WO2013111395A1 - 自動倉庫システム - Google Patents
自動倉庫システム Download PDFInfo
- Publication number
- WO2013111395A1 WO2013111395A1 PCT/JP2012/076223 JP2012076223W WO2013111395A1 WO 2013111395 A1 WO2013111395 A1 WO 2013111395A1 JP 2012076223 W JP2012076223 W JP 2012076223W WO 2013111395 A1 WO2013111395 A1 WO 2013111395A1
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- WO
- WIPO (PCT)
- Prior art keywords
- pallet
- storage
- roller
- guide
- main body
- Prior art date
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- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000003780 insertion Methods 0.000 claims abstract description 9
- 230000037431 insertion Effects 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000031872 Body Remains Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
Definitions
- the present invention relates to an automatic warehouse system provided with a storage drawer mechanism for storing or pulling out a pallet on which a workpiece is placed on a storage rack of a storage rack.
- Patent Document 1 discloses an example of an automatic warehouse provided with a mechanism for storing a work in a storage rack in a state where the work is placed on a pallet.
- reference numerals used in this document 1 are indicated by ().
- an elevator (31) that is movable up and down and left and right is provided, and storage racks (3, 5) that are formed in a plurality of rows and rows are provided on both sides of the elevator (31).
- the elevator (31) is provided with a forward and backward movable tracker (47) provided with a hook (93) for hooking a pallet (P) in which workpieces (W) are stacked on the left and right.
- the automatic warehouse (1) further includes a locking portion (95) for locking the hook (93) to move the rack (3, 5) in and out of the pallet (P), front and rear, left and right.
- a rotatable roller (97) is provided.
- the pallet (P) on which the work (W) is placed can be inserted into and removed from the storage racks (3, 5) according to the back and forth movement of the tracker (47).
- Patent Document 2 in order to prevent the above-described problems, rotatable rollers are provided at the front and rear left and right ends of the pallet body, and each of these rollers is provided by a minute amount above the lower surface of the pallet body.
- a pallet is disclosed.
- the pallet having such a configuration, since the lower surface of the pallet stored in the storage stage of each rack is contacted and supported on each stage, for example, even if vibration such as an earthquake occurs, the pallet is removed from each stage. It can prevent rolling and falling.
- JP 04-164704 A Japanese Patent Laid-Open No. 08-290809
- the present invention has been made in view of such circumstances, and an object of the present invention is to provide an automatic warehouse capable of easily carrying out the drawer of the pallet with respect to the storage rack and preventing an increase in the height of the entire rack. Is to provide.
- the automatic warehouse system is an automatic warehouse system including a storage drawer mechanism for storing or withdrawing a pallet with respect to a storage stage of a storage rack.
- a traveling body projecting downward from the lower surface of the pallet main body and provided at a position closer to the front of the pallet in the storage direction, and projecting downward from the lower surface of the pallet main body to a position closer to the rear of the pallet in the storage direction.
- An engagement protrusion provided, and the storage drawer mechanism is configured to slide and drive the pallet in a horizontal direction to the storage stage of the storage rack, and the storage shelf.
- a pallet traveling body guide extending in the entire pallet storage direction and having a traveling surface for traveling the traveling body of the pallet.
- the pallet insertion side portion of the row body guide is provided with a drop hole for dropping the protruding portion of the engaging protrusion of the pallet, and further, the portion of the pallet main body where the engaging protrusion is provided,
- a pallet raising / lowering means capable of being raised and lowered between a dropping height position of the protruding portion with respect to the dropping hole and a non-dropping height position is provided.
- the slide driving means moves the pallet in the storage rack in the storage direction to bring it into the storage state, and the pallet main body is lowered by the pallet lifting / lowering means so that the protruding portion of the engaging protrusion is not dropped.
- the roller engages with the roller dropping hole to obtain a braking action, and the pallet can be supported by the storage stage.
- the pallet body is raised by the pallet raising / lowering means, the protruding portion of the engaging protruding portion is brought into the non-dropped height position, and then the slide driving means is moved along the pallet roller guide.
- the pallet By moving the pallet to the rear side, the pallet can be easily pulled out from the storage stage.
- the protruding portion from the lower surface of the pallet body in the engagement protrusion is only dropped into the drop hole.
- the change in height between the protruding state and the non-dropping state of the protrusion is extremely small. Therefore, when the pallet is stored / drawn, the inclination of the pallet can be minimized to keep the pallet substantially horizontal.
- the storage / drawing mechanism has at least the engagement protrusion more than the travel surface of the pallet traveling body guide during the pallet storage / drawing operation.
- a guide roller having a pallet body support surface set higher by the amount of protrusion of the body, and a rear end support means for supporting the rear end portion of the pallet in a pallet body support state by the pallet body support surface. It is characterized by.
- the pallet body lower surface is maintained at a position higher than the traveling surface of the pallet traveling body guide by the amount by which the traveling body and the engaging protrusion protrude from the pallet body lower surface.
- the pallet body is lifted from the traveling body guide by a very small amount to greatly reduce the vertical space for storing and pulling out, while preventing the sliding of the pallet body lower surface and the traveling surface of the pallet traveling body guide to smoothly move the pallet.
- the storage can be pulled out.
- the traveling body and the engagement protrusion are configured as a front roller and a rear roller having substantially the same form, respectively.
- an engagement protrusion will demonstrate a function equivalent to a traveling body, according to circumstances, such as a layout composition of the whole automatic warehouse, by using the engagement protrusion as a traveling body.
- the degree of freedom in using the pallet can be improved.
- the size of the engagement protrusion and / or the size of the drop-in hole is determined by the engagement protrusion. In this state, only the vicinity of the engaging protrusion on the lower surface of the pallet main body is formed so as to abut on the traveling surface of the pallet traveling body guide.
- the pallet traveling body guide is also dropped into the end opposite to the pallet insertion side portion.
- a hole is provided.
- the slide driving means assists the sliding movement in the storage drawer of the pallet to the storage stage.
- a guide roller that rotates while supporting the lower surface of the pallet main body, and the height position of the top portion of the guide roller that contacts the pallet main body is a running surface of the pallet roller guide in the storage stage in which the pallet is to be stored
- the vertical space required between the storage stages can be greatly reduced in order to put the pallet into and out of the storage rack, and accordingly, the vertical space occupied in each storage stage is reduced accordingly. can do. Therefore, even when the storage rack is formed at the same height as the conventional one, more storage stages can be formed, and as a result, the pallet storage capacity of the entire automatic warehouse can be improved. .
- FIG. 1 is a diagram for explaining the configuration of an automatic warehouse system 10 according to the present embodiment.
- the automatic warehouse system 10 conveys the pallet P in the vertical direction, and stores the pallet transport means 11 for storing and taking out from each storage stage, and the pallet P stored using the pallet transport means 11.
- a storage rack 13 having a plurality of storage stages for storage (in the present embodiment, only three storage stages 15-1 to 15-3 are shown).
- the pallet conveying means 11 is in contact with the lower surface of the main body of the pallet P and assists the horizontal movement thereof, the front guide roller 19-1 and the rear guide roller 19-2, the guide rollers 19-1, 19-2 and the following.
- a lifter 17 that moves the entire pallet conveying means 11 including the tracker 23 and the like along the lifter frame 45 in the vertical direction.
- the top portions of the guide rollers 19-1 and 19-2 that contact the lower surface of the main body of the pallet P are referred to as top portions 19a-1 and 19a-2, respectively.
- FIG. 2 shows a plan view of the pallet P.
- FIG. 3 shows an engagement state of the front roller 33a (rear roller 33b) and the pallet roller guide in a state where the pallet P is stored in the storage stage 15-2. It is a figure explaining.
- the pallet P includes a rectangular pallet main body 25, and the pallet main body 25 is configured in a lattice shape as a whole.
- a front roller 33a as a traveling body supported by a shaft 26 is provided at the front end portion of the pallet P, and further, the rear end portion is supported by a shaft 27 and functions as an engaging protrusion.
- a rear roller 33b is provided.
- both the front roller 33a and the back roller 33b protrude below from the lower surface 25D of the pallet main body 25 with the protrusion amount h (refer FIG. 3). That is, the distance between the lower surface 25D of the pallet body 25 and the bottom 33aD of the front roller and the bottom 33bD of the rear roller is h.
- the main body 25 of the pallet P may be appropriately provided with a support bar or the like for holding the workpiece W placed on the main body.
- FIG. 4 is a diagram illustrating the configuration of each storage stage 15 in the storage rack 13.
- the storage stage 15 has a pallet roller guide 39 that forms a running surface 39a of the front roller 33a of the pallet P and that guides the rear roller 33b, which is opposed to each other at the same height position.
- Side walls 40 are provided which stand from the outer end and guide the side portions of the front roller 33a and the rear roller 33b.
- a roller dropping hole 41 having a substantially rectangular shape in plan view for dropping the rear roller 33b is formed at a position closer to the pallet P insertion side of each of the pair of pallet roller guides 39. Further, a pallet locking wall portion 43 that locks one end of the pallet P is provided on the back side portion opposite to the pallet P insertion side.
- the lifter 17 is provided with a drive motor (not shown) at the lower side of the lifter 17, and the lifter frame 45 is connected to the lifter frame 45 as described above by a drive mechanism such as a sprocket and chain (not shown) connected to the drive motor. It can move in the vertical direction along.
- a drive mechanism such as a sprocket and chain (not shown) connected to the drive motor. It can move in the vertical direction along.
- the lifter 17 is configured to drive the tracker 23 in the horizontal direction by a drive mechanism (not shown). Furthermore, the tracker 23 has hooks 47a and 47b that can be engaged with a hooking piece 49 formed at the rear end of the pallet P at both ends.
- the tracker 23 is driven not only to move horizontally but also to move up and down as the lifter 17 moves up and down, so that the pallet P can be moved up and down.
- front guide roller 19-1 and the rear guide 19-2 are respectively disposed at the front end portion (right side in FIG. 1) and the rear end portion (left side in FIG. 1) of the pallet conveying means 11. While the pallet main body 25 is in contact with and supported by the lower surface 25D, the pallet P rotates so as to guide the movement of the pallet P, that is, the storage / drawing to the storage stage 15.
- the pallet conveying means 11 holds the pallet P on which the workpiece W is placed, that is, the hook 47a of the tracker 23 is engaged with the pallet P so that the pallet P can be moved by the tracker 23.
- the lifter 17 is moved up and down to set the height position of the storage stage (storage stage 15-2 in FIG. 1 and the like) where the pallet P should be stored.
- the height position of the top portion 19a-1 that contacts the pallet body 25 of the guide roller 19 is higher than the height position of the upper surface of the pallet roller guide 39 of the storage stage 15-2, and the front roller 33a and the rear roller 33b.
- the height position of the pallet conveying means 11 is set to be slightly larger than the protrusion amount h (see FIG. 3) from the pallet main body lower surface 25D.
- FIG. 5 is a diagram showing a state where the pallet P is stored in the storage stage 15. As shown in the figure, when the tracker 23 is moved forward (moved to the right in the drawing), the pallet P is guided to the storage stage 15-2 while being guided by the guide rollers 19-1, 19-2 and the pallet roller guide 39.
- the tracker 23 is moved forward (moved to the right in the drawing)
- the pallet P is guided to the storage stage 15-2 while being guided by the guide rollers 19-1, 19-2 and the pallet roller guide 39.
- the gravity center position M of the pallet P with the workpiece W is set by the guide roller 19-1 at the forward position. Located on the rear side. Accordingly, the pallet P is supported by the guide roller 19-1 and the tracker 23 at the front side position and is maintained in a substantially horizontal state.
- FIG. 6 shows an enlarged view of the main part in the vicinity of the front roller 33a in FIG.
- H the height difference from the upper surface 39 of the pallet roller guide 39 to the lower surface 25D of the pallet main body 25.
- the height difference H is larger than the protrusion amount h of the front roller 33a, so that the front roller 33a is slightly lifted without contacting the pallet roller guide 39. Therefore, the front roller 33a passes smoothly above the roller drop hole 41 without engaging with it.
- the support position of the lower surface 25D of the pallet body 25 by the front position guide roller 19-1 is Since it is on the rear side with respect to the center of gravity position M, a moment in the direction in which the front end is lowered with respect to the pallet P is generated. Accordingly, the pallet P is slightly inclined forward and the front roller 33a is in contact with and supported by the upper surface 39a of the pallet roller guide 39. As a result, the entire pallet P is stored in the storage stage 15-2 while the front roller 33a travels on the pallet roller guide 39 thereafter.
- the lowering width of the front end portion of the pallet P is such that the height difference H between the top portion 19a-1 of the front position guide roller 19-1 and the upper surface 39a of the pallet guide roller 39, and the front roller 33a.
- Hh which is the difference between the protrusion amount h from the pallet main body lower surface 25D (see FIG. 6). Therefore, by reducing the height difference H between the top portion 19a-1 of the front position guide roller 19-1 and the upper surface 39a of the pallet guide roller 39 as much as possible so as not to fall below the protruding amount h of the front roller 33a, The amount of inclination of the pallet P can be made extremely small.
- the pallet P is tilted by the forward moment generated with respect to the pallet P, the tilt amount is considerably small, and the pallet P is substantially in a horizontal state. It can be said that it is maintained. Accordingly, since it is not necessary to tilt the pallet P greatly during the storing operation of the pallet P, it is possible to prevent the workpiece W placed thereon from falling due to the tilt of the pallet P.
- the front roller 33a is slightly lifted from the pallet roller guide 39 before the center of gravity M of the pallet P passes through the front guide roller 19-1. Since it is in the state, the front roller 33a of the pallet P will pass upward without being obstructed by the dropping hole 33a.
- the front roller 33a does not get caught in the roller dropping hole 41, so that the pallet P can be moved smoothly.
- FIG. 7 shows a state in which the pallet P has completely entered the storage stage 15-2.
- the rear end of the pallet P is supported by the tracker 23, and in this supported state, the rear roller 33b is set at a height position substantially the same as the height of the front roller 33a in FIG. Therefore, a gap amount of Hh is generated between the lower surface 33bD (see FIG. 3) of the rear roller 33b and the upper surface of the pallet guide roller 39 as in the case of the front roller 33a. That is, in the support state, the rear roller 33b of the pallet P is slightly lifted from the roller dropping hole 41.
- the rear roller 33 b is dropped into the roller dropping hole 41 by slightly lowering the tracker 23.
- the drop-down width is substantially equal to the height difference H between the top portion 19 a-1 of the guide roller and the top surface of the pallet guide roller 39. Therefore, when the height difference H is set as small as possible so as not to be less than the protrusion amount h, the inclination of the pallet P in the storage state in the storage stage 15-2 can be reduced. Therefore, it is possible to prevent the workpiece W from falling from the pallet P when a lateral vibration occurs with respect to the storage rack 13.
- FIG. 9 is a diagram illustrating the state of the pallet P when the rear roller 33b is dropped into the roller dropping hole 41.
- the protruding amount h of the rear roller 33b from the lower surface 25D of the pallet body 25 and the depth of the rear roller 33b dropped into the roller drop hole 41 are substantially the same.
- the diameter R of the rear roller 33b and / or the size (long side length) d of the roller dropping hole 41 are adjusted.
- the portion near the rear roller 33b on the lower surface 25D of the pallet main body is in contact with the upper surface 39a of the pallet roller guide 39.
- the tracker 23 is raised and its hook 47a is again engaged with the rear end of the pallet P, and the rear end of the pallet P is lifted slightly, and the rear roller 33b. And the engagement state of the roller dropping hole 41 is released.
- the rear end of the pallet P is preferably lifted so that the lower surface 33bD of the rear roller 33b is slightly higher than the upper surface of the pallet guide roller 39.
- the protruding amount h of the rear roller 33b from the lower surface 25D of the pallet main body 25 and the depth of the rear roller 33b dropped into the roller drop hole 41 are formed to have substantially the same size. Therefore, when the engagement state between the rear roller 33b and the roller dropping hole 41 is released, the lower surface 25D of the pallet main body 25 in the vicinity of the rear roller 33b is completely separated from the upper surface of the pallet roller guide 39. Therefore, the drawer can be performed more smoothly.
- the lift amount of the rear end of the pallet P by the tracker 23 may be a small amount such that the engagement state of the rear roller 33b with the roller dropping hole 41 is released, and thereby the pallet P is substantially horizontal. It can be taken out from the storage stage 15-2 while being kept at the same position.
- the pallet P can be stored and taken out from the storage stage 15-2 in a substantially horizontal state. Accordingly, it is possible to greatly reduce the vertical space between the storage stages 15 that is necessary for tilting the pallet P by a certain amount as in the prior art.
- the vertical space in each storage stage of the storage rack 13 can be reduced, the height in the vertical direction of the entire storage rack 13 including the multiple storage stages 15 is greatly reduced.
- the number of storage stages installed per height of the entire rack 13 can be greatly increased. Therefore, when the storage rack 13 is formed at the same height as the conventional case, the number of storage stages can be increased, and as a result, the number of workpiece W mounting pallets P that can be stored is increased. This will contribute to the improvement of the capacity of the entire 10.
- the height of the storage rack having 17 storage stages is 15% higher than that of the conventional storage rack having the same number of stages. It is known that it can be reduced to some extent.
- the front roller 33a passes through the roller dropping hole 41 in the first half state when the pallet P is stored, the front roller 33a is not in contact with the pallet roller guide 39 and is in a slightly floating state. Therefore, it passes smoothly above the roller drop hole 41 without being engaged.
- the present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the gist of the present invention.
- the shape of the roller dropping hole 41 is formed in a substantially rectangular shape in consideration of the ease of processing.
- the roller dropping hole 41 may be formed in a circular shape or other polygonal shape limited to this. Also good.
- the size of the roller drop hole 41 can be variously changed according to the situation.
- each roller dropping hole 41 is provided is near the end of the pallet roller guide 39 on the pallet P insertion side, but the position where the roller dropping hole 41 is provided is not limited to this. It is possible to change appropriately according to the size of the pallet P.
- a plurality of rollers are dropped into the pallet roller guide 39 so as to match the position of the rear roller 33b in a state where each pallet is stored in the storage stage 15.
- a hole 41 may be provided.
- a roller dropping hole is newly provided on the back side (outside of the locking wall portion 43) of the storage stage 15-2 in the present embodiment so that the pallet P can be stored and pulled out from both sides of the storage rack 13. It may be made possible.
- a pallet transport unit 11 having a configuration similar to that of the pallet transport unit 11 is newly added on the opposite side (right side in FIG. 1 and the like) of the storage rack 13, and the storage rack is also provided from the opposite side.
- the pallet P can be stored and pulled out from the pallet 13.
- the locking wall portions 43 at the both ends of the storage stage 15 depend on which pallet conveying means 11 is used.
- the locking wall 43 may be inserted into the guide rail 39 so as to be easily attached and detached.
- the front roller 33a and the rear roller 33b are provided for the pallet P, but the function as a roller, that is, the function of running the pallet roller guide 39 is exhibited. Only the front roller 33 a is used, and the rear roller 33 b is substantially used only for the function of being dropped into the roller drop hole 41. That is, the rear roller 33b may be changed to a simple protrusion protruding from the lower surface 25D of the pallet P in place of the roller shape as long as the function of dropping into the roller dropping hole 41 is ensured.
- the front roller 33a and the rear roller 33b are formed to have the same function and form, and the tracker 23 has hooks 47a and 47b of the same form on the left and right. ing.
- a storage rack 13 ′ is newly added on the opposite side of the storage rack 13 (left side of the pallet transfer means 11 in FIG. 1 and the like) with respect to the pallet transfer means 11 in accordance with the layout configuration of the automatic warehouse 10 as a whole.
- the pallet P can be similarly stored and pulled out with respect to the expanded storage rack 13 ′ using the same pallet transport means 11.
- the storage rack 13 ′ added on the opposite side of the pallet transport means 11 has the same configuration except that the storage rack 13 according to the present embodiment is inverted.
- the pallet P can be stored / drawn from the right side with respect to the storage rack 13 ′ without any major change in configuration such as providing other parts. That is, since two storage racks can be arranged on the left and right for one pallet conveying means 11, the space of the entire automatic warehouse can be used effectively.
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Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2012013866A JP2013151359A (ja) | 2012-01-26 | 2012-01-26 | 自動倉庫システム |
JP2012-013866 | 2012-06-12 |
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WO2013111395A1 true WO2013111395A1 (ja) | 2013-08-01 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2012/076223 WO2013111395A1 (ja) | 2012-01-26 | 2012-10-10 | 自動倉庫システム |
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JP (1) | JP2013151359A (enrdf_load_stackoverflow) |
WO (1) | WO2013111395A1 (enrdf_load_stackoverflow) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106586567A (zh) * | 2017-01-23 | 2017-04-26 | 武汉华星光电技术有限公司 | 出料机以及用于控制传送系统的方法 |
CN111409994A (zh) * | 2020-05-08 | 2020-07-14 | 深圳市航瑞物流自动化有限公司 | 一种超长货物自动存取机构 |
Families Citing this family (1)
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KR102624073B1 (ko) * | 2023-10-11 | 2024-01-19 | 강현규 | 반도체 웨이퍼 캐리어 운송용 oht의 카트 적재 시스템 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0367806A (ja) * | 1989-08-07 | 1991-03-22 | Komatsu Forklift Co Ltd | 荷物の収納装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5552802A (en) * | 1978-10-05 | 1980-04-17 | Nippon Filing Co Ltd | Bin box |
JPH0190706U (enrdf_load_stackoverflow) * | 1987-12-07 | 1989-06-14 | ||
JPH0429510U (enrdf_load_stackoverflow) * | 1990-07-04 | 1992-03-10 | ||
JP2010247933A (ja) * | 2009-04-14 | 2010-11-04 | Ikarashi Shokai:Kk | 自動収納棚装置 |
-
2012
- 2012-01-26 JP JP2012013866A patent/JP2013151359A/ja active Pending
- 2012-10-10 WO PCT/JP2012/076223 patent/WO2013111395A1/ja active Application Filing
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0367806A (ja) * | 1989-08-07 | 1991-03-22 | Komatsu Forklift Co Ltd | 荷物の収納装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106586567A (zh) * | 2017-01-23 | 2017-04-26 | 武汉华星光电技术有限公司 | 出料机以及用于控制传送系统的方法 |
CN106586567B (zh) * | 2017-01-23 | 2019-06-25 | 武汉华星光电技术有限公司 | 用于控制传送系统的方法 |
CN111409994A (zh) * | 2020-05-08 | 2020-07-14 | 深圳市航瑞物流自动化有限公司 | 一种超长货物自动存取机构 |
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JP2013151359A (ja) | 2013-08-08 |
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