | 2018-01-16 |
CN107108120A (zh) | 2017-08-29 |
RU2017118173A (ru) | 2019-01-25 |
EP3205606A4 (en) | 2018-06-27 |
CN107108120B (zh) | 2019-05-10 |
CA2969207A1 (en) | 2016-06-30 |
US20170267469A1 (en) | 2017-09-21 |
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