WO2007132535A1 - 天井搬送保管システム及び天井搬送保管方法 - Google Patents
天井搬送保管システム及び天井搬送保管方法 Download PDFInfo
- Publication number
- WO2007132535A1 WO2007132535A1 PCT/JP2006/309869 JP2006309869W WO2007132535A1 WO 2007132535 A1 WO2007132535 A1 WO 2007132535A1 JP 2006309869 W JP2006309869 W JP 2006309869W WO 2007132535 A1 WO2007132535 A1 WO 2007132535A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- product
- storage area
- storage
- unloading
- holding means
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- 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
-
- 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
- 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
- B65G2201/0273—Tires
Definitions
- the invention of the present application relates to a ceiling transport storage system and a ceiling transport storage method, and in particular, processing efficiency of carrying products into storage areas where the space utilization and floor surface utilization are high and carrying out products with strong storage areas.
- the present invention relates to a ceiling transport storage system and a ceiling transport storage method suitable for use in a storage warehouse that stores a plurality of products of various sizes.
- one storage area is arranged on each side of the transfer conveyor, the product on the transfer conveyor is taken out by each moving mechanism (transfer device), and this is moved to each storage area. Store and force each storage area according to the specified instructions. When the product of the type required in the next process is carried out, the product is taken out by each moving mechanism and transferred again onto the conveyor. And then carried out of the storage area (Patent Document 2).
- a transfer device that performs storage processing (product transfer operation between the storage area and the outside of the storage area) transfers the product that is carried from outside the storage area (previous process) to the storage area.
- one storage area is arranged on each side of the transport conveyor that transports the product, and the product is transported via the storage area.
- the transfer device that transfers products between each storage area and the transfer conveyor cannot move force within the range of the storage area on one side. If the device is stopped, the storage process in the storage area on one side is completely stopped, and the efficiency of the storage process is greatly reduced.
- the outside of the storage area force The loading position of the loading device for loading the product into the storage area and the storage area force outside the storage area (post-process) Since there is only one transfer device that can access the unloading position of each unloading device that unloads products, it is not suitable for large-scale storage processing.
- Patent Document 1 Japanese Patent Laid-Open No. 2000-238906
- Patent Document 2 Japanese Patent Application Laid-Open No. 2001-031219
- the invention of the present application solves the above-mentioned problems of the conventional ceiling transport and storage system and ceiling transport and storage method, and allows the product to be stored in a storage area with high space utilization and floor surface utilization. It is an object of the present invention to provide a ceiling transport storage system and a ceiling transport storage method that have high processing efficiency for carrying out products in the carry-in and storage areas.
- the ceiling transport storage system includes at least a product storage area, and at least one transfer holding means that holds the product in the ceiling space of the storage area and moves in a three-dimensional direction of up, down, left, and right, and front and back. And an unloading means for unloading the product from the storage area.
- the product receiving position of the unloading means is substantially the center of the storage area in plan view.
- the product receiving position of the unloading means (this position is the unloading position of the product of the unloading means, and the unloading means The balance of the distance to the starting point is improved, and the efficiency of the unloading process is improved.
- the ceiling conveyance storage system further includes a carry-in means for carrying the product into the storage area.
- a carry-in means for carrying the product into the storage area.
- At least one product is carried into the storage area at one time by the carrying-in means.
- the efficiency of product storage processing is further improved, including the operation of loading the product into the storage area.
- the ceiling conveyance storage system is arranged at the carry acquisition stage, and acquires at least one product discriminating means for obtaining and discriminating information on a product to be carried in. It has. With this configuration, it is possible to perform optimal storage work based on the information of the products that have been brought in. For example, by obtaining information on the product type and size, it is possible to classify the storage of products in the storage area by type. In addition, when a product that is different from the product to be stored in the storage area is brought in, it is possible to detect the product type abnormality and perform the specified abnormality processing to perform the optimal storage processing. it can.
- the carry-out means is a conveyor. This configuration makes it possible to transport the product continuously to the next process, further improving the efficiency of the unloading process.
- the carry-out means includes a placing means capable of placing at least one product.
- the ceiling conveyance storage system includes at least two transfer holding means, and an operation range in which the one transfer holding means operates is a product receiving position of the unloading means.
- the operation range in which the other transfer holding means operates is the range of the other storage area including the product receiving position of the unloading means.
- the other transfer holding means when one of the transfer holding means is stopped, the other transfer holding means is allowed to operate in the range of all the storage areas. .
- the other transfer holding means can store the entire storage area. The influence on other processes can be reduced.
- the operation range in which one transfer holding means operates and the operation range in which the other transfer holding means operate overlap each other! /
- the loading and holding means and the other transferring and holding means can simultaneously access different products stored in the overlapping operating range.
- the product can be stored in and removed from the overlapping area without interfering with the transfer holding means, thereby further improving the efficiency of product storage processing. .
- the ceiling conveyance storage system further includes a control unit, and the control unit has a storage area for each of a variety of products of various types and sizes. Multiple corresponding to multiple actual storage spaces set by assigning each The address space is stored, and the identification result of the product discriminating means and the transfer type holding means transfer one or more products of the same product type and the same size to the receiving position of the product of the unloading means.
- the address space is updated according to the unloading result unloaded by the unloading means, thereby managing the actual storage space and performing predetermined drive control between the transfer holding means and the unloading means. It is configured.
- At least a storage area in which products are classified and stored for each predetermined type is assigned to each type and size of a plurality of products of multiple types and sizes.
- the process of dividing the same product type and the same size product into multiple actual storage spaces for storing one or more products in a stacked state, and storing them in the control means corresponding to the actual storage space A process of setting an address space to be stored, a transfer holding process in which the storage area is moved in a three-dimensional direction of up, down, left, right, and back by holding the product by at least two transfer holding means;
- a storage area in which the product is unloaded by a predetermined position force unloading means in the center of the storage area in plan view, and the type of product indicated by a predetermined instruction is stored in the storage area
- Duplicate The product is selected from a plurality of products, transferred to the predetermined position in the unloading step, unloaded from the storage area, and the address space is updated according to the unloading result, thereby
- the step of dividing the storage area into a plurality of actual storage spaces, the step of setting the address space stored in the control means corresponding to the actual storage space, and the storage area A transfer holding process in which the product is held by at least two transfer holding means and moved in a three-dimensional direction;
- the address space can be updated according to the unloading result of the product, thereby managing the actual storage space.
- the address space is used to manage the storage location of the product and the availability of the storage location for each type (variety and size) that varies depending on the type of product to be carried out and its level.
- the address space it is possible to make wide use of the storage area where the storage area is not narrowed by providing a cut-off within the actual storage space and distinguishing products.
- the distance between the position of the product stored in the storage area and the product receiving position of the unloading means is improved, and the efficiency of the unloading process is improved. To do.
- the overlapping range between different transfer holding means can be minimized, so that it is not necessary to pay attention to the overlap of operations, and the transfer operation control of these transfer holding means becomes easy.
- the predetermined position of the unloading step (this position is a receiving position of the product of the unloading means and is a position from which the unloading means unloads the product).
- a mounting member on which a plurality of products can be placed is prepared, and a type of product designated by a predetermined instruction is selected from a plurality of products stored in the storage area, and the predetermined position in the unloading process is selected.
- a predetermined number of the mounting members prepared in the above are stacked, transferred, and carried out of the storage area.
- the ceiling transport storage method further includes a product discrimination step of obtaining and discriminating information of a product carried into the storage area by a discrimination means, Based on the product information acquired in the discrimination process, the product is stored at a predetermined position in the storage area by the transfer holding means, and the address space is updated according to the product information and the carry-out result. By doing so, the actual storage space is managed.
- optimal storage work can be performed based on the information of the products that have been brought in. For example, by obtaining information on product types and sizes, it becomes possible to classify product storage in the storage area by type.
- a product that is different from the product planned to be stored in the storage area is brought in, it is possible to detect the product type abnormality and perform the specified abnormality processing to perform optimal storage processing. it can.
- the product discrimination step is executed in addition to the product carry-out result.
- the product information obtained from the product is also used, and the storage location of the product for each type (each type and each size) that changes according to the type of product that is carried in and out, and the vacant seats in the storage location Since the situation is managed in the address space! /, It is possible to better solve the above-mentioned inconveniences in the case of managing in the actual storage space, and further improve the effect of the above-described ceiling transport storage method. Can play.
- the positional force of the product stored in the storage area is improved in balance of the distance from the unloading means to the product receiving position, and the unloading process is performed. Increases efficiency.
- the efficiency of product storage processing (carrying-in processing and carrying-out processing) is improved, including the operation of carrying products into the storage area.
- the efficiency of the storage process is further improved.
- the ceiling transport storage system further includes a control unit, and the control unit is set by assigning a storage area for each product type of multiple products * multiple products of multiple sizes * for each size.
- a plurality of address spaces corresponding to a plurality of actual storage spaces are stored, and the identification result of the product discrimination means and the product receiving position of the product of the same type at the transfer means by the transfer holding means.
- the types of products to be loaded and unloaded and the products for each type (various types and sizes) that change according to the type Storage location and vacant seats in the storage location Since the situation is managed in the address space, the storage area does not have a storage area that is narrowed by distinguishing products by providing a cut in the actual storage space, as in the case of managing in the actual storage space. Can be used widely.
- FIG. 1 is a plan view of a ceiling conveyance storage system according to a first embodiment (embodiment 1) of the present invention.
- FIG. 2 is a front view of the same.
- FIG. 3 is a left side view of the same.
- FIG. 4 is a diagram for explaining a difference between the ceiling conveyance storage system of the first embodiment and a conventional ceiling conveyance storage system.
- FIG. 10 is a diagram for explaining the point of the carry-in process among the diagrams for explaining in comparison with the conventional example.
- FIG. 5B is a diagram for explaining a procedure for carrying out the same unloading process.
- [5C] It is a diagram for explaining the procedure of another carry-in process.
- [5D] It is a diagram for explaining the outline of another unloading process.
- FIG. 6 It is a plan view of the ceiling conveyance storage system of the second embodiment (embodiment 2) of the present invention.
- FIG. 7 is a front view of the same.
- FIG. 8 is a left side view of the same.
- FIG. 9 is a diagram showing an operating range in which one of the pair of transfer holding means operates.
- FIG. 10 is a diagram showing an operation range in which the other transfer holding means of the pair of transfer holding means operates.
- FIG. 11 is a diagram showing overlapping operation ranges among the operation ranges in which a pair of transfer holding means operate.
- FIG. 12 is a diagram showing a state in which the pair of transfer holding means operate in the overlapping operation range.
- ⁇ 13] A diagram showing an operating range in which one transfer holding means operates when the other transfer holding means of the pair of transfer holding means is on standby.
- FIG. 14 is a diagram showing an operating range in which one transfer holding means of the pair of transfer holding means operates when the other transfer holding means is on standby.
- FIG. 15 is a view showing a modification of the ceiling conveyance storage system of the second embodiment.
- ⁇ 16 This is a diagram showing another modification of the ceiling conveyance storage system of the second embodiment.
- FIG. 17 This is a diagram showing still another modification of the ceiling conveyance storage system of the second embodiment.
- FIG. 18 This is a diagram showing still another modification of the ceiling transport and storage system of the second embodiment.
- ⁇ 19 This is a diagram showing still another modification of the ceiling conveyance storage system of the second embodiment.
- FIG. 20 is a view showing still another modification of the ceiling conveyance storage system of the second embodiment.
- FIG. 21 is a view showing still another modified example of the ceiling conveyance storage system according to the second embodiment.
- FIG. 22 is a plan view of a ceiling transport storage system according to a third embodiment (Example 3) of the present invention.
- FIG. 23 is a front view of the same.
- FIG. 24 is a diagram showing a modification of the ceiling transport and storage system of the third embodiment.
- FIG. 25 is a plan view of a ceiling conveyance storage system according to a fourth embodiment (Example 4) of the present invention.
- FIG. 26 is a view showing a modification of the ceiling transport storage system of the fourth embodiment.
- Product discriminating means 500 ⁇ Outlet means (conveyor), 501, 501 ', 501a, 501b, 501c , 501d... Tire unloading position (product receiving position), 502 “pallet, 503 ... conveyor, 503a ... Pallet loading conveyor, 503b ... Nort unloading conveyor, 504, 505 ... Transfer means, 600" control Means, 700 ⁇ Nortize area, F... Floor surface.
- the ceiling transport storage system includes at least a product storage area, and at least one transfer holding means that holds the product in the ceiling space of the storage area and moves in a three-dimensional direction of up, down, left, and right, and front and back.
- the storage area force is provided with an unloading means for unloading the product, and the receiving position of the product of the unloading means is approximately at the center in plan view of the storage area.
- control means corresponds to a plurality of actual storage spaces set by assigning a storage area to each product size of each product type of multiple products * multiple products of multiple sizes. Multiple address spaces are stored, and the product identification means and the transfer holding means use the same product at the product receiving position of the unloading means.
- the actual storage space is managed by updating the address space in accordance with the unloading result transferred and unloaded by the unloading means, and predetermined drive control between the transfer holding means and the unloading means is performed. Configure to do.
- Ceiling transport storage method is set by assigning at least a storage area for classifying and storing products into predetermined types and allocating various types * multiple types of multiple size products * for each size
- a process of dividing a product of the same product type and the same size into a plurality of actual storage spaces for storing one or more products in a stacked state, and an address space stored in the control means corresponding to the actual storage space The setting process, the storage area, the transfer holding process in which the product is held by at least two transfer holding means and moved in the three-dimensional directions of up, down, left, right, and back, and the storage area in plan view.
- the unloading step selects a product of the type indicated by the predetermined instruction from a plurality of products stored in the storage area. Where Transfer the position, unloaded outside the storage area, in accordance with the unloading result, by updating the address space, configured to manage the actual storage space.
- the ceiling conveyance storage system of the invention of the present application is suitable for use in a storage warehouse that stores a plurality of products of multiple varieties' multiple sizes.
- the storage area includes a plurality of storage areas. * Each product is divided and divided for each size, and one category area is assigned to each product of a specific product type and a specific size. In each division area, one or more products of the same product type and the same size are stored.
- the product to be stored stored item
- stored item is a tire will be described as an example, but the stored item is not limited to this, and various products are mixed and stored. Also good.
- the ceiling conveyance storage system 1 of the first embodiment is configured such that the storage area 100 of the tire 200 and the ceiling space of the storage area 100 hold the tire 200 up and down, left and right, A transfer holding means 300 that moves in the front and rear three-dimensional directions, a carrying-in means 400 for carrying the tire 200 into the storage area 100, and a carrying-out means 500 for carrying the tire 200 out of the storage area 100 are provided.
- FIG. 1 shows a state where one or more tires 200 are stored in all compartment areas, and the tires 200 stored in any compartment area are all drawn to the same size. In practice, however, various sizes are mixed and stored.
- these groups of tires 200 are indicated by column numbers counted in the X direction, and are referred to as tire groups in the nth column.
- ⁇ 1, 2,... 9 and the tire group in the ⁇ -th row has a plurality of rows (7 rows in FIG. 1) of tires 200 in the heel direction. .
- the transfer holding means 300 is a three-dimensional movement mechanism erected on the floor surface F, which is configured as follows.
- Rails 302 are installed in parallel along the ⁇ direction. Further, on the pair of horizontal fixed guide rails 302, a single travel guide rail 303 is mounted so as to be movable in the eaves direction along the X direction so as to straddle the fixed guide rails 302. It is built. Further, the traveling guide rail 303 includes a horizontal / vertical moving mechanism 304 that incorporates a traveling element that can travel along the traveling guide rail 303 and a lifting mechanism that can move up and down in the vertical direction. Yes. A stored article holding mechanism 305 is attached to the lower end of the horizontal / vertical moving mechanism 304, and a claw attached to the stored article holding mechanism 305 holds the tire 200.
- the horizontal movement mechanism is composed of one traveling element built in the horizontal movement mechanism 304 and the horizontal / vertical movement mechanism 304.
- one horizontal movement mechanism 304 is built in the horizontal / vertical movement mechanism 304.
- the carrying-in means 400 is usually composed of a conveyor, and is one of the two sides parallel to the fixed guide rail 302 of the rectangular storage area 100 in plan view (the left side in FIG. 1) side.
- the tires 200 which are installed on the floor F in contact with the center and have been processed in the previous process, are sequentially transported to the storage area 100.
- the tire carry-in position 401 provided at the tip of the carry-in means 400 has entered the storage area 100 up to the position of the tire 200 at the center in plan view of the tire group in the first row in the X direction. Instead of the tire 200, one of the tires 200 can be placed there.
- the tire 200 that has been carried in is gripped by the storage object holding mechanism 305 at this position, and in accordance with the identification result of the product discriminating means 402 disposed in the carrying-in means 400, a predetermined area in the storage area 100 is obtained. It is transferred to the position (partition area) by the transfer holding means 300.
- the product discriminating means 402 obtains and discriminates information (size, etc.) of the tire 200 that is carried in from the barcode or ID.
- the unloading means 500 is also generally constituted by a conveyor, and the tire unloading position 501 provided at the base end portion thereof is disposed at a substantially central portion of the storage area 100 in plan view. From there, the conveyor extends along the X direction to the other end (the right end in FIG. 1) of the storage area 100, and further, the force also extends out of the storage area 100 so that the floor surface F It is installed above. Then, the tire 200 placed thereon is transported to the next process.
- the tire unloading position 501 is a position where the unloading means 500 receives the unloaded tire 200.
- the center portion in the plan view of the tire group in the fifth row in the X direction (fourth row in the Y direction). In this case, one of the tires 200 can be placed.
- the tire 200 stored in the storage area 100 is gripped by the stored item holding mechanism 305 and transferred to the tire unloading position 501 by the transfer holding means 300.
- the tire unloading position 501 is a position of one of the tires surrounding one tire in the center of the tire group in the fifth row in the X direction (see FIG. 1! It is not always necessary to place the tire in the storage area.
- the ceiling conveyance storage system 1 of the first embodiment further includes a control means 600.
- the control means 600 includes a storage area 100 in a plurality of sized timers 200. A plurality of address spaces corresponding to a plurality of real storage spaces as shown in the figure set by allocating for each size are stored, and the identification result of the product discrimination unit 402 and the transfer holding unit 300 The tire delivery position of the means 500 (product receiving position) One or more of the same size tires 200 are transferred to the 501 and the address space is updated according to the result of delivery carried out by the delivery means 500. By doing so, the actual storage space is managed. Further, predetermined drive control of the transfer holding means 300 and the unloading means 500 is performed.
- the storage area 100 is not actually divided and divided on the floor surface F by the partition members and facilities for each product type of each product.
- the product receiving position (tire unloading position) 501 of the unloading means 500 is substantially the center of the storage area 100 in plan view.
- the positional force of each tire 200 stored in the container also improves the balance of the distance to the product receiving position 501 and improves the efficiency of product carry-out processing.
- the positional force of each tire 200 stored in the four corners of the storage area 100 is also approximately equal to the distance to the product receiving position 501 (see the solid line with four double-ended arrows in FIG. 4).
- the efficiency of the product unloading process is good because the distance to the product receiving position 501 does not become extremely long.
- the product receiving position (tire unloading position) 501 ' is on the other end (right end in FIG. 1) side of the storage area 100, that is, the product unloading position. If the tire is located at the center of the area on the side, it is stored at both corners on the one end of the storage area 100 (the left end in FIG. 1).
- the distance to 1 ' is considerably larger than the distance to the product receiving position 501' in terms of the position force of each tire 200 stored at both corners on the other end (right end in Fig. 1) of the storage area 100. It becomes longer (refer to the chain line with four double-ended arrows in Fig. 4), the balance of the distance to the product receiving position 501 'becomes worse, and the efficiency of the product unloading process decreases.
- the transfer holding means 300 receives an instruction to carry out the tire 200 stored in the storage area 100 in this way from the control means 600 and the product has not been carried in for a certain period of time, this embodiment
- the transfer holding means 300 of the 1 ceiling transport storage system 1 carries out the operation of carrying out the tire 200.
- the tire 200 having a predetermined size is taken out and stored in a position close to the tire carrying-out position (product receiving position) 501. Transfer to position 501. For example, first, the fifth row of tires is unloaded, and then the fourth or third row of tires is unloaded.
- the transfer holding means 300 performs the tire carry-out operation again. At this time, as shown in FIG. 5D, the fourth row, the third row, etc. are carried out in this order. [0051] In this way, according to the procedure of the loading / unloading process as described with reference to FIGS. 5A to 5D, the transfer holding means 300 repeats the loading and unloading operation, and the tire 200 is stored. It will be stored in area 100.
- the storage area used is concentrated in an area close to the tire loading position 401. Then, since the tire 200 stored in a storage area far from the conventional tire unloading position 501 ′ is unloaded, the efficiency of the unloading process in the conventional ceiling conveyance storage system is checked. The efficiency of is reduced. However, in the ceiling conveyance storage system 1 of the first embodiment, since the storage area 100 is viewed in plan, the tire 200 is unloaded from the tire unloading position 501 disposed substantially in the center. The efficiency of the carry-out process, that is, the efficiency of the storage process improves.
- the tire 200 seated at the tire loading position 401 is stored in the storage area 100 and then stored in the storage area 100.
- the force will also be transferred to the tire unloading position 501 and unloaded, but if the tire 200 of the size corresponding to the prescribed instruction is not stored in the storage area 100 and is seated at the tire loading position 401 May be transferred directly from the tire carry-in position 401 to the tire carry-out position 501 and carried out.
- the tire receiving position (tire unloading position) 501 of the unloading means 500 is the approximate center of the storage area 100 in plan view, the position force of the tire 200 stored in the storage area 100 is also the tire receiving position 501. The balance of the distance is improved and the efficiency of the unloading process is improved.
- the loading means 400 since the loading means 400 is provided, the efficiency of the tire loading process is improved. Further, since the unloading means 500 is a conveyor, the tire 200 can be conveyed continuously in the next process, and the efficiency of the unloading process is improved. As a result, the efficiency of storage processing of the tire 200 is improved.
- At least one product discriminating unit 402 is provided in the carrying-in means 400 and acquires and discriminates information on the tire 200 to be carried in, the tire 200 that has been carried in is provided. Based on the information, an optimal storage operation can be performed. For example, tire 200 By obtaining information about the size of the tire, storage of the tire 200 in the storage area 100 can be classified by size. In addition, when a tire different from the tire 200 scheduled to be stored in the storage area 100 is brought in, the tire type abnormality is detected and the specified abnormality processing is performed, so that the optimal storage processing is performed. be able to.
- control means 600 is further provided, and the control means 600 corresponds to a plurality of actual storage spaces set by allocating the storage area 100 for each size of the plurality of tires 200 of multiple sizes.
- the actual storage space is managed by updating the address space in accordance with the unloading result transferred by the unloading means 500 by transferring a plurality in a stacked state.
- the storage area 100 is narrowed by providing a partition in the actual storage space to distinguish products as in the case of managing in the actual storage space. This makes it possible to make extensive use of the storage area 100. In addition, it is possible to sort and store products in the storage area 100 and manage them easily and inexpensively without the need for installation work that requires partitions in the actual storage space. Furthermore, remote management of the storage area 100 becomes possible.
- FIG. 6 is a plan view of the ceiling transport and storage system of the second embodiment
- FIG. 7 is a front view thereof
- FIG. 8 is a left side view thereof.
- the ceiling transport storage system 1 of the second embodiment is replaced with the transfer holding means 300 and the loading means 400 of the ceiling transport storage system 1 of the first embodiment.
- each of the pair of transfer holding means 300a, 300b and the pair of carrying-in means 400a, 400b is provided, and accordingly, each of the pair of transfer holding means 300a, 300b
- the operating range of one transfer holding means 300a is the operating range in which one of the storage means including the tire unloading position (product receiving position) 501 of the unloading means 500 is stored.
- the area of movement (refer to the area A surrounded by the chain line and marked with a notch and a pinching in FIG. 9), the operating range in which the other transfer holding means 300b operates is the tire carrying position 501 of the carrying means 500.
- the other storage area is included (see the area B surrounded by the chain line and marked with a notch in Fig. 10). Does not exist.
- pair of product discriminating means 402a and 402b are respectively installed on the pair of carrying means 400a and 400b in accordance with the provision of the pair of carrying means 400a and 400b.
- the pair of transfer holding means 300a, 300b has four struts 301, a pair of fixed guide rails 302 in common, and a pair of travel guide rails 303a, 303b, a pair of horizontal and vertical.
- the moving mechanisms 304a and 304b can be configured as a pair of three-dimensional moving mechanisms.
- one transfer holding means 300a of the pair of transfer holding means 300a, 300b is composed of four struts 301, a pair of fixed guide rails 302, a travel guide rail 303a, and a horizontal and vertical movement mechanism.
- Each of 304a is combined to form one three-dimensional moving mechanism.
- the other transfer holding means 300b includes four columns 301, a pair of fixed guide rails 302, a traveling guide rail 303b, The vertical movement mechanism 304b is combined with each other to form the other three-dimensional movement mechanism.
- the traveling guide rail 303a and the horizontal 'vertical movement mechanism 304a constituting the components of one transfer holding means 300a and the traveling guide rail 303b and the horizontal / vertical movement constituting the components of the other transfer holding means 300b.
- the mechanism 304b is disposed so as to face the center carrying means 500.
- One of the pair of loading means (conveyors) 400a, 400b is one loading means 400a, which is one of the two sides parallel to the fixed guide rail 302 of the storage area 100 having a rectangular shape in plan view (see FIG. 6).
- the tires 200 that are installed in parallel in the X direction on the floor surface F that is connected to one corner on the left side) are transported sequentially to the storage area 100.
- the tire carry-in position 401a provided at the front end of the carry-in means 400a enters the storage area 100 and is the position of the tire located in the first row in the Y direction of the tire group in the first row in the X direction. In place of this tire, one of the tires 200 can be placed.
- the tire 200 seated at the transfer position 401a is discriminated in size by the product discriminating means 402a, and is gripped by the stored material holding mechanism 305a of one transfer holding means 300a to be stored in the area A of the storage area 100. Are sequentially stored from the position closer to the tire loading position 401a. When an instruction to carry out the tire 200 is given, one transfer holding means 300a transfers this to the tire carrying position 501 of the carrying means (conveyor) 500.
- the other carrying means 400b of the pair of carrying means (conveyors) 400a, 400b is one of two sides parallel to the fixed guide rail 302 of the storage area 100 having a rectangular shape in plan view (see FIG. 6). ! /, Is installed on the floor F connected to the other corner on the left side) in parallel with the X direction and operates in the same way as the one loading means 400a.
- the tire carry-in position 401b provided at the leading end of the carry-in means 400b has entered the storage area 100, and the X-direction first row of tire groups in the Y-direction last row (in FIG. This tire is placed in place of the tire located in the seventh row), and one of the tires 200 can be placed.
- the tire 200 seated at the tire carry-in position 401b is discriminated by the product discriminating means 402b and is grasped by the stored material holding mechanism 305b of the other transfer holding means 300b.
- the tires are stored in order from the position closest to the tire loading position of 40 lb.
- the other transfer holding means 300b transfers this to the tire carry-out position 501 of the carry-out means 500.
- the region A and the region B include a belt-like region corresponding to one row in the Y direction row of the tire 200, including the tire unloading position (product receiving position) 501 of the unloading means 500.
- One transfer holding means 300a and the other transfer holding means 300b can simultaneously access different tires 200 stored in this overlapping region C as shown in FIG.
- the travel guide rails 303a, 303b f3 ⁇ 4 these travel guides, lenores 303a, 303b
- the tire 200 is gripped and moved to the tire unloading position 501.
- one transfer holding means 300a and the other transfer holding means 300b hold the tire 200 to be carried in without interfering with each other, and this overlap Can be stored in area c.
- the other transfer holding means 300b when the other transfer holding means 300b is currently in maintenance or transfer operation offline and is stopped, the other transfer holding means 300b is shown in FIG. Then, move to the standby position on the other end side of the pair of fixed guide rails 302, operate one transfer holding means 300a force, and operate the range of all the storage areas 100 (the hatched area in FIG. 13) Carries and transfers tires 200. Conversely, when one of the transfer holding means 300a is in maintenance or transfer operation offline and is stopped, this one transfer holding means 300a has a pair of transfer holding means 300a as shown in FIG. The fixed guide rail 302 moves to the standby position on one end side, and the other transfer holding means 300b operates in the range of all the storage areas 100 (the hatched area in FIG. 14), so that the tire 200 Transport and transfer.
- the other transfer holding means operates in the range of all the storage areas 100. Since the tire 200 is transported and transferred, the operating efficiency (storage processing efficiency) is slightly reduced. The storage operation can be performed without completely stopping the operation of the ceiling transport storage system. The influence of can be reduced.
- FIGS. 15 to 21 show various modifications of the ceiling transport storage system 1 of the second embodiment. Has been.
- the modification shown in Fig. 16 is an example in which two tire loading positions 401c and 401d are arranged in parallel instead of the tire loading position 401 in the loading means 400 of the modification of Fig. 15. These tire carry-in positions 401c and 401d are also included in overlap area C, and both of the pair of transfer holding means 300a and 300b can be accessed at the same time, so the tire 200 can be loaded more quickly. Is possible.
- the installation positions of the pair of carrying-in means 400a and 400b of the second embodiment are two sides parallel to the fixed guide rail 302 of the storage area 100 having a rectangular shape in plan view.
- the pair of travel guide rails 303a and 303b of the storage area 100 instead of being on the floor surface F connected to both corners on one side (left side in FIG. 6). This is an example in which each of the two sides (on the upper side and the lower side in FIG. 17) is placed on the floor surface F connected to the central portion.
- a pair of transfer holding means 300a, 300b force a pair of carrying means 400a, 400b tires 200a seated at respective tire loading positions 401a, 40lb, respectively, are placed in predetermined positions in areas A, B.
- the transport distances up to half of each of the areas A and B (in Fig. 17, the left half and the right half centered on the respective tire loading positions 401a and 401b) It becomes shorter and the efficiency of the carrying-in process improves.
- the modification shown in FIG. 18 is the same as the modification shown in FIG. 16, except that the arrangement of the pair of transfer holding means 300a, 300b and the carry-in means 400 is rotated 90 degrees in plan view. It is an example. Also in this modification, the same effect as that of the modification shown in FIG. 16 can be obtained. 16 to 18 show that the loading direction of the tire 200 can be changed in various ways.
- the modification illustrated in FIG. 19 is the same as the modification illustrated in FIG. 18, except that the tire loading position 401c of the loading means 400 is rotated 90 degrees about the tire loading position 401d. This is an example. Also in this modified example, substantially the same effect as that of the modified example shown in FIG. 18 can be obtained.
- the modification shown in FIG. 20 is an example in which the arrangement of the pair of transfer holding means 300a, 300b is rotated 90 degrees in plan view in the modification shown in FIG.
- the pair of transfer holding means 300a and 300b are arranged so that the tires 200 seated at the respective tire loading positions 401a and 40 lb of the pair of loading means 400a and 400b are placed in predetermined positions in the regions A and B. Since the distance to be conveyed becomes shorter as in the modification shown in FIG. 17, the efficiency of the carry-in process is improved.
- the tire 200 seated at the tire loading position 401a is the area A, that is, the right half area of FIG. 20 including the tire loading positions 401a and 401b, which is the operation range of the transfer holding means 300a.
- the transfer and holding means 300a can transport the sheet to a predetermined position in the upper half region and store it there, so that the transport distance becomes very short.
- the modification shown in FIG. 21 is the carrying-out means 500 in the second embodiment when the number of rows in the Y direction of the tire group in the nth row in the X direction stored in the storage area 100 is an even number.
- This is an example in which the tire carry-out position (product receiving position) is modified so that it is in the center of the storage area 100.
- the number of rows in the Y direction is 7 and the best tire unloading position 501 of the unloading means 500 is located in the 5th row in the X direction and the 4th row in the Y direction, and is just in the center of the storage area 100.
- the center position force of the storage area 100 also deviates from the tire unloading position 501 as it is. Therefore, in such a case, the tire carry-out position 501 is increased by one more adjacent to each other so that the two tire carry-out positions 501a and 50 lb are at the center of the Y direction row.
- the force thus constructed is a modification shown in FIG.
- the number of rows in the Y direction is 8, and these two tire carry-out positions 501a and 501b are in the fifth row in the X direction and in the fourth and fifth rows in the Y direction. Are located next to each other, and this position is exactly in the center of the Y-direction row and in the center of the storage area 100. Therefore, one transfer holding means 300a is located in region A (tire carrying position). 21 including the position 501a, the distance to transfer the tire 200 from the upper half area in FIG.
- tire carry-out positions 501a and 501b are not necessarily located at the positions described above, but may be arranged at adjacent row positions on either the left or right side. It suffices if it is arranged in a region that is approximately the center of the storage area 100 attached.
- the ceiling conveyance storage system 1 includes two transfer holding means 300a and 300b, and the operation range of one transfer holding means is one storage including the tire unloading position (product receiving position) 501 of the unloading means 500.
- the operation range in which the other transfer holding means operates is the range of the other storage area (area B) including the tire unloading position (product receiving position) 501 of the unloading means 500. Since the operation range is divided for each transfer holding means, the overlapping range of different transfer holding means can be minimized, and it is not necessary to pay attention to duplication of operations. Thus, the drive control of these transfer holding means 300a and 300b is facilitated.
- the other transfer holding means when one transfer holding means is stopped, the other transfer holding means is allowed to operate in the range of all the storage areas 100, so that one transfer holding means However, even if it becomes temporarily unusable due to maintenance, etc., the other transfer holding means can store and process the entire storage area 100, thereby reducing the impact on other processes. That's right.
- FIG. 22 is a plan view of the ceiling conveyance storage system of the third embodiment
- FIG. 23 is a front view of the same.
- the ceiling conveyance storage system of the third embodiment is different from the ceiling conveyance storage system 1 of the second embodiment in that a pallet is used for the unloading means 500.
- the pallet is set at the tire unloading position (product receiving position) and receives a plurality of tires.
- the ceiling conveyance storage system 1 of the third embodiment is one of the modifications of the ceiling conveyance storage system 1 of the second embodiment.
- the pallet 502 is used as the carrying-out means 500. More specifically, the ceiling conveyance storage system 1 of the third embodiment is adjacent to the two tire unloading positions 501a and 501b in the modification shown in FIG.
- the conveyor that is a component of the carry-out means 500 is replaced with a wide conveyor 503 so as to match the dimensions of the pallet 502.
- the conveyor 503 is composed of a pair of a pallet carry-in conveyor 503a and a pallet carry-out conveyor 503b.
- the empty pallet 502 is placed on the pallet carry-in conveyor 503a and receives products in the storage area 100.
- the unloaded tires 200 are usually stacked in a predetermined number of stages as shown in FIG.
- FIG. 24 shows a modification of the ceiling conveyance storage system 1 of the third embodiment.
- a ceiling transport storage system having a storage area 100 that exceeds a predetermined number of storages. Accordingly, a plurality of transfer holding means are provided.
- the product unloading position is one less than the total number of transfer holding means, and each product unloading position is determined by the operation of the two transfer holding means arranged across the unloading position. It is the optimal center position.
- the length of the storage area 100 force tire 200 in the Y direction row is expanded to nearly three times the storage area 100 of the ceiling conveyance storage system 1 of the third embodiment.
- the carrying means 500 in the ceiling conveyance storage system 1 of the embodiment 3 and the storage area 100 are respectively installed at positions that are roughly divided into three.
- a third transfer holding means 300c is installed so that the region sandwiched between the two unloading means 500 can be operated, and the third transfer holding means 300c is arranged in correspondence with the third transfer holding means 300c.
- Carry-in means 400 c is installed.
- the third transfer holding means 300c holds the tire 200 seated at the tire carry-in position 401c of the third carry-in means 400c, and each Y-direction column in which the two carry-out means 500 are respectively installed. It is transported and stored in the area sandwiched between them, and according to the command, the tire 200 is unloaded from there,! / Of the two unloading means 500 !, on the pallet 502 of the unloading means 500 of the difference, The tire 200 can be transferred.
- the unloading means 500 includes a pallet 502 (mounting means) on which a plurality of tires 200 can be placed
- the medium force of the plurality of tires 200 stored in the storage area 100 is also a plurality of a predetermined type (size).
- the work of selecting and organizing the 200 tires can be performed at the same time as the unloading process, so that the equipment cost can be reduced and the equipment installation space can be effectively utilized.
- FIG. 25 is a plan view of the ceiling conveyance storage system according to the fourth embodiment.
- the ceiling transport and storage system of the fourth embodiment has a common force in that the pallet 502 is used as the unloading means 500.
- the pallet 502 is outside the storage area 100. It differs in that it is set at the end of the unloading means 500.
- the terminal portion of the carrying-out means 500 is a point from which a plurality of tires 200 placed on the pallet 502 are transferred to the next process.
- the ceiling conveyance storage system 1 of the fourth embodiment is the same as the carrying means 500 in the ceiling conveyance storage system 1 of the second embodiment illustrated in FIG. Corresponds to a pallet 502 set at the end of the pallet.
- This knot ⁇ let 502 is set on both sides of the terminal end of the conveyor which is a component of the unloading means 500, and is a region force palletizing area 700 surrounding these pallets 502.
- the tires 200 conveyed by the conveyor are sorted according to a predetermined type (size) by a transfer means 504 prepared separately and transferred onto one of the pallets 502. From there, the pallet is sent to the next process.
- the area surrounded by three large and small arcs at the right end shows the operation area of the transfer means 504, and two elongated rectangular areas surrounded by chain lines above and below the storage area 100. Shows the standby areas of the pair of transfer holding means 300a and 300b, respectively.
- FIG. 26 shows a modification of the ceiling conveyance storage system 1 of the fourth embodiment.
- the length of the storage area 100 force tire 200 in the Y-direction row is expanded to nearly three times the storage area 100 of the ceiling transport storage system 1 of Example 4, while Example 4 In the ceiling transport and storage system 1, there are two unloading means 500, and the storage area 100 is divided into approximately three parts.
- a third transfer holding means 300c is installed so that the region sandwiched between the two unloading means 500 can be operated, and the third transfer holding means 300c is provided in correspondence with the third transfer holding means 300c.
- each divided area of the storage area 100 divided into three has a substantially square shape in plan view.
- Tire unloading position (product receiving position) 501 is enclosed in a chain line, and the tire unrolled tire 200 has two rows in the X direction and three rows in the Y direction. Can be set to a range, show the area! /
- the third transfer holding means 300c holds the tire 200 seated at the tire carry-in position 401c of the third carry-in means 400c, and each Y-direction column in which the two carry-out means 500 are respectively installed. It is transported and stored in an area between the two, and in response to a command, the tire 200 is unloaded from the two unloading means 500 and the tire unloading position 500 of the two unloading means 500. Transferred to 1.
- the tire 200 transferred to the tire unloading position 501 is transported to the palletizing area 700 by the conveyor of the unloading means 500, and is transferred for each predetermined type (size) by the transferring means 504 and 505. They are sorted and transferred onto one of the pallets 502. From there, the pallet is sent to the next process.
- the transfer means 504 and the transfer means 505 are of different types, and any of them may be commonly used. However, the transfer means 505 is mechanically different from those of the first to fourth embodiments. The same as the holding means 300, 300a, 300b, 300c.
- the ceiling conveyance storage system 1 of the fourth embodiment is configured as described above, the same effects as the effects exhibited by the ceiling conveyance storage system 1 of the third embodiment can be obtained. Since the pallet 502 is set at the end of the unloading means 500 outside the storage area 100, the pallet 502 may or may not be required depending on the type of stored items. It is possible to respond flexibly.
- the method of carrying and storing the ceiling according to the invention of the present application is a method that is carried out by carrying out the above-described Examples 2 to 4, the contents of which are obvious to those skilled in the art, and the effects thereof are also Since the effects obtained by these embodiments are not particularly different, detailed description thereof is omitted.
- the product discrimination means 402 may include the type of product that has been brought in, The size is read, and the transfer holding means 300 transports and stores them in the storage area 100 in the storage area 100 for storing the same product type and the same size product according to the identification result. Like that.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008515421A JP4955666B2 (ja) | 2006-05-15 | 2006-05-17 | 天井搬送保管システム |
EP06746570A EP2019053B1 (en) | 2006-05-15 | 2006-05-17 | Overhead transfer/storage system and overhead transfer/storage method |
CN2006800545810A CN101437732B (zh) | 2006-05-15 | 2006-05-17 | 顶棚搬运保管系统以及顶棚搬运保管方法 |
US12/227,233 US8180483B2 (en) | 2006-05-15 | 2006-05-17 | Overhead transfer/storage system and overhead transfer/storage method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006-134601 | 2006-05-15 | ||
JP2006134601 | 2006-05-15 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007132535A1 true WO2007132535A1 (ja) | 2007-11-22 |
Family
ID=38693637
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/309869 WO2007132535A1 (ja) | 2006-05-15 | 2006-05-17 | 天井搬送保管システム及び天井搬送保管方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8180483B2 (ja) |
EP (1) | EP2019053B1 (ja) |
JP (1) | JP4955666B2 (ja) |
CN (1) | CN101437732B (ja) |
WO (1) | WO2007132535A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9623182B2 (en) | 2009-10-08 | 2017-04-18 | Shl Group Ab | Medicament delivery device |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3007310B1 (fr) * | 2013-06-21 | 2016-07-01 | Jean Pierre Solignac | Unite de production de produits manufactures comprenant un magasin automotique apte a etre associe a l execution de taches d un processus de fabrication |
US9921493B2 (en) * | 2013-11-14 | 2018-03-20 | Taiwan Semiconductor Manufacturing Co., Ltd. | Photolithography system, method for transporting photo-mask and unit therein |
US9466047B1 (en) * | 2016-03-31 | 2016-10-11 | Thomas J. Allen | System for tire storage, retrieval, and inventory management |
US9710783B1 (en) * | 2016-03-31 | 2017-07-18 | Thomas J. Allen | System for tire storage, retrieval, and inventory management |
AU2018219901B2 (en) * | 2017-02-09 | 2024-02-22 | Thomas J. Allen | System for tire storage, retrieval, and inventory management |
US10961052B2 (en) * | 2018-09-06 | 2021-03-30 | Chaldal, Inc. | Automated warehouse |
JP7235059B2 (ja) * | 2019-01-25 | 2023-03-08 | 村田機械株式会社 | 保管システム |
CN111439519B (zh) * | 2020-03-31 | 2022-03-04 | 苏州艾隆科技股份有限公司 | 药品库的取药方法及装置、终端及存储介质 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6155023A (ja) * | 1984-08-22 | 1986-03-19 | Nisshin Steel Co Ltd | コイルの保管装置 |
JP2000238906A (ja) | 1998-12-25 | 2000-09-05 | Hirata Corp | 自動倉庫及び自動倉庫の管理方法 |
JP2001031219A (ja) | 1999-07-19 | 2001-02-06 | Bridgestone Corp | タイヤの中間保管方法及び中間保管システム |
JP2003072944A (ja) | 2001-09-03 | 2003-03-12 | Hirata Corp | ワーク搬送装置およびワーク搬送装置における走行路のシール構造 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3964619A (en) * | 1972-03-13 | 1976-06-22 | Felix Irmler | Arrangement for storage of goods in packages in an upright depository |
JPS63209904A (ja) * | 1987-02-27 | 1988-08-31 | Bridgestone Corp | 成型・加硫工程間生タイヤ供給設備 |
JPH0412902A (ja) * | 1990-04-27 | 1992-01-17 | Technol Risooshizu Inkooporeetetsudo:Kk | 自立物品の運搬管理方法及びその装置 |
DE4431870A1 (de) * | 1994-09-07 | 1996-03-14 | Cordula Heumann | Automatisches Getränketerminal |
AU1332600A (en) * | 1998-10-30 | 2000-05-22 | C&D Robotics, Inc. | Universal tire stacking and palletizing end effector assembly and system and method of using same |
EP1059246A3 (en) * | 1999-06-07 | 2003-06-18 | Bridgestone Corporation | Method of storing products and storage system |
US6871116B2 (en) * | 2002-10-17 | 2005-03-22 | Vertique, Inc. | Determining pallet case configurations for placement by a robot |
JP4036097B2 (ja) * | 2003-01-16 | 2008-01-23 | 株式会社ダイフク | 処理及び保管設備 |
KR100548018B1 (ko) * | 2003-06-19 | 2006-01-31 | 한국타이어 주식회사 | 그린타이어 적재용 팔레트의 자동보관 입출고 시스템 |
-
2006
- 2006-05-17 WO PCT/JP2006/309869 patent/WO2007132535A1/ja active Application Filing
- 2006-05-17 JP JP2008515421A patent/JP4955666B2/ja active Active
- 2006-05-17 EP EP06746570A patent/EP2019053B1/en active Active
- 2006-05-17 US US12/227,233 patent/US8180483B2/en active Active
- 2006-05-17 CN CN2006800545810A patent/CN101437732B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6155023A (ja) * | 1984-08-22 | 1986-03-19 | Nisshin Steel Co Ltd | コイルの保管装置 |
JP2000238906A (ja) | 1998-12-25 | 2000-09-05 | Hirata Corp | 自動倉庫及び自動倉庫の管理方法 |
JP2001031219A (ja) | 1999-07-19 | 2001-02-06 | Bridgestone Corp | タイヤの中間保管方法及び中間保管システム |
JP2003072944A (ja) | 2001-09-03 | 2003-03-12 | Hirata Corp | ワーク搬送装置およびワーク搬送装置における走行路のシール構造 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9623182B2 (en) | 2009-10-08 | 2017-04-18 | Shl Group Ab | Medicament delivery device |
US9757519B2 (en) | 2009-10-08 | 2017-09-12 | Shl Group Ab | Medicament delivery device |
US9764089B2 (en) | 2009-10-08 | 2017-09-19 | Shl Group Ab | Medicament delivery device |
US10307539B2 (en) | 2009-10-08 | 2019-06-04 | Shl Medical Ag | Medicament delivery device |
US10617824B2 (en) | 2009-10-08 | 2020-04-14 | Shl Medical Ag | Medicament delivery device |
Also Published As
Publication number | Publication date |
---|---|
EP2019053A4 (en) | 2009-10-21 |
EP2019053A1 (en) | 2009-01-28 |
JPWO2007132535A1 (ja) | 2009-09-17 |
EP2019053B1 (en) | 2010-09-08 |
JP4955666B2 (ja) | 2012-06-20 |
US20090321219A1 (en) | 2009-12-31 |
US8180483B2 (en) | 2012-05-15 |
CN101437732A (zh) | 2009-05-20 |
CN101437732B (zh) | 2011-10-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2007132535A1 (ja) | 天井搬送保管システム及び天井搬送保管方法 | |
US11858743B2 (en) | Method for the order-picking of articles, and order-picking station | |
US6871116B2 (en) | Determining pallet case configurations for placement by a robot | |
JP2599063B2 (ja) | 立体倉庫 | |
CN107824463B (zh) | 自动物流分拣系统和自动物流分拣方法 | |
WO2019094511A1 (en) | Systems and methods for storage, retrieval, and sortation in supply chain | |
US20220227582A1 (en) | Method and control system for preparing orders of goods stored in an automated storage system | |
EP3511269B1 (en) | Article rearranging apparatus | |
JP2019505454A (ja) | 選別ステーションにおいて所望の順序で保管ユニットを保管設備から利用可能にすることによる注文調達方法 | |
WO2019225234A1 (ja) | ピッキングシステム(picking system) | |
CN110525853B (zh) | 拣选系统 | |
JP2020111471A (ja) | 自動物流仕分けシステムおよび自動物流仕分け方法 | |
JP2003285906A (ja) | 搬送システム | |
JP2019011203A (ja) | 自動倉庫の制御装置 | |
JP5800150B2 (ja) | 自動倉庫及び荷保管方法 | |
JPH10297716A (ja) | 倉庫及び倉庫の荷役運用方法 | |
JPH1159811A (ja) | 素板倉庫積み付けシステム | |
JP2004001944A (ja) | 入出庫制御方法及び装置並びにその入出庫制御装置を有する自動倉庫 | |
JPH0485201A (ja) | 自動倉庫 | |
JP2003095411A (ja) | 物品保管装置 | |
JPH08225116A (ja) | 自動倉庫の入出庫制御方法及びその装置 | |
JP3925309B2 (ja) | 出庫棚決定方法及び装置並びにその出庫棚決定装置を有する自動倉庫 | |
JP2000351418A (ja) | 製品の保管方法及び保管システム | |
JP2002326707A (ja) | 自動倉庫 | |
JPH02231302A (ja) | 自動倉庫の入庫方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 06746570 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2008515421 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 200680054581.0 Country of ref document: CN |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2006746570 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 12227233 Country of ref document: US |