TWI362359B - - Google Patents

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Publication number
TWI362359B
TWI362359B TW096133748A TW96133748A TWI362359B TW I362359 B TWI362359 B TW I362359B TW 096133748 A TW096133748 A TW 096133748A TW 96133748 A TW96133748 A TW 96133748A TW I362359 B TWI362359 B TW I362359B
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TW
Taiwan
Prior art keywords
transfer
shaft
fork
support frame
arm
Prior art date
Application number
TW096133748A
Other languages
Chinese (zh)
Other versions
TW200827283A (en
Inventor
Tamotsu Shiwaku
Kazuhiro Ishikawa
Original Assignee
Murata Machinery Ltd
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Priority to JP2006255199A priority Critical patent/JP4297145B2/en
Application filed by Murata Machinery Ltd filed Critical Murata Machinery Ltd
Publication of TW200827283A publication Critical patent/TW200827283A/en
Application granted granted Critical
Publication of TWI362359B publication Critical patent/TWI362359B/zh

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0407Storage devices mechanical using stacker cranes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0407Storage devices mechanical using stacker cranes
    • B65G1/0421Storage devices mechanical using stacker cranes with control for stacker crane operations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G69/00Auxiliary measures taken, or devices used, in connection with loading or unloading
    • B65G69/04Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials
    • B65G69/0458Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials with rotating means, e.g. tables, arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, 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
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices 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
    • B66F9/07Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"

Description

1362359 九、發明說明 【發明所屬之技術領域】 本發明係關於用來使工件對多數個棚架進行出入(移 * 載)之移載裝置,特別是關於用來進行移載機的昇降之昇 • 降台可搖動之移載裝置。 【先前技術】 • 這種移載裝置以及其構成要件之昇降台,係分別使移 載機(用來使工件進出於棚架)配合棚架的位置而進行移 動、昇降者,在自動化倉庫中,扮演相當重要的角色。在 這種移載裝置’爲了將昇降台的兩側吊起,如第1圖〜第 4圖所示,在該移載裝置之進行方向必須設有左右2個支 柱(裝置)。關於移載機,可按照工件的種類而適當選擇 多關節機械手臂(SCARA arm )或是滑動式叉架等等。 這種移載裝置’必須將上述昇降台沿支柱裝置之上下 # 方向引導’當工件變大且重量變重時,該昇降台之昇降必 須更加確實地進行,且隨著工件之大型化棚架也變得大型 化’因此經由移載機而施加於該昇降台之重力負荷也變大 〇 關於這種移載裝置之昇降台之引導裝置,在申請人之 申請案之專利文獻1中有詳細的說明。 • 〔專利文獻1〕日本特開平6- 1 99406號公報(摘要) 【發明內容】 -4- 1362359 專利文獻1係關於目的爲「提昇自動倉庫的物品收納 效率」之「自動倉庫的堆高式起重機」,在該「自動倉庫 的堆高式起重機」,如第12圖及第13圖所示,所採用的 構造爲「一種自動倉庫的堆高式起重機,係具備:行走台 車、藉由設於上下部之前後一對的挾持輥來挾持導軌(設 於行走台車的一對塔)以形成昇降自如之昇降台、以能前 後滑動的方式設於該昇降台之滑動式叉架;上下部之至少 一方的挾持輥群係形成前後位置可自由調節」。 專利文獻1所記載之「自動倉庫的堆高式起重機」’ 係爲了改善習知技術的缺點之「突出的滑動式叉架透過中 間滑動體而呈懸臂狀設在基座上,因此,對應於滑動式叉 架上所承載的物品重量,基座、中間滑動體以及滑動式叉 架之撓曲量會產生變化,結果呈突出之滑動式叉架的前端 部的下垂量會改變,不得不考慮餘裕來決定物品收納棚架 之上下方向的間隔,故收納效率變差j ,藉由採用上述構 造,而發揮「對應於懸臂狀滑動式叉架17之下垂量’爲 了使滑動式叉架17上挺而使可動的挾持輥22群朝前後移 位,如此不管物品移載機40的重量爲何都能使滑動式叉 架17的前端保持一定,因此即使在滑動式叉架17以最大 量下垂的狀態下,仍能進行物品移載機40之收納和搬出 ,而不須考慮餘裕來決定物品收納棚架3之上下方向的間 隔」之作用效果。 然而,本案發明人之後深入探討得知’當昇降台和支 柱(裝置)的連結係藉由「導輥和導軌」來進行時’亦即 -5- 1362359 工件不是那麼大型時上述構造雖足以充 變重且變大時,移載裝置全體也會得大 無法充分的對應。 - 亦即,如前述般,用來進行笨重且 # 移載裝置,其整體不得不變得大型化, 架也變得大型化。這樣一來,移載機側 變得更長且更大,當讓該等叉架或是臂 # 時,該等叉架或是臂部之前端會大幅下 當支承著工件之叉架或是臂部的前 須使其回復水平狀態,因此,必須檢測 垂量來進行昇降台之昇降調整。爲了進 昇降調整,承載著工件和移載機之昇降 軌j連結於支柱裝置側的專利文獻1的 支承不住變大且變重之工件,且「導輥 久性也必須進一步提昇。 # 另一方面,關於棚架,若預先考慮 而做成具有充分的空間,即使叉架及臂 予以收納,但當收納物不是那麼重且大 空間,而造成收容效率變差。 於是,本案發明人等,針對上述移 著工件大型化的進展,即使支承工件之 • 能使其在短時間內回復水平」做深入探 ' 明之完成。 亦即,本發明之第1目的係提供一 分因應,但當工件 型化,上述構造將 大型工件的移載之 用來收納工件之棚 之叉架或是臂部也 部伸長以支承工件 垂。 端大幅下垂時,必 下垂量並按照該下 行如此般的檢測及 台透過「導輥和導 技術,其導輥變得 J和「導軌J之耐 臂部及叉架之下垂 部之前端下垂仍能 時,將會產生無用 載裝置,如何「隨 臂部或叉架下垂仍 討,結果達到本發 種移載裝置,即使 * 6 - 1362359 支柱裝置20稍微移動於水平方向的方式予以引導。亦即 ’該移載裝置100’如第8圖〜第11圖所示,藉由調整 裝置60’使各支承框32的上部,相對於固定在直線移動 導件70側(上下固定著直線移動導件70之引導單元31 )之搖動軸3 5,能以傾動軸3 4爲中心進行搖動。 具備以上構造之移載裝置100,如第3圖或第4圖所 示當在倉庫(配置有多數個棚架50)內的軌道21上移動 而到達待進行工件出入之棚架5 0前方,如第4圖所示, 昇降台30會昇降至棚架50之對應位置。之後,使昇降台 3〇上之移載機40作動,將其多關節機械手臂或叉架延伸 至棚架50而進行工件之出入後,再度使多關節機械手臂 或叉架返回原先的位置而結束工件之出入動作。 在此,當昇降台30上之移載機40的多關節機械手臂 或叉架接收工件時,其整體的重心會朝前端側移動,因此 多關節機械手臂或叉架之前端會從水平位置稍下垂。該下 垂量,例如用光學檢測手段對多關節機械手臂或叉架的前 端(例如昇降台3 0的定點)進行位置檢測,而只要使該 檢測出的下垂量成爲〇即可。 申請專利範圍第1項的發明之移載裝置1 00,係以傾 動軸34爲中心而朝與多關節機械手臂或叉架的前端下垂 方向相反的方向,藉由調整裝置60積極地使支承框32搖 動,藉此進行位置調整而使下垂量成爲〇。亦即,對應於 多關節機械手臂或叉架的前端下垂量,藉由調整裝置60 來進行支承框32的搖動,藉此使昇降台30朝與多關節機 -9- 1362359 械手臂或叉架的前端之下垂方向相反的方向傾斜,以進行 位置調整而使多關節機械手臂或叉架的前端成爲水平狀態 〇 在後述之最佳形態,該調整裝置60,係如下述般使 各支承框32的上部搖動。亦即,若按照來自感測器(檢 測出叉架或臂部的前端之下垂量)來使馬達64進行旋轉 驅動,滾珠螺桿63會使搖動軸推壓板62朝第8(a)圖 的左右任一方移動。在該搖動軸推壓板62上形成有軸插 通孔62a,搖動軸35則插通於該軸插通孔62a內,因此 該搖動軸推壓板62之左右移動會對搖動軸35進行推壓。 搖動軸35係形成固定於支柱裝置20側的狀態,當搖動軸 35被推壓時,其位置並不會改變,但其反作用力會傳送 到調整裝置60側。 另一方面,調整裝置60係和各支承框32的上側形成 一體化,來自上述搖動軸35之反作用力會使支承框32在 反作用力的方向搖動,這時之搖動中心如上所述爲傾動軸 34。該搖動時,固定的搖動軸35會在設於底座61之長孔 61a內相對的移動,藉此容許支承框32整體進行搖動。 綜上所述,該調整裝置60,係推壓從直線移動導件 70 (設於支柱裝置20內面)突出至昇降台30上側之搖動 軸35,利用其反作用力而使各支承框32的上部以傾動軸 3 4爲中心進行搖動。 因此 > 在申請專利範圍第1項之移載裝置100,即使 移載機40之臂部或叉架從水平位置往下垂,在短時間內 -10- 1362359 就能使其回復,因此可謀求週期時間之縮短,並避免在棚 架5 0發生無用空間。 另外,爲了解決上述課題,申請專利範圍第2項之發 • 明所採用的手段,係在申請專利範圍第1項記載之移載裝 - 置100中,「各支承框32係形成底邊32a朝水平方向延 '伸之三角形,在底邊32a的兩端安裝昇降台30,且在頂 點部分安裝調整裝置60」。 # 亦即,在申請專利範圍第2項之移載裝置1 00,其構 成要件之各支承框32,如第5圖及第6圖所示,係形成 底邊32a朝水平方向延伸之三角形。在該移載裝置100, 如第3圖〜第6圖所示,在其構成要件之各支承框32的 底邊32a的兩端安裝昇降台30,且在三角形的各支承框 32之頂點部分安裝調整裝置60。 如此般,藉由將配置於2根支柱裝置20的內側之各 支承框32形成三角形,在其底邊32a的兩端可安裝俯視 ® 四角形的昇降台30,而能簡單地確保該昇降台30的水平 狀態。且在三角形的各支承框32之頂點部分安裝著用來 進行支承框32的搖動之調整裝置60,因此對一個支承框 32只要採用一個調整裝置60即可,故效率變佳。 換言之,申請專利範圍第2項之移載裝置1〇〇,各支 承框32係形成底邊32a朝水平方向延伸之三角形,在底 邊32a的兩端安裝昇降台30,且在頂點部分安裝調整裝 置60,因此各支承框32之搖動、亦即昇降台30本身的 搖動,可藉由左右各設一個之調整裝置60來高效率的進 -11 - 1362359 行。 因此,申請專利範圍第2項之移載裝置100,除能 揮和上述申請專利範圍第1項同樣的作用效果外,還能 效率地進行昇降台30的搖動❶ 此外’爲了解決上述課題,申請專利範圍第3項的 明所採用的手段,係在申請專利範圍第1項記載之移載 置100中,「使各傾動軸34之上下位置和移載機40的 部或叉架的前端之上下位置相同」。 亦即,在申請專利範圍第3項之移載裝置1 〇〇,如 5圖所示,由於使各傾動軸34之上下位置和移載機40 臂部或叉架的前端之上下位置相同,調整裝置60之作 所造成之支承框32的搖動,能使移載機40之臂部或叉 的前端完全回復到原先設計之未裝載工件時的水平位置 相反的,當各傾動軸34之上下位置設於未承載工 時的移載機40之臂部或叉架的前端位置之上方或下方 ,調整裝置60之作動所造成之支承框32的搖動,會使 載機40之臂部或叉架的前端相對於正確位置更靠棚架 側(設於上方的情形)或更靠與棚架50側的相反側( 於下方的情形),而無法將工件正確地移載至棚架50。 因此,申請專利範圍第3項之安裝構造,除能發揮 申請專利範圍第1項同樣的作用效果外,即使是進行位 調整的情形,仍能將工件正確地移載至棚架50。 如以上所說明,在本發明,其構造上的主要特徵係 用「一種移載裝置1〇〇,係在配置有多數個棚架50之 發 局 發 裝 臂 第 的 動 架 〇 件 時 移 50 設 和 置 採 倉 -12- 1362359 。且該移載裝置100係具備:可在前述倉庫內移動之基台 10、豎設於該基台10上之左右兩座的支柱裝置20、可相 對於該各支柱裝置20上下移動之昇降台30、設置於該昇 降台30上之移載機40、用來吊設昇降台30之支承框32 、以及設於該支承框32上部之調整裝置60。 在本最佳形態,如第1圖中之實線或第4圖中之假想 線所示,在基台10設有車輪12,藉由使該車輪12在鋪 設於倉庫內之軌道21上轉動,以將該移載裝置10移動至 倉庫內之既定位置。該等車輪12,係藉由組裝於基台10 內或是各支柱裝置20 (豎設於基台上)內之未圖示的馬 達來進行旋轉驅動,用來驅動控制該馬達及各種機器之構 件,係組裝於各支柱裝置20內。 豎設於基台10上之各支柱裝置20,如第4圖及第6 圖所示,在其內側面配置上下方向之軌道21,如第2圖 或第3圖所示,在支柱裝置20上透過直線移動導件70以 及支承其之引導單元31安裝著支承框32。引導單元31 上連接著未圖示之纜索或鏈條,藉由未圖示的馬達使該等 纜索上下移動,以邊藉由各直線移動導件70引導邊進行 引導單元31之昇降。 在該移載裝置]〇〇,如第3圖或第4圖所示,在引導 單元31 (可相對於各支柱裝置20進行昇降)上將支承框 32安裝成可在前後方向傾動。如第3圖或第4圖所示, 在支承框32的一方(圖示左方)的下端,透過插通於圓 孔33a之插銷33將昇降台30的一端部連結成可在左右方 -14- 1362359 向傾動。 在支承框32之圖示左方的下端,如第3圖及第4圖 所示,在昇降台30的端部上面連結著具有圓孔33a之昇 .降台側塊體,在其上側之支承框32的下端連結著具有圓 孔3 3a之支承框側塊體。該昇降台側塊體及支承框側塊體 ,係以互相對接的狀態嵌合,並在其各中心所設的圓孔 33a內插通一根插銷33。 鲁 另一方面,在另一方(第3圖之圖不右方)支承框 32的下端和昇降台30的另一端部(圖示右端部)之間’ 透過插通於長孔33b (長軸朝水平方向)之插銷33連結 成可傾動。亦即,在支承框32之圖示右方的下端,如第 3圖及第4圖所示,在昇降台30的端部上面連結著具有 長扎3 3 b (長軸朝水平方向)之昇降台側塊體’在其上側 的支承框32的下端連結著具有圓孔33a之支承框側塊體 〇 φ 用來吊設昇降台30之支承框32’如第1圖、第5圖 及第6圖所示,係形成底邊3 2a和昇降台30同寬之大致 等邊三角形,位於底邊32a中心的正上方之部位’亦即在 和移載機40的臂部或叉架前端之上下位置相同的位置’ 係設有傾動軸3 4。該傾動軸34 ’如第3圖或第4圖所示 ,係將支承框32支承成能使支承框32全體以該傾動軸 . 3 4爲中心進行搖動。 - 相對於此,在引導單元31之上部側,如第1圖、第 3圖至第5圖所示係設有調整裝置60,藉由該調整裝置 -15- 1362359 60,相對於安裝於直線移動導件70側之搖動軸35,使支 承框3 2能以傾動軸3 4爲中心進行搖動。 調整裝置60,如第8圖至第11圖所示’係具備:固 定於支承框32上端之底座61、藉由滾珠螺桿63而能在 該底座61上移動之搖動軸推壓板62、使構成各滾珠螺桿 63之螺桿軸63a進行旋轉驅動之馬達64。在底座61上, 如第8(b)圖所示,形成有和昇降台30平行的長孔61a ,透過該長孔61a而安裝於支柱裝置20側的直線移動導 件70上之搖動軸3 5,如第8 ( a )圖中之實線所示係形成 插通。 搖動軸推壓板62,如第8(a)圖所示,係位於底板 61上之大致中心位置,其中心形成有供插通上述搖動軸 35之軸插通孔62a。在該搖動軸推壓板62之上下兩緣部 ,如第8(a)圖所示,係安裝著構成滾珠螺桿63之移動 台63b,藉由使該移動台63b在構成滾珠螺桿63之螺桿 軸63a朝圖示左右移動,以使該搖動軸推壓板62相對於 底板61朝左右方向移動。 滾珠螺桿63,如第8圖至第1 1圖所示,係藉由馬達 64進行旋轉驅動並具備:配置於長孔61a及軸插通孔62a 之圖示上下的2根螺桿軸63a、分別螺合於各螺桿軸63a 上而支承上述搖動軸推壓板62之上下各緣部之移動台 63b 〇當然,各螺桿軸63a係透過各種齒輪連結於馬達64 之輸出軸,用一個馬達64來將2桿螺桿軸63a朝正反兩 方向驅動。 -16- 1362359 調整裝置60係具備以上的構造,從設於支柱裝置20 內面之直線移動導件70朝昇降台30的上側突出之搖動軸 35’係如下述般被該調整裝置60之搖動軸推壓板62推壓 ,並藉由其反作用力而使支承框32的上部以傾動軸34爲 中心進行搖動。 亦即,若按照來自未圖示的感測器(檢測出叉架或臂 部的前端之下垂量)來使馬達64進行旋轉驅動,滾珠螺 桿63會使搖動軸推壓板62朝第8(a)圖的左右任一方 移動。在該搖動軸推壓板62上形成有軸插通孔62a,搖 動軸35則插通於該軸插通孔62a內,因此該搖動軸推壓 板62之左右移動會對搖動軸35進行推壓。搖動軸35係 形成固定於支柱裝置20側的狀態,當搖動軸3 5被推壓時 ,其位置並不會改變,但其反作用力會傳送到調整裝置 6 0側。 另一方面,調整裝置60係和各支承框32的上端形成 一體化,藉由來自上述搖動軸35之反作用力會使支承框 32朝反作用力的方向搖動,這時的搖動中心爲傾動軸34 。在搖動時,固定的搖動軸35會在設於底座61之長孔 61a內相對的移動,而容許支承框32整體之搖動。 綜上所述,該調整裝置60,係推壓從設於支柱裝置 20內面之直線移動導件70(引導單元31)突出至昇降台 30上側之搖動軸35,利用其反作用力而使各支承框32的 上部以傾動軸3 4爲中心進行搖動。 直線移動導件70,如第2圖所示,係在其殼本體和 -17- 1362359 在殼 :31 1而 也能 之橢 ,故 行的 62a 之變 離隙 心朝 僅朝 右均 從第 7圖 承框 所進 1的 軌道21之間介入多數個滾珠71,藉由使各滾珠?! 本體內轉動,能在軌道21上使支承框32或引導單另 穩定地進行往復移動。 - 亦即,該直線移動導件70,係挾持多數個滾珠7 • 將直線移動導件70之殼本體和軌道21予以連結。 (其他實施例) • 上述搖動軸推壓板62所形成之軸插通孔62a, 形成:短軸徑和搖動軸35的直徑相同,長軸徑更大 圓形者》這時,由於在搖動軸35的上下稍帶有空間 該調整裝置60之以支承框32的傾動軸34爲中心進 搖動能穩定的進行,亦即搖動軸35不致和軸插通孔 的內面產生嚴重摩擦,也不會造成搖動軸推壓板62 形。此乃因爲在軸插通孔62a內存在有搖動軸35的 空間》 • 第8(b)圖所示之長孔61a,雖是從底座61中 左右均等的延伸,但該長孔6 1 a也能從底座61中心 —側延伸" 第8 ( b )圖所示之長孔6 1 a從底座6]中心朝左 等的延伸的理由在於:昇降台30上之移載機40,能 I圖所示的狀態使用旋轉台等進行方向轉換而變成第 所示的相反狀態,不管任一個情形,都能進行該支 32的搖動。然而,這種移載裝置100,其移載機40 行之工件出入僅朝一方向,因此在這種情形,底座6 -18- 1362359 長孔6 1 a只要從底座61中心朝一側延伸即可。 【圖式簡單說明】 . 第1圖係採用本發明的安裝構造之移載裝置之立體圖 〇 _ 第2圖係顯示直線移動導件,(a)顯示和軌道的位 置關係之局部透視立體圖,(b)顯示沿軌道的縱方向觀 φ 察之局部縱截面圖。 第3圖係從面向棚架側觀察第1圖的移載裝置之槪略 前視圖。 第4圖係該移載裝置的前視圖。 第5圖係該移載裝置之沿第4圖的1-1線觀察之截面 圖。 第6圖係該移載裝置之沿第4圖的1-1線觀察之包含 支柱裝置的截面圖。 # 第7圖係裝載於昇降台上的移載機之俯視圖。 第8圖係顯示設於支承框的上端之調整裝置,(a) 爲其局部透視放大前視圖,(b)爲該調整裝置所採用的 底座之俯視圖。 第9圖係該調整裝置之俯視圖。 第1 〇圖係該調整裝置之側視圖。 第1 1圖沿第10圖之2-2線觀察之局部截面圖。 ' 第1 2圖係顯示習知技術之局部收大前視圖。 第1 3圖係第1 2圖所示構造之俯視圖。 -19- 1362359 【主要元件符號說明】 1 00 :移載裝置 • 10 :基台 11:地面軌道(導軌) ' 12 :車輪 2 0 :支柱裝置 • 21 :軌道 30 :昇降台 31 :引導單元 32 :支承框 33 :插銷 3 3 a :圓孔 3 3 b :長孔 3 4 :傾動軸 • 35 :搖動軸 3 5 a :長孔 40 :移載機 50 :棚架 ' 60 :調整裝置 6 1 :底座 - 6 1 a :長孔 ' 62 :搖動軸推壓板 6 2 a :軸插通孔 -20 1362359 63 :滾珠螺桿 63a :螺桿軸 63b :移動台 64 :馬達 70 :直線移動導件 71 :滾珠1362359 IX. Description of the Invention [Technical Fields of the Invention] The present invention relates to a transfer device for moving a workpiece into and out of a plurality of scaffolds, particularly for lifting and lowering of a transfer machine. • The platform can be shaken to move the device. [Prior Art] • The transfer device and the lifting platform of its components are used to move and lift the transfer machine (used to get the workpiece into and out of the scaffold) in conjunction with the position of the scaffold, in an automated warehouse. , playing a very important role. In order to lift the both sides of the elevating table, the transfer device er is provided with two left and right legs (devices) in the direction in which the transfer device is to be carried out, as shown in Figs. 1 to 4 . Regarding the transfer machine, a multi-joint robot (SCARA arm) or a sliding fork can be appropriately selected depending on the type of the workpiece. Such a transfer device 'must guide the above-mentioned lifting platform along the upper direction of the strut device'. When the workpiece becomes large and the weight becomes heavier, the lifting and lowering of the lifting table must be performed more surely, and the scaffolding with the workpiece is enlarged. In addition, the gravity load applied to the elevating table by the transfer machine is also increased. The guide device for the elevating table of the transfer device is detailed in Patent Document 1 of the applicant's application. instruction of. [Patent Document 1] Japanese Unexamined Patent Application Publication No. Hei No. Hei. No. Hei. No. Hei. No. Hei. "The crane", in the "automatic warehouse stacker", as shown in Figures 12 and 13, the structure used is "an automatic warehouse crane, which has: a walking trolley, by a pair of holding rollers before and after the upper and lower portions hold the guide rails (a pair of towers provided on the traveling trolley) to form a lifting platform freely, and a sliding fork frame provided on the lifting platform so as to be slidable back and forth; upper and lower portions At least one of the holding roller groups can be freely adjusted in the front and rear positions. In order to improve the disadvantages of the prior art, the "sliding fork frame of the automatic storage system" disclosed in Patent Document 1 is provided in a cantilever shape on the base through the intermediate sliding body. The weight of the articles carried on the sliding fork, the amount of deflection of the base, the intermediate sliding body and the sliding fork will change, and as a result, the amount of sag of the front end of the protruding fork will change, and has to be considered. Yu Yulai decides the interval between the upper and lower sides of the article storage scaffolding, so that the storage efficiency is deteriorated, and by using the above-described structure, "corresponding to the amount of the hanging of the cantilever-shaped sliding fork 17" is made in order to make the sliding fork 17 The movable holding roller 22 group is displaced forward and backward so that the front end of the sliding fork 17 can be kept constant irrespective of the weight of the article transfer machine 40, so that even if the sliding fork 17 is drooped at the maximum amount In the state, the storage and removal of the article transfer machine 40 can still be performed, and it is not necessary to consider the effect of the margin to determine the interval between the article storage scaffolding 3 and the upper and lower directions. However, the inventor of the present case went deep into the discussion and learned that 'when the connection between the lifting platform and the pillar (device) is carried out by the "guide roller and the guide rail", that is, the -5 - 1362359 workpiece is not so large, the above structure is sufficient to charge When the weight is increased and the size is increased, the entire transfer device may not be sufficiently large. In other words, as described above, the bulky and # transfer device has to be enlarged, and the overall size of the rack has to be increased. In this way, the transfer side becomes longer and larger. When the forks or arms # are used, the forks or the front ends of the arms can be greatly reduced to support the fork of the workpiece or The front of the arm must be returned to the horizontal state. Therefore, the vertical amount must be detected to adjust the lifting and lowering of the lifting platform. In order to advance the lift adjustment, the patent document 1 in which the lift rail j carrying the workpiece and the transfer machine is coupled to the support device side cannot support the enlarged and heavy workpiece, and the "guide roller durability must be further improved. On the other hand, the scaffolding has sufficient space if it is pre-considered, and even if the fork and the arm are housed, when the storage is not so heavy and large, the storage efficiency is deteriorated. Thus, the inventor of the present invention In view of the progress of the above-mentioned large-scale moving workpiece, even if the workpiece is supported, it can be restored in a short time. That is, the first object of the present invention is to provide a point, but when the workpiece is shaped, the above-described structure extends the fork or the arm portion of the shed for storing the workpiece by the transfer of the large workpiece to support the workpiece. . When the end is drooped, the amount of sag will be drooped and the inspection and the table will be passed through the "guide roller and guide technology. The guide roller becomes J and the arm of the guide rail J and the front end of the fork are still drooping. When it is possible, it will produce a no-load device. How to "follow the arm or the fork is still sag, and the result is that the transfer device of the present invention is reached, even if the 6 6 - 1362359 strut device 20 is slightly moved in the horizontal direction. That is, as shown in Figs. 8 to 11 , the upper portion of each of the support frames 32 is fixed to the side of the linear movement guide 70 by the adjustment device 60' (the linear movement guide is fixed up and down) The rocking shaft 35 of the guiding unit 31 of the member 70 can be rocked around the tilting shaft 34. The transfer device 100 having the above configuration, as shown in Fig. 3 or Fig. 4, is in the warehouse (the majority is arranged) The rails 21 in the scaffolding 50) are moved to reach the front of the scaffold 50 to be accessed, and as shown in Fig. 4, the lifting platform 30 is raised and lowered to the corresponding position of the scaffold 50. Thereafter, the lifting platform 3 is The transfer machine 40 on the raft moves to multi-joint machinery After the arm or the fork extends to the scaffolding 50 to carry out the entry and exit of the workpiece, the multi-joint robot arm or the fork frame is returned to the original position again to end the movement of the workpiece. Here, when the transfer machine 40 on the lifting platform 30 When the multi-joint robotic arm or fork receives the workpiece, its overall center of gravity moves toward the front end side, so the front end of the multi-joint robot arm or fork will hang slightly from the horizontal position. The amount of sag, for example, optical detection means multi-joint The position of the front end of the robot arm or the fork (for example, the fixed point of the lifting platform 30) is detected, and the amount of the detected sag is 〇. The transfer device of the invention of claim 1 is 00. The adjustment frame 60 actively swings the support frame 32 in the direction opposite to the direction in which the front end of the multi-joint robot arm or the fork is tilted about the tilting shaft 34, thereby adjusting the position and causing the amount of sag to become 〇. That is, the support frame 32 is shaken by the adjusting device 60 corresponding to the front end sag amount of the multi-joint robot arm or the fork frame, thereby causing the lifting table 30 to face the multi-joint machine-9-13623. 59 The front end of the arm or the fork is inclined in the opposite direction to adjust the position so that the front end of the articulated robot arm or the fork is horizontal, and the optimal mode to be described later is as follows. The upper portion of each of the support frames 32 is normally rocked. That is, if the motor 64 is rotationally driven in accordance with the sensor (detecting the amount of the front end of the fork or the arm), the ball screw 63 causes the rocking shaft to push the plate. 62 moves to either one of the left and right sides of the eighth figure (a). A shaft insertion hole 62a is formed in the rocking shaft pressing plate 62, and the rocking shaft 35 is inserted into the shaft insertion hole 62a, so the rocking shaft is pushed The left and right movement of the pressure plate 62 pushes the rocking shaft 35. The rocking shaft 35 is formed in a state of being fixed to the side of the pillar device 20, and when the rocking shaft 35 is pressed, its position does not change, but the reaction force is transmitted. Go to the side of the adjustment device 60. On the other hand, the adjusting device 60 is integrated with the upper side of each of the support frames 32, and the reaction force from the rocking shaft 35 causes the support frame 32 to swing in the direction of the reaction force. At this time, the rocking center is the tilting shaft 34 as described above. . At the time of the shaking, the fixed rocking shaft 35 is relatively moved in the long hole 61a provided in the base 61, thereby allowing the entire support frame 32 to be rocked. As described above, the adjusting device 60 pushes the rocking shaft 35 projecting from the linear movement guide 70 (provided on the inner surface of the pillar device 20) to the upper side of the lifting platform 30, and the reaction frame 32 is used for the respective supporting frame 32. The upper portion is rocked around the tilting shaft 34. Therefore, in the transfer device 100 of the first application of the patent scope, even if the arm or the fork of the transfer machine 40 hangs from the horizontal position, it can be recovered in a short time of -10- 1362359, so that it can be sought The cycle time is shortened and no use of space in the scaffold 50 is avoided. Further, in order to solve the above problems, the means for applying the second aspect of the patent application is in the transfer device 100 of the first application of the patent application, "each support frame 32 forms a bottom edge 32a. A triangular shape extending in the horizontal direction is attached to the both ends of the bottom edge 32a, and an adjustment device 60" is attached to the apex portion. That is, in the transfer device 100 of the second application of the patent application, the support frames 32 of the constituent elements, as shown in Figs. 5 and 6, form a triangle in which the bottom edge 32a extends in the horizontal direction. In the transfer device 100, as shown in Figs. 3 to 6, the elevating table 30 is attached to both ends of the bottom edge 32a of each of the support frames 32 of the constituent elements, and at the apex portion of each of the triangular support frames 32. The adjustment device 60 is installed. In this manner, by arranging the support frames 32 disposed on the inner side of the two strut devices 20 in a triangular shape, the elevating table 30 of the plan view ® quadrilateral can be attached to both ends of the bottom side 32a, and the elevating table 30 can be easily secured. The level of the state. Further, an adjusting device 60 for oscillating the support frame 32 is attached to the apex portion of each of the triangular support frames 32. Therefore, it is only necessary to use one adjusting device 60 for one of the support frames 32, so that the efficiency is improved. In other words, in the transfer device 1 of the second application of the patent scope, each support frame 32 forms a triangle extending in the horizontal direction of the bottom edge 32a, and the lifting platform 30 is attached to both ends of the bottom edge 32a, and the adjustment is installed at the apex portion. The device 60, therefore, the shaking of the support frames 32, that is, the shaking of the lifting platform 30 itself, can be efficiently carried out by the adjusting device 60 provided on the left and right sides. Therefore, in addition to the same effects as the first item of the above-mentioned patent application, the transfer device 100 of the second application of the patent application can efficiently perform the shaking of the lifting platform 30. The means adopted in the third paragraph of the patent scope is in the shifting device 100 described in the first paragraph of the patent application, "the upper and lower positions of the tilting shaft 34 and the portion of the transfer machine 40 or the front end of the fork. The top and bottom positions are the same." That is, in the transfer device 1 of the third application of the patent scope, as shown in FIG. 5, since the upper and lower positions of the tilting shafts 34 are the same as the upper and lower positions of the arms of the transfer machine 40 or the front end of the fork, The rocking of the support frame 32 caused by the adjustment device 60 enables the front end of the arm or fork of the transfer machine 40 to completely return to the opposite position of the originally designed unloaded workpiece, when the tilting shaft 34 is above and below. The position is set above or below the arm portion of the unloading manipulator 40 or the front end position of the fork frame, and the shaking of the support frame 32 caused by the action of the adjusting device 60 causes the arm or fork of the carrier 40 to be moved. The front end of the frame is placed on the side of the scaffolding side (in the case of the upper side) or on the side opposite to the side of the scaffolding 50 (in the lower case) with respect to the correct position, and the workpiece cannot be correctly transferred to the scaffolding 50. Therefore, in addition to the same effect as the first item of the patent application scope, the mounting structure of the third application of the patent scope can correctly transfer the workpiece to the scaffold 50 even in the case of position adjustment. As explained above, in the present invention, the main feature of the structure is "a type of transfer device 1", which is shifted by 50 when the launching arm of the hair delivery arm of the plurality of scaffolds 50 is disposed. The loading and unloading device 100 is provided with a base 10 that can be moved in the warehouse, and two pillars 20 that are vertically disposed on the base 10, and are The elevating table 30 in which the strut devices 20 move up and down, the transfer machine 40 provided on the elevating table 30, the support frame 32 for lifting the elevating table 30, and the adjusting device 60 provided on the upper portion of the support frame 32. In the preferred embodiment, as shown by the solid line in Fig. 1 or the imaginary line in Fig. 4, the wheel 12 is provided on the base 10 by rotating the wheel 12 on the rail 21 laid in the warehouse. The transfer device 10 is moved to a predetermined position in the warehouse. The wheels 12 are assembled in the base 10 or in each of the pillar devices 20 (standing on the base). The motor is driven by rotation to drive and control the components of the motor and various machines. In each of the strut devices 20, each of the strut devices 20 that are vertically erected on the base 10 is provided with a rail 21 in the vertical direction on the inner side surface thereof as shown in Figs. 4 and 3, as shown in Fig. 2 or Fig. 3. The support frame 32 is attached to the strut device 20 through the linear movement guide 70 and the guide unit 31 supporting the same. The guide unit 31 is connected to a cable or a chain (not shown), and is driven by a motor (not shown). The cable moves up and down to guide the lifting and lowering of the guiding unit 31 while being guided by the linear moving guides 70. In the transfer device, as shown in FIG. 3 or FIG. 4, in the guiding unit 31 (relatively The support frame 32 is attached so as to be tiltable in the front-rear direction when the strut device 20 is lifted and lowered. As shown in Fig. 3 or Fig. 4, the lower end of one of the support frames 32 (left side of the drawing) is inserted through The pin 33 of the circular hole 33a connects one end of the lifting platform 30 so as to be tiltable in the right and left sides 14-1362359. The lower end of the left side of the support frame 32 is shown in Figs. 3 and 4, On the upper end of the end of the lifting platform 30, a lifting and lowering side block having a circular hole 33a is joined to the upper side thereof. A support frame side block having a circular hole 33a is connected to the lower end of the support frame 32. The lifter side block and the support frame side block are fitted to each other and are provided at their respective centers. A pin 33 is inserted into the circular hole 33a. On the other hand, between the lower end of the support frame 32 and the other end of the lift table 30 (the right end of the figure) on the other side (not to the right of Fig. 3) 'The pin 33 inserted through the long hole 33b (long axis in the horizontal direction) is connected to be tiltable. That is, at the lower end of the right side of the support frame 32, as shown in Figs. 3 and 4, A lifting frame side block having a long tie 3 3 b (long axis in the horizontal direction) is joined to the upper end portion of the lift table 30. The lower end of the support frame 32 on the upper side is connected to the support frame side block having the circular hole 33a. 〇φ The support frame 32' for hoisting the lifting platform 30 is formed as a substantially equilateral triangle having the same width as the bottom edge 32a and the lifting platform 30, as shown in Figs. 1, 5, and 6. The portion directly above the center of 32a, that is, at the same position as the upper portion of the arm of the transfer machine 40 or the front end of the fork frame Tilt the shaft 3 4 . As shown in Fig. 3 or Fig. 4, the tilting shaft 34' supports the support frame 32 so that the entire support frame 32 can be swung around the tilting shaft. - In contrast, on the upper side of the guiding unit 31, as shown in Fig. 1 and Fig. 3 to Fig. 5, an adjusting device 60 is provided, which is mounted on a straight line by means of the adjusting device -15 - 1362359 60 The rocking shaft 35 on the side of the moving guide 70 allows the support frame 32 to be rocked around the tilting shaft 34. The adjusting device 60 has a base 61 fixed to the upper end of the support frame 32 and a rocking shaft pressing plate 62 that can be moved on the base 61 by the ball screw 63 to form a base member 61. The screw shaft 63a of each of the ball screws 63 is a motor 64 that is rotationally driven. As shown in Fig. 8(b), the base 61 is formed with a long hole 61a parallel to the elevating table 30, and is attached to the rocking shaft 3 of the linear movement guide 70 on the side of the strut device 20 through the long hole 61a. 5, as shown by the solid line in Figure 8 (a) to form a plug-in. The rocking shaft pressing plate 62, as shown in Fig. 8(a), is located at a substantially central position on the bottom plate 61, and has a shaft insertion hole 62a through which the rocking shaft 35 is inserted at the center. On the lower edge portions of the rocking shaft pressing plate 62, as shown in Fig. 8(a), the moving table 63b constituting the ball screw 63 is attached by the moving table 63b at the screw shaft constituting the ball screw 63. 63a moves to the left and right in the drawing so that the rocking shaft pressing plate 62 moves in the left-right direction with respect to the bottom plate 61. As shown in FIGS. 8 to 11 , the ball screw 63 is rotationally driven by a motor 64 and includes two screw shafts 63a disposed on the upper and lower sides of the long hole 61a and the shaft insertion hole 62a. The movable table 63b that is screwed to each of the screw shafts 63a and supports the upper and lower edges of the rocking shaft pressing plate 62. Of course, each of the screw shafts 63a is coupled to the output shaft of the motor 64 through various gears, and is driven by a motor 64. The two-rod screw shaft 63a is driven in both the forward and reverse directions. -16- 1362359 The adjustment device 60 has the above-described structure, and the rocking shaft 35' protruding from the linear movement guide 70 provided on the inner surface of the pillar device 20 toward the upper side of the elevation platform 30 is shaken by the adjustment device 60 as follows. The shaft pressing plate 62 is pressed, and the upper portion of the support frame 32 is rocked around the tilting shaft 34 by the reaction force thereof. In other words, when the motor 64 is rotationally driven in accordance with a sensor (detecting the amount of downward movement of the front end of the fork or the arm) from the sensor (not shown), the ball screw 63 causes the rocking shaft pressing plate 62 to face the eighth (a). ) Move to the left or right of the graph. A shaft insertion hole 62a is formed in the rocking shaft pressing plate 62, and the rocking shaft 35 is inserted into the shaft insertion hole 62a. Therefore, the left and right movement of the rocking shaft pressing plate 62 presses the rocking shaft 35. The rocking shaft 35 is formed in a state of being fixed to the side of the strut device 20, and its position does not change when the rocking shaft 35 is pressed, but the reaction force is transmitted to the side of the adjusting device 60. On the other hand, the adjusting device 60 is integrated with the upper end of each of the support frames 32, and the reaction frame 32 is rocked in the direction of the reaction force by the reaction force from the rocking shaft 35. The rocking center at this time is the tilting shaft 34. When rocking, the fixed rocking shaft 35 is relatively moved within the long hole 61a provided in the base 61, allowing the support frame 32 to be shaken as a whole. As described above, the adjusting device 60 pushes the rocking shaft 35 which protrudes from the linear movement guide 70 (guide unit 31) provided on the inner surface of the strut device 20 to the upper side of the elevating table 30, and uses the reaction force thereof to make each The upper portion of the support frame 32 is rocked around the tilting shaft 34. The linear movement guide 70, as shown in Fig. 2, is attached to the shell body and -17-1362359 in the shell: 31 1 and can also be an ellipse, so the line of the 62a is changed toward the right only from the right 7 The majority of the balls 71 are interposed between the tracks 21 of the frame 1 by the frame, by making the balls? ! Rotation in the body enables the support frame 32 or the guide to be reciprocally moved stably on the rail 21. That is, the linear movement guide 70 holds a plurality of balls 7 • The casing body of the linear movement guide 70 and the rail 21 are coupled. (Other Embodiments) • The shaft insertion hole 62a formed by the above-described rocking shaft pressing plate 62 is formed such that the short shaft diameter and the rocking shaft 35 have the same diameter and the long shaft diameter is larger. In this case, since the rocking shaft 35 is The upper and lower sides of the adjusting device 60 are stably rotated by the tilting shaft 34 of the support frame 32, that is, the rocking shaft 35 does not cause serious friction with the inner surface of the shaft insertion hole, nor does it cause Shake the shaft push plate 62 shape. This is because the space in which the rocking shaft 35 is present in the shaft insertion hole 62a" • the long hole 61a shown in Fig. 8(b) is equally extended from the left and right of the base 61, but the long hole 6 1 a It is also possible to extend from the center-side of the base 61. The reason why the long hole 6 1 a shown in Fig. 8 (b) extends from the center of the base 6] to the left or the like is that the transfer machine 40 on the lifting table 30 can The state shown in Fig. 1 is changed to the first opposite state by a direction change using a turntable or the like, and the swing of the branch 32 can be performed regardless of any of the cases. However, in the transfer device 100, the workpieces of the transfer machine 40 are only in one direction, so in this case, the base 6 -18 - 1362359 long holes 6 1 a may extend from the center of the base 61 toward one side. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view of a transfer device using the mounting structure of the present invention. Fig. 2 is a view showing a linear movement guide, and (a) a partial perspective perspective view showing the positional relationship between the display and the track, ( b) A partial longitudinal section view showing the longitudinal direction of the track. Fig. 3 is a schematic front view of the transfer device of Fig. 1 viewed from the side facing the scaffolding. Figure 4 is a front elevational view of the transfer device. Fig. 5 is a cross-sectional view of the transfer device taken along line 1-1 of Fig. 4. Fig. 6 is a cross-sectional view of the transfer device including the pillar device as viewed along line 1-1 of Fig. 4. #图图图7 is a top view of the transfer machine mounted on the lifting platform. Fig. 8 is a view showing an adjusting device provided at the upper end of the support frame, (a) a partial perspective enlarged front view thereof, and (b) a plan view of the base used for the adjusting device. Figure 9 is a plan view of the adjustment device. The first diagram is a side view of the adjustment device. Fig. 1 is a partial cross-sectional view taken along line 2-2 of Fig. 10. 'Figure 12 shows a partial front view of the prior art. Fig. 13 is a plan view showing the structure shown in Fig. 12. -19- 1362359 [Description of main component symbols] 1 00 : Transfer device • 10 : Abutment 11 : Ground track (rail) ' 12 : Wheel 2 0 : Strut device • 21 : Track 30 : Lift table 31 : Guide unit 32 : Support frame 33 : Bolt 3 3 a : Round hole 3 3 b : Long hole 3 4 : Tilting shaft • 35 : Shake shaft 3 5 a : Long hole 40 : Transfer machine 50 : Shelving ' 60 : Adjustment device 6 1 : Base - 6 1 a : Long hole ' 62 : Shake shaft push plate 6 2 a : Shaft insertion hole -20 1362359 63 : Ball screw 63a : Screw shaft 63b : Moving table 64 : Motor 70 : Linear movement guide 71 : Ball

Claims (1)

1362359 10l· 1. U6 年月日修(更)正替換頁 第096133748號專利申請案中文申請專利範圍修正本 民國101年1月6 日修正 十、申請專利範園 1. 一種移載裝置,係在配置有多數個棚架之倉庫內移 動’以對前述各棚架進行工件的出入之移載裝置;其特徵 在於: 該移載裝置係具備:可在前述倉庫內移動之基台、豎 設於該基台上之左右兩座的支柱裝置、可相對於該各支柱 裝置上下移動之昇降台、設置於該昇降台上之移載機; 在前述各支柱裝置上透過直線移動導件將支承框安裝 成昇降自如,該支承框係形成底邊朝水平方向延伸之三角 形,在該各支承框之前述底邊的兩端連結著前述昇降台, 並在前述各支承框的頂點部分安裝調整裝置,藉由該調整 裝置使該頂點部分相對於固定在前述直線移動導件側之1 根搖動軸可在前後方向搖動; 將前述各支承框的下部中心以可轉動的方式安裝於固 定在前述直線移動導件側之1根傾動軸,使該各傾動軸的 上下位置與前述移載機的臂部或叉架的前端之上下位置相 同,當前述各支承框搖動時,讓前述臂部或叉架的前端相 對於前述棚架側不致進行進退。1362359 10l· 1. U6 year and month repair (more) is replacing page No. 096133748 Patent application Chinese patent application scope amendments revised on January 6, 101 of the Republic of China, application for patent garden 1. A transfer device, a transfer device for moving the workpieces to and from the respective scaffolds in a warehouse in which a plurality of scaffoldings are disposed; the transfer device includes: a base that can be moved in the warehouse, and a erection Two left and right pillar devices on the base, an elevator that can move up and down with respect to the pillar devices, and a transfer machine disposed on the elevator; and the support of each of the pillar devices through the linear movement guide The frame is mounted to be freely movable, and the support frame is formed in a triangular shape in which the bottom edge extends in a horizontal direction, and the lifting platform is coupled to both ends of the bottom edge of each of the support frames, and an adjusting device is mounted on an apex portion of each of the support frames. By means of the adjusting device, the apex portion can be rocked in the front-rear direction with respect to a rocking shaft fixed to the side of the linear moving guide; the lower center of each of the aforementioned support frames Rotatingly attaching to one tilting shaft fixed to the side of the linear moving guide such that the upper and lower positions of the tilting shafts are the same as the upper and lower positions of the arm of the transfer machine or the front end of the fork, when the foregoing When the support frame is rocked, the front end of the arm or the fork is prevented from advancing and retracting relative to the side of the scaffold.
TW096133748A 2006-09-21 2007-09-10 TWI362359B (en)

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JP5170541B2 (en) * 2008-04-28 2013-03-27 株式会社ダイフク Goods storage equipment
JP4924680B2 (en) * 2009-09-09 2012-04-25 村田機械株式会社 Transfer equipment
JP5927791B2 (en) * 2011-07-12 2016-06-01 村田機械株式会社 Transport vehicle
JP5966588B2 (en) * 2012-05-14 2016-08-10 村田機械株式会社 Transfer equipment for cart
CN103569910B (en) * 2012-07-25 2016-03-23 米亚斯物流设备(昆山)有限公司 Novel extensible fork
KR101383449B1 (en) 2012-10-09 2014-04-09 주식회사 알티자동화 Apparatus for detecting alignment of fork installed stocker
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CN103803228B (en) * 2012-11-08 2015-11-18 沈阳新松机器人自动化股份有限公司 Jacking system
CN105466711B (en) * 2015-11-30 2018-03-02 天奇自动化工程股份有限公司 The failure self-diagnosis device of transfer machine equipment
CN106672524B (en) * 2016-01-26 2020-04-17 安徽省一一通信息科技有限公司 Goods picking machine and intelligent goods picking system comprising same
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