JP7040637B2 - 天井走行車、天井走行車システム、及び障害物の検出方法 - Google Patents
天井走行車、天井走行車システム、及び障害物の検出方法 Download PDFInfo
- Publication number
- JP7040637B2 JP7040637B2 JP2020554809A JP2020554809A JP7040637B2 JP 7040637 B2 JP7040637 B2 JP 7040637B2 JP 2020554809 A JP2020554809 A JP 2020554809A JP 2020554809 A JP2020554809 A JP 2020554809A JP 7040637 B2 JP7040637 B2 JP 7040637B2
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- detection
- ceiling
- unit
- track
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims description 316
- 238000000034 method Methods 0.000 claims description 11
- 230000001678 irradiating effect Effects 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 description 25
- 238000010586 diagram Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- CIWBSHSKHKDKBQ-JLAZNSOCSA-N Ascorbic acid Chemical compound OC[C@H](O)[C@H]1OC(=O)C(O)=C1O CIWBSHSKHKDKBQ-JLAZNSOCSA-N 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B3/00—Elevated railway systems with suspended vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B3/00—Elevated railway systems with suspended vehicles
- B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D49/00—Other details
-
- 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
- B65G1/0457—Storage devices mechanical with suspended load carriers
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67706—Mechanical details, e.g. roller, belt
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67715—Changing the direction of the conveying path
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67733—Overhead conveying
-
- 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
- B65G2201/0297—Wafer cassette
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
- Radar Systems Or Details Thereof (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Control And Safety Of Cranes (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Description
AX1・・・回転軸
AX2・・・旋回軸
AX3・・・走査軸
D1・・・第1方向
D2・・・第2方向
K1・・・回転範囲
K2・・・移動範囲
L・・・検出光
Q・・・仮想線
R・・・格子状軌道(軌道)
R1・・・第1軌道
R2・・・第2軌道
SYS・・・天井走行車システム
V・・・水平方向
10・・・本体部
16・・・切替部
17・・・上部ユニット
18・・・移載装置
20・・・走行部
40・・・検出部
41・・・第1検出部
42・・・第2検出部
43、44・・・支持部材
50・・・制御部
100、100A、100B・・・天井走行車
Claims (9)
- 軌道に沿って走行する走行部と、
前記走行部に連結されて前記軌道よりも下方に配置される本体部と、
前記走行部の走行方向において前記本体部の中央より後方側であって前記本体部より下方に配置され、前記走行方向の前方かつ下方に向けて検出光を照射し、前記検出光の反射光を受光することにより障害物を検出する検出部と、を備える、天井走行車。 - 前記本体部は、前記走行部に固定される上部ユニットと、前記上部ユニットの下方に配置されて鉛直方向の回転軸まわりに回転可能な移載装置と、を備え、
前記検出部は、平面視で前記移載装置の回転範囲より外側となるように前記上部ユニットに設けられた支持部材に取り付けられる、請求項1に記載の天井走行車。 - 前記検出部は、平面視で前記走行方向に対して45度又はほぼ45度傾いた仮想線上において前記移載装置を挟んだ2か所にそれぞれ配置され、
2つの前記検出部のうち前記走行方向の後方側となる前記検出部に切替える切替部を備える、請求項2に記載の天井走行車。 - 2つの前記検出部のそれぞれは、前記走行方向の前方から、平面視で右回り又は左回りに90度又はほぼ90度の範囲で前記検出光を走査する、請求項3に記載の天井走行車。
- 軌道と、前記軌道に沿って走行する複数の天井走行車と、を備える天井走行車システムであって、
前記天井走行車は、請求項1から請求項4のいずれか一項に記載の天井走行車である、天井走行車システム。 - 前記軌道は、第1方向に沿って設けられた複数の第1軌道と、前記第1方向に直交する第2方向に沿って設けられた複数の第2軌道と、を備える格子状軌道であり、
前記天井走行車は、前記第1軌道から前記第2軌道に移行し、又は前記第2軌道から前記第1軌道に移行して走行可能であり、
前記検出部は、前記格子状軌道における走行方向に対応するように検出範囲を切替可能である、請求項5に記載の天井走行車システム。 - 前記天井走行車は、2つの前記検出部を備えており、
2つの前記検出部の一方は、前記検出範囲が前記第1方向の双方向における一方、及び前記第2方向の双方向における一方の範囲であり、2つの前記検出部の他方は、前記検出範囲が前記第1方向の双方向における他方、及び前記第2方向の双方向における他方の範囲である、請求項6に記載の天井走行車システム。 - 前記検出部は、前記検出光を走査することにより前記検出範囲に前記検出光を照射する、請求項6又は請求項7に記載の天井走行車システム。
- 天井走行車において障害物を検出する方法であって、
前記天井走行車は、軌道に沿って走行する走行部と、前記走行部に連結されて前記軌道よりも下方に配置される本体部と、を備えており、
前記走行部の走行方向において前記本体部の中央より後方側であって前記本体部より下方から、前記走行方向の前方かつ下方に向けて検出光を照射することと、
前記検出光の反射光を受光することにより障害物を検出することと、を含む、障害物の検出方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018203023 | 2018-10-29 | ||
JP2018203023 | 2018-10-29 | ||
PCT/JP2019/036185 WO2020090254A1 (ja) | 2018-10-29 | 2019-09-13 | 天井走行車、天井走行車システム、及び障害物の検出方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2020090254A1 JPWO2020090254A1 (ja) | 2021-09-30 |
JP7040637B2 true JP7040637B2 (ja) | 2022-03-23 |
Family
ID=70463040
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020554809A Active JP7040637B2 (ja) | 2018-10-29 | 2019-09-13 | 天井走行車、天井走行車システム、及び障害物の検出方法 |
Country Status (9)
Country | Link |
---|---|
US (1) | US20220013392A1 (ja) |
EP (1) | EP3875333B1 (ja) |
JP (1) | JP7040637B2 (ja) |
KR (1) | KR102501698B1 (ja) |
CN (1) | CN113056406B (ja) |
IL (1) | IL282702B2 (ja) |
SG (1) | SG11202104302QA (ja) |
TW (1) | TWI825204B (ja) |
WO (1) | WO2020090254A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113371614B (zh) * | 2020-03-10 | 2023-01-31 | 长鑫存储技术有限公司 | 自动化天车防撞系统及方法 |
US20230399171A1 (en) * | 2020-11-13 | 2023-12-14 | Murata Machinery, Ltd. | Traveling vehicle system |
KR20240002833A (ko) | 2022-06-30 | 2024-01-08 | 세메스 주식회사 | 제조 공장에서 물품을 이송하는 반송 대차 및 이를 포함하는 물품 반송 시스템 |
WO2024070303A1 (ja) * | 2022-09-29 | 2024-04-04 | 村田機械株式会社 | 天井搬送車 |
WO2024070299A1 (ja) * | 2022-09-29 | 2024-04-04 | 村田機械株式会社 | 天井搬送車 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6109568A (en) | 1998-10-23 | 2000-08-29 | Innovative Transportation Systems International, Inc. | Control system and method for moving multiple automated vehicles along a monorail |
JP2001213588A (ja) | 1998-12-02 | 2001-08-07 | Shinko Electric Co Ltd | 天井走行搬送装置 |
JP2005234625A (ja) | 2004-02-17 | 2005-09-02 | Asyst Shinko Inc | 無人搬送車のセンサ制御装置及び無人搬送システム |
JP2006298536A (ja) | 2005-04-19 | 2006-11-02 | Murata Mach Ltd | 天井走行車 |
WO2014017221A1 (ja) | 2012-07-26 | 2014-01-30 | 村田機械株式会社 | 天井走行車システム及び天井走行車システムでの移載制御方法 |
JP2017120510A (ja) | 2015-12-28 | 2017-07-06 | 株式会社ダイフク | 物品搬送設備 |
WO2018150999A1 (ja) | 2017-02-17 | 2018-08-23 | 北陽電機株式会社 | 物体捕捉装置 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS577833B2 (ja) | 1973-08-10 | 1982-02-13 | ||
JPS61254496A (ja) * | 1985-04-30 | 1986-11-12 | 株式会社東芝 | クレ−ン安全装置 |
JP3150637B2 (ja) * | 1996-12-06 | 2001-03-26 | 三菱重工業株式会社 | クレーンの巻き下げ衝突防止装置 |
KR100729986B1 (ko) * | 1999-12-20 | 2007-06-20 | 아시스트 신꼬, 인코포레이티드 | 자동반송시스템 |
JP4887804B2 (ja) | 2006-01-26 | 2012-02-29 | 村田機械株式会社 | 搬送システム |
JP2008137738A (ja) * | 2006-11-30 | 2008-06-19 | Asyst Technologies Japan Inc | 天井走行搬送装置 |
JP4461199B1 (ja) * | 2009-09-24 | 2010-05-12 | 北陽電機株式会社 | 距離測定装置 |
JP5707833B2 (ja) * | 2010-10-04 | 2015-04-30 | 村田機械株式会社 | 搬送車及び搬送システム |
JP2012150588A (ja) | 2011-01-18 | 2012-08-09 | Murata Mach Ltd | 有軌道台車システム |
WO2014017222A1 (ja) * | 2012-07-26 | 2014-01-30 | 村田機械株式会社 | 天井走行車システム及び天井走行車システムの制御方法 |
WO2014125845A1 (ja) * | 2013-02-15 | 2014-08-21 | 村田機械株式会社 | 搬送システム |
JP6374695B2 (ja) * | 2014-04-28 | 2018-08-15 | 日立建機株式会社 | 路肩検出システムおよび鉱山用運搬車両 |
US9415934B2 (en) * | 2014-05-14 | 2016-08-16 | Murata Machinery, Ltd. | Transport system and transport method |
JP6168476B2 (ja) * | 2015-03-19 | 2017-07-26 | 村田機械株式会社 | 搬送台車と搬送台車システム |
JP6520797B2 (ja) * | 2016-04-11 | 2019-05-29 | 株式会社ダイフク | 物品搬送設備 |
JP6495972B2 (ja) | 2017-06-02 | 2019-04-03 | 本田技研工業株式会社 | シートベルト装置 |
JP6693481B2 (ja) * | 2017-06-26 | 2020-05-13 | 株式会社ダイフク | 物品搬送設備、及び、物品搬送車 |
JP7006050B2 (ja) * | 2017-09-08 | 2022-01-24 | 株式会社ダイフク | 検査システム |
CN113371614B (zh) * | 2020-03-10 | 2023-01-31 | 长鑫存储技术有限公司 | 自动化天车防撞系统及方法 |
JP7327660B2 (ja) * | 2020-04-27 | 2023-08-16 | 村田機械株式会社 | 天井搬送車及び天井搬送システム |
CN113734974B (zh) * | 2020-05-29 | 2022-11-11 | 长鑫存储技术有限公司 | 顶置缓冲器二重搬入检测系统及方法 |
US11862494B2 (en) * | 2020-07-09 | 2024-01-02 | Changxin Memory Technologies, Inc. | Crane monitoring system and method |
-
2019
- 2019-09-13 JP JP2020554809A patent/JP7040637B2/ja active Active
- 2019-09-13 IL IL282702A patent/IL282702B2/en unknown
- 2019-09-13 CN CN201980071206.4A patent/CN113056406B/zh active Active
- 2019-09-13 SG SG11202104302QA patent/SG11202104302QA/en unknown
- 2019-09-13 KR KR1020217012913A patent/KR102501698B1/ko active IP Right Grant
- 2019-09-13 WO PCT/JP2019/036185 patent/WO2020090254A1/ja unknown
- 2019-09-13 US US17/289,310 patent/US20220013392A1/en active Pending
- 2019-09-13 EP EP19880634.1A patent/EP3875333B1/en active Active
- 2019-10-28 TW TW108138761A patent/TWI825204B/zh active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6109568A (en) | 1998-10-23 | 2000-08-29 | Innovative Transportation Systems International, Inc. | Control system and method for moving multiple automated vehicles along a monorail |
JP2001213588A (ja) | 1998-12-02 | 2001-08-07 | Shinko Electric Co Ltd | 天井走行搬送装置 |
JP2005234625A (ja) | 2004-02-17 | 2005-09-02 | Asyst Shinko Inc | 無人搬送車のセンサ制御装置及び無人搬送システム |
JP2006298536A (ja) | 2005-04-19 | 2006-11-02 | Murata Mach Ltd | 天井走行車 |
WO2014017221A1 (ja) | 2012-07-26 | 2014-01-30 | 村田機械株式会社 | 天井走行車システム及び天井走行車システムでの移載制御方法 |
JP2017120510A (ja) | 2015-12-28 | 2017-07-06 | 株式会社ダイフク | 物品搬送設備 |
WO2018150999A1 (ja) | 2017-02-17 | 2018-08-23 | 北陽電機株式会社 | 物体捕捉装置 |
Also Published As
Publication number | Publication date |
---|---|
US20220013392A1 (en) | 2022-01-13 |
CN113056406B (zh) | 2024-03-26 |
CN113056406A (zh) | 2021-06-29 |
IL282702B2 (en) | 2023-04-01 |
KR102501698B1 (ko) | 2023-02-17 |
TW202018445A (zh) | 2020-05-16 |
EP3875333A4 (en) | 2022-07-13 |
IL282702B (en) | 2022-12-01 |
IL282702A (en) | 2021-06-30 |
EP3875333B1 (en) | 2023-10-25 |
EP3875333A1 (en) | 2021-09-08 |
JPWO2020090254A1 (ja) | 2021-09-30 |
KR20210064364A (ko) | 2021-06-02 |
WO2020090254A1 (ja) | 2020-05-07 |
SG11202104302QA (en) | 2021-05-28 |
TWI825204B (zh) | 2023-12-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7040637B2 (ja) | 天井走行車、天井走行車システム、及び障害物の検出方法 | |
JP6007880B2 (ja) | 天井搬送車 | |
JP7040638B2 (ja) | 天井搬送車及び天井搬送車システム | |
EP3093258B1 (en) | Transfer device and control method of transfer device | |
JP6693481B2 (ja) | 物品搬送設備、及び、物品搬送車 | |
JP2008137738A (ja) | 天井走行搬送装置 | |
JP2006259877A (ja) | 物品搬送設備 | |
TW201742181A (zh) | 搬送裝置 | |
KR20200107788A (ko) | 검사 시스템 | |
WO2022149305A1 (ja) | 天井保管システム | |
CN112777194A (zh) | 物品搬运设备 | |
CN110294415B (zh) | 物品搬运设备 | |
JP5707833B2 (ja) | 搬送車及び搬送システム | |
JP7283500B2 (ja) | 物品搬送設備 | |
JP7238859B2 (ja) | 物品搬送車 | |
WO2024034175A1 (ja) | 天井搬送車 | |
WO2022264579A1 (ja) | 有軌道台車システム | |
JP2008265529A (ja) | 搬送装置 | |
JP2022011144A (ja) | 物品搬送車 | |
KR20220023395A (ko) | 비히클, 물품 이송 설비 및 물품 이송 방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210427 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210427 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220208 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220221 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7040637 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |