WO2021215132A1 - 自動倉庫システム - Google Patents

自動倉庫システム Download PDF

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Publication number
WO2021215132A1
WO2021215132A1 PCT/JP2021/009395 JP2021009395W WO2021215132A1 WO 2021215132 A1 WO2021215132 A1 WO 2021215132A1 JP 2021009395 W JP2021009395 W JP 2021009395W WO 2021215132 A1 WO2021215132 A1 WO 2021215132A1
Authority
WO
WIPO (PCT)
Prior art keywords
transport
transfer device
automated warehouse
load
luggage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/009395
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
正和 峯松
道伸 脇阪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Murata Machinery Ltd
Original Assignee
Murata Machinery Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Murata Machinery Ltd filed Critical Murata Machinery Ltd
Priority to CN202180027064.9A priority Critical patent/CN115397750B/zh
Priority to JP2022516883A priority patent/JP7315095B2/ja
Priority to US17/919,556 priority patent/US12286298B2/en
Publication of WO2021215132A1 publication Critical patent/WO2021215132A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • 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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • 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
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • 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
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas

Definitions

  • the present invention relates to an automated warehouse system including an automated warehouse equipped with transport carts that steer along each of the shelves provided in a plurality of racks, and a device for loading and unloading luggage into the automated warehouse.
  • a rack having a plurality of shelves capable of storing a plurality of luggage along one axis in a horizontal plane in the vertical direction and a rack that moves along the shelves and transfers the cargo between the racks.
  • an automated warehouse equipped with a plurality of transport carts having a transfer device (see, for example, Patent Document 1).
  • a plurality of cargoes can be simultaneously transported at high speed in the automated warehouse to move the cargoes stored in the rack.
  • a conveyor that transports the luggage along one axis in the horizontal plane and transfers the luggage between the transport trolleys of each stage and a conveyor that raises and lowers the luggage to correspond to each stage.
  • An elevating and lowering transport device that raises and lowers the load to the position of the conveyor and a conversion device that converts the load transfer direction of the lift and lower transport device and the transport direction of the conveyor may be provided at the end of each conveyor. In this case, there is a problem that the number of devices increases.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide an automated warehouse system capable of loading and unloading cargo to and from an automated warehouse with a small number of devices.
  • the automated warehouse system which is one of the present inventions, includes a rack provided with a plurality of shelves in the vertical direction capable of storing a plurality of cargoes along one axis in a horizontal plane, and the above-mentioned.
  • An automated warehouse equipped with a plurality of transport trolleys having a first transfer device that moves along a shelf and transfers cargo to and from the rack, and at a height position corresponding to the first transfer device.
  • a relay device that is arranged and the cargo is transferred to and from the transport carriage by the first transfer device, a second transfer device that transfers the cargo between the relay device, and the second transfer device.
  • the second transfer device includes an elevating platform for raising and lowering the mounting device, and an arm that advances to the relay device in a direction intersecting the cargo transport direction of the relay device. In preparation, the luggage will be transferred based on the entry and exit of the arm.
  • an automated warehouse system capable of loading and unloading luggage with high efficiency while suppressing the number of devices for loading and unloading luggage into the automated warehouse.
  • FIG. 1 is a diagonal view showing an automated warehouse system.
  • FIG. 2 is a plan view showing an automated warehouse system.
  • FIG. 3 is a plan view showing the elevating and lowering transfer device and the relay device.
  • FIG. 4 is a perspective view showing a part of the automated warehouse system of the separate arrangement form 1.
  • FIG. 5 is a plan view showing a part of the automated warehouse system of the separate arrangement form 1.
  • FIG. 6 is a plan view showing a state in which two packages are simultaneously transferred.
  • drawings are schematic drawings in which emphasis, omission, and ratio are adjusted as appropriate to show the present invention, and may differ from the actual shape, positional relationship, and ratio.
  • FIG. 1 is a diagonal view showing the automated warehouse system 100.
  • FIG. 2 is a plan view showing the automated warehouse system 100. In some cases, the description of pillars and the like may be omitted in these figures.
  • the automated warehouse system 100 is a system capable of automatically storing the luggage 200 carried in from the outside in the rack 120 and automatically carrying out the luggage 200 stored in the rack 120. It is provided with an automated warehouse 110, a relay device 140, and an elevating / conveying device 150. In the case of the present embodiment, the automated warehouse system 100 further includes a loading / unloading device 170.
  • the automatic warehouse 110 has a plurality of shelves in the vertical direction (Z-axis direction in the figure) capable of storing a plurality of luggage 200 along one axis (X-axis in the figure) in the horizontal plane (XY plane in the figure).
  • the rack 120 is provided, and a plurality of transport carts 130 having a first transfer device 131 that moves along the shelf 121 of the rack 120 and transfers the luggage 200 between the racks 121 are provided.
  • the automated warehouse system 100 includes four automated warehouses 110. Of the plurality of automated warehouses 110, one adjacent automated warehouse 110 is designated as the first automated warehouse 111, and the other automated warehouse 110 is designated as the second automated warehouse 112.
  • the rack 120 is a facility provided with a plurality of shelves 121 in the vertical direction capable of storing a plurality of luggage 200 in the horizontal direction (X-axis direction in the drawing) in a vertical plane (XZ plane in the drawing). ..
  • the racks 120 are arranged side by side in parallel in the automated warehouse 110 along the normal direction of the vertical plane (Y-axis direction in the drawing). Further, at least one of the racks 120 arranged in the normal direction of the vertical plane is divided at least one place in the middle of the extending direction of the rack 120.
  • the transport carriage 130 is a device capable of holding the luggage 200 by traveling along the rail 132 arranged at a position corresponding to the shelf portion 121 of the rack 120.
  • the first transfer device 131 is attached to the transport carriage 130.
  • the rail 132 is a rod-shaped member arranged at a height position corresponding to each of the plurality of shelves 121 of the rack 120 on the side of the rack 120, and is a rod-shaped member in the vertical direction (X-axis in the case of the present embodiment) in the vertical plane. Extends in the direction).
  • the shelf 121 on which the rail 132 is arranged is not particularly limited, but in the case of the present embodiment, the luggage in which the first transfer device 131 included in the transport carriage 130 is stored in one shelf 121. Since the rail 132 can be transferred only to the 200, the rail 132 is arranged at a height position corresponding to all the shelves 121 of the rack 120.
  • the first transfer device 131 is attached to the transport trolley 130, transfers the luggage 200 between the transport trolley 130 and the rack 120, and also transfers the luggage 200 between the transport trolley 130 and the relay device 140. It is a device that can be used.
  • the first transfer device 131 slides or lifts the luggage 200 in a direction (including orthogonality) intersecting (including orthogonality) with the traveling direction (X-axis direction in the figure) of the transport carriage 130. ..
  • the transfer method of the first transfer device 131 is not particularly limited, and the load 200 is slid between the first transfer device 131 and the rack 120 by pushing or pulling the side surface of the load 200. Examples thereof include those that are transferred by lifting the luggage 200 with a fork or the like, those that are transferred by sandwiching the luggage 200, and the like.
  • the relay device 140 is arranged at a height position corresponding to the first transfer device 131 included in the transport carriage 130, and is located in a horizontal plane in a direction intersecting (orthogonal) with the arm 154 of the second transfer device 152 described later.
  • the transfer device 131 is a device for transferring the luggage 200 to and from the transport carriage 130.
  • the first transport device 141 and the second transport device 142 are provided at the same height position, and the installation positions are deviated in the direction orthogonal to the transport direction of the luggage 200 (X-axis direction in the drawing).
  • the type of the relay device 140 is not particularly limited, but in the case of the present embodiment, it has a function of transporting the luggage 200, and a conveyor such as a belt conveyor or a roller conveyor can be exemplified. Transporting in a horizontal plane includes transporting the luggage 200 along an inclination of about several degrees.
  • the relay device 140 is arranged at a height position corresponding to each of the plurality of shelves 121 of the rack 120, and the load is in a direction intersecting (including orthogonal to) the traveling direction of the transport carriage 130 in the horizontal plane. To carry. Further, the plurality of relay devices 140 are arranged so as to overlap each other in the vertical direction. The relay device 140 is arranged between the rack 120 and the elevating and lowering transfer device 150 at any height position, and is arranged between the racks 120 divided in the extending direction of the rack 120.
  • the first automated warehouse 111 includes a first transport device 141 as a relay device 140
  • the second automated warehouse 112 includes a second transport device 142.
  • the first transport device 141 transfers the cargo 200 to and from the first transfer device 131 of the transport trolley 130 included in the first automated warehouse 111
  • the second transport device 142 transports the cargo 200 provided in the second automated warehouse 112.
  • the luggage is transferred to and from the first transfer device 131 of the trolley 130.
  • a part of the first transfer device 141 is arranged so as to protrude in the area where the second automated warehouse 112 is installed, and a part of the second transfer device 142 is arranged in the area where the first automated warehouse 111 is installed. It is arranged in a protruding shape. With this arrangement, it is possible to suppress the generation of a dead space between the automated warehouses 110 while sharing the elevating and conveying device 150 in the automated warehouse 110.
  • FIG. 3 is a plan view showing the elevating and lowering transport device and the relay device.
  • the elevating and lowering transfer device 150 is a device for vertically elevating and lowering the load 200 to be transferred to and from the relay device 140, and includes a second transfer device 152 and an elevating table 153.
  • the elevating and lowering transfer device 150 elevates and elevates to a desired position corresponding to the relay device 140.
  • the lift 153 is a structural member that holds the second transfer device 152 and moves up and down together with the second transfer device 152.
  • the elevating table 153 has a function of holding the luggage 200 received from the relay device 140 by the second transfer device 152.
  • the second transfer device 152 is a device for transferring the luggage 200 to and from the relay device 140, and the second transfer device 152 intersects the transport direction of the luggage 200 of the relay device 140 (X in the drawing).
  • An arm 154 that advances to the transport path of the luggage 200 of the relay device 140 in the axial direction) is provided, and the luggage 200 is transferred based on the movement of the arm 154.
  • the transfer method of the second transfer device 152 is not particularly limited, and the arm 154 is used to push or pull the side surface of the luggage 200 between the second transfer device 152 and the relay device 140. Examples thereof include those in which the luggage 200 is slid and transferred, those in which the luggage 200 is lifted and transferred by an arm 154 functioning as a fork, and those in which the luggage 200 is sandwiched and transferred.
  • the elevating transfer device 150 is arranged between the first transfer device 141 and the second transfer device 142, and the second transfer device 152 attached to the elevating platform 153 of the elevating transfer device 150 is
  • the luggage 200 is transferred between the first transfer device 141 and the second transfer device 142.
  • the first transport device 141 transports the cargo 200 from the transport carriage 130 of the first automated warehouse 111 toward the elevating transport device 150 in one way.
  • the second transport device 142 one-way transports the cargo 200 from the elevating transport device 150 to the transport carriage 130 of the second automated warehouse 112.
  • the transfer direction of the luggage 200 of the second transfer device 152 it becomes easy to determine the actual sky of the luggage 200 based on the transfer direction of the second transfer device 152. It is possible to simplify the arrangement of sensors for determining the actual sky of the luggage 200. If the luggage 200 is detected at the transfer position of the first transport device 141, the luggage 200 can be pulled in, and if the luggage 200 is not detected at the transfer position of the second transport device 142, the luggage 200 can be paid out. Since it can be controlled by the transfer position and the presence / absence of the luggage 200, the judgment becomes easy.
  • the transportation of the cargo 200 is one-way, and by sharing the elevating transportation device 150 between the first automated warehouse 111 and the second automated warehouse 112, the cargo 200 can be delivered between the automated warehouses. Further, since the luggage 200 crosses between the automated warehouses via the elevating and retrieving device 150, the luggage 200 can be crossed while changing the height position of the shelf 121.
  • the controller 160 (see FIGS. 1 and 2) included in the automated warehouse system 100 has a moving speed of the arm 154 in the direction toward the first transport device 141 rather than a moving speed of the arm 154 in the direction toward the second transport device 142.
  • the second transfer device 152 is controlled so that the speed becomes faster.
  • the first transfer device 141, the second transfer device 152, and the second transfer device 142 cooperate to transport the luggage 200 in one way, so that the arm 154 of the second transfer device 152 becomes the first. Since the luggage 200 is not transported when advancing toward the transport device 141, the arm 154 can be moved at a relatively high speed, and the transport efficiency can be improved as a whole.
  • the operating speed of the arm 154 is set faster when the arm 154 is moved to the first transport device 141 side without executing the judgment by the computer. It is possible to further improve the transport efficiency.
  • the advancing / retreating speed of the arm 154 may be controlled by a computer.
  • the second transfer device 152 is provided with a hook 155 only at the end of the arm 154 on the first transfer device 141 side (X-axis negative side in the drawing) with respect to the elevating transfer device 150.
  • the number of parts constituting the second transfer device 152 can be suppressed, and at least the load 200 is transferred from the first transfer device 141 to the elevating transfer device 150, or the load 200 is transferred from the elevating transfer device 150 to the second transfer device 150. It enables one-way transportation in which the luggage 200 is transferred to the device 152.
  • the loading / unloading device 170 three-dimensionally overlaps with at least a part of the relay device 140 in the vertical direction, and a part of the loading / unloading device 170 is arranged at a position where the luggage 200 is transferred by the second transfer device 152 of the lifting / lowering transport device 150, and automatically. It is a device that carries out at least one of loading and unloading of the cargo 200 into the warehouse 110.
  • the loading / unloading device 170 is arranged above the transport path of the transport carriage 130 so as to three-dimensionally intersect the transport path of the transport carriage 130.
  • the elevating / transporting device 150 can raise the elevating table 153 to a position where the loading / unloading device 170 and the luggage 200 can be transferred by the second transfer device 152.
  • the cargo 200 can be carried in and out in common with a plurality of automated warehouses, so that the cost can be reduced as the automated warehouse system 100.
  • one loading / unloading device 170 can carry in / out to a plurality of automated warehouses 110, and between adjacent automated warehouses 110, or between one or more automated warehouses 110 exceeding the plurality of automated warehouses 110. Luggage can be delivered.
  • a carry-in / carry-out device 170 dedicated to carry-in and a carry-in / carry-out device 170 dedicated to carry-in may be provided.
  • the type of the loading / unloading device 170 is not particularly limited, but a conveyor such as a belt conveyor or a roller conveyor can be exemplified.
  • the second transfer device 152 is provided on the elevating table 153 of the elevating transfer device 150, the second transfer device 152 is arranged at a plurality of height positions with respect to one elevating transfer device 150. It is not necessary to provide a conversion device for changing the transport direction of the luggage 200 in each of the relay devices 140. As a result, even when the transport direction of the cargo 200 of the relay device 140 and the transfer direction of the cargo 200 between the elevating transport device 150 and the relay device 140 are orthogonal to each other, the structure of the entire automated warehouse system 100 is established. Can be simplified, and improvement in transport efficiency can be expected. Further, the loading / unloading device 170 does not have to be provided with a conversion device.
  • the second transfer device 152 transfers the luggage 200 to and from the relay devices 140 arranged on both sides of the elevating transfer device 150 in the transfer direction of the second transfer device 152.
  • the number of elevating and retrieving devices 150 in the automated warehouse system 100 can be reduced, and the structure of the automated warehouse system 100 as a whole can be simplified and the installation space can be saved.
  • the second transfer device 152 By allowing the second transfer device 152 to transfer the luggage 200 to the relay devices 170 on both sides, it can be shared between the two relay devices 170.
  • the arrangement interval of the automated warehouse can be narrowed.
  • the installation space of the entire automated warehouse system 100 can be miniaturized.
  • the present invention is not limited to the above embodiment.
  • another embodiment realized by arbitrarily combining the components described in the present specification and excluding some of the components may be the embodiment of the present invention.
  • the present invention also includes modifications obtained by making various modifications that can be conceived by those skilled in the art within the scope of the gist of the present invention, that is, the meaning indicated by the wording described in the claims, with respect to the above-described embodiment. Is done.
  • FIG. 4 is a perspective view showing a part of the automated warehouse system of the separate arrangement form 1.
  • FIG. 5 is a plan view showing a part of the automated warehouse system of the separate arrangement form 1.
  • the cargo 200 is transferred to and from the transfer trolley 130 by the first transfer device 131 of the transfer trolley 130 of the first automated warehouse 111, and the second transfer device 141.
  • the 142 may be one in which the luggage 200 is transferred to and from the same transport carriage 130 provided in the first automated warehouse 111.
  • the loading / unloading device 170 does not have to intersect the transport path of the transport carriage 130.
  • the loading / unloading device 170 may three-dimensionally overlap with at least a part of the relay device 140 below the relay device 140 in the vertical direction.
  • the elevating / transporting device 150 may be capable of lowering the elevating platform 153 to a position where the loading / unloading device 170 and the luggage 200 can be transferred by the second transfer device 152.
  • the first transport device 141 transports the load 200 from the transport carriage 130 to the lift transport device 150
  • the second transport device 142 transports the load 200 from the lift transport device 150 to the transport carriage 130.
  • the second transfer device 152 transfers the luggage 200 arranged in the first transfer device 141 to the elevating transport device 150, and at the same time, the luggage 200 arranged in the elevating transport device 150.
  • the arm 154 may be controlled so as to be transferred to the second transfer device 142.
  • hooks 155 may be provided at a plurality of positions of the arm 154 in the transfer direction of the luggage 200.
  • the first transport device when the hook 155 is located on the rear end side (-X side in the drawing) of the load 200 located in the first transport device 141 when extended to the first transport device 141 side, the first transport device An example can be exemplified when the hook 155 is located on the rear end side (-X side in the drawing) of the load 200 located on the elevating table 153 when extended to the 141 side. Thereby, the transportation efficiency of the luggage 200 can be improved.
  • the hook 155 may be engaged with the front end side of the luggage 200.
  • the transport carriage 130 provided with the first transfer device 131 corresponding to each shelf 121 of the rack 120 has been illustrated, the transport carriage 130 is not limited to this.
  • the transport carriage 130 may be provided with a lifter capable of raising and lowering the first transfer device 131 to a height position corresponding to a plurality of shelves 121 of the rack 120.
  • the transport carriage 130 and the rail 132 are arranged at every two shelves 121 of the rack 120 and can lift the first transfer device 131 by 121 minutes on three shelves.
  • the transport carriage 130 and the rail 132 are arranged at every three shelves 121 of the rack 120.
  • the first transfer device 141 and the second transfer device 142 do not have to be arranged in the same stage and shifted in the X-axis direction.
  • elevating and lowering transfer device 150 and the relay device 140 may be arranged at arbitrary positions as well as those illustrated.
  • relay devices 140 for transporting the luggage 200 in the extending direction (X-axis direction in the drawing) of the rack 120 are arranged on the extension of the two racks 120 arranged opposite to each other, and the relay device 140 An elevating transfer device 150 may be arranged between them.
  • the elevating and lowering transport device 150 is located in the traveling direction of the transport carriage 130.
  • a plurality of second transfer devices 152 for example, two second transfer devices 152 arranged in the Y-axis direction may be arranged on the elevating table 154.
  • the relay device may be a member that supports the luggage 200 that does not have a transport function.
  • It can be used for an automated warehouse system equipped with a transport trolley that runs corresponding to the rack shelves.
  • Automatic warehouse system 110 Automatic warehouse 111 First automatic warehouse 112 Second automatic warehouse 120 Rack 121 Shelf 130 Transport trolley 131 First transfer device 132 Rail 140 Relay device 141 First transport device 142 Second transport device 150 Lifting transport device 152 Second transfer device 153 Lifting platform 154 Arm 155 Hook 160 Controller 170 Loading / unloading device 171 Picking station 200 Luggage

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
PCT/JP2021/009395 2020-04-24 2021-03-09 自動倉庫システム Ceased WO2021215132A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202180027064.9A CN115397750B (zh) 2020-04-24 2021-03-09 自动仓库系统
JP2022516883A JP7315095B2 (ja) 2020-04-24 2021-03-09 自動倉庫システム
US17/919,556 US12286298B2 (en) 2020-04-24 2021-03-09 Automated storage and retrieval system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-077702 2020-04-24
JP2020077702 2020-04-24

Publications (1)

Publication Number Publication Date
WO2021215132A1 true WO2021215132A1 (ja) 2021-10-28

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US (1) US12286298B2 (https=)
JP (1) JP7315095B2 (https=)
CN (1) CN115397750B (https=)
TW (1) TWI844771B (https=)
WO (1) WO2021215132A1 (https=)

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NO346601B1 (en) * 2021-02-08 2022-10-24 Autostore Tech As Grid Survey Module
JP7831438B2 (ja) * 2023-08-03 2026-03-17 株式会社ダイフク 容器搬送設備
DE102024101352A1 (de) * 2024-01-17 2025-07-17 Hamilton Bonaduz Ag Labormodul mit einander einen Transportgegenstand abstreifend übergebenden Transportvorrichtungen

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JP2016060622A (ja) * 2014-09-19 2016-04-25 株式会社ダイフク 物品保管設備
JP2017088403A (ja) * 2015-11-11 2017-05-25 トーヨーカネツソリューションズ株式会社 立体自動倉庫
JP2020029323A (ja) * 2018-08-22 2020-02-27 村田機械株式会社 自動倉庫システム

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