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公开(公告)号：US09938081B2
公开(公告)日：2018-04-10
申请号：US15654841
申请日：2017-07-20
申请人： Daifuku Co., Ltd.
发明人： Takuya Gondoh , Nobuhiko Sato , Masami Iwai , Kenji Kato
CPC分类号： B65G1/1373 , B65G1/0485 , B65G1/1378 , B65G47/52 , B65G47/905 , B65G2203/041 , G06Q10/083 , G06Q10/0832 , G06Q10/0833 , G06Q10/087
摘要： An arranging section is provided to rearrange the order of articles received by a receiving portion into a specified order. When distributing and collecting a plurality of articles, that are being rearranged, among and in a plurality of upstream collecting branch portions, the operations of the arranging section are controlled such that the articles are classified into article groups of the same number of articles as the number of the last collecting branch portions, and such that, for each article group, elements of a subsequence representing the specified order assigned to a plurality of articles forming an article group are elements of a consecutive subsequence for the articles forming the article group, so that the articles in one article group are distributed and collected before the articles in any other article group. And when transporting the plurality of articles being rearranged, from the upstream collecting branch portions to the last collecting branch portions, the operations of the arranging section are controlled such that articles in an article group formed by the articles to which earlier positions in the specified order are assigned are distributed among the last collecting branch portions before articles in any other article group formed by articles to which later positions in the specified order are assigned, and such that the articles that form any one given article group are distributed among, and collected in, the last collecting branch portions, one by one in accordance with the specified order.
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公开(公告)号：US20180065817A1
公开(公告)日：2018-03-08
申请号：US15696545
申请日：2017-09-06
申请人： Daifuku Co., Ltd.
发明人： Takuya Gondoh , Shigeru Sugano , Atsushi Kurayama , Masami Iwai , Atsushi Minoo
CPC分类号： B65G57/22 , B65G57/04 , B65G57/16 , B65G60/00 , B65G61/00 , B65G65/005 , G06Q10/043
摘要： An article loading facility includes: a transport unit; a loading unit; a setting unit; a first control unit; and a second control unit. The transport unit transports second supporting members from storage units to a transfer position. The loading unit loads target articles that are supported by the second supporting members, onto the first supporting member. The setting unit performs an arrangement setting process to set arrangement information for each of the plurality of target articles that are to be loaded onto the first supporting member, the arrangement information indicating the orientation and the position of the corresponding target article relative to the first supporting member, and performs an arrangement order setting process to set a type arrangement order that, when target articles of a plurality of types are to be loaded according to the arrangement information, indicates the order in which the plurality of types are to be arranged. The second control unit controls the transport unit to transport the second supporting members to the transfer position according to the type arrangement order. The first control unit controls the loading unit to load the target articles onto the first supporting member according to the arrangement information that has been set in the arrangement setting process.
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公开(公告)号：US10947057B2
公开(公告)日：2021-03-16
申请号：US16777462
申请日：2020-01-30
申请人： Daifuku Co., Ltd.
发明人： Takuya Gondoh , Shigeru Sugano , Atsushi Kurayama , Masami Iwai , Atsushi Minoo
摘要： A control unit performs first loading control that is to be performed when a target article that has been determined by a determination unit as being an article that is in an appropriate orientation is to be loaded onto a first supporting member in the appropriate orientation, and second loading control that is to be performed when a target article that has been determined by the determination unit as being an article that is in an inappropriate orientation is to be loaded onto the first supporting member in the appropriate orientation. The first loading control is performed to control a loading operation unit to suck and support a first sucking-target surface of a target article that is supported by the second supporting member, from above, then move a sucking portion, and thereafter release the target article from the state of being sucked by the sucking portion, and the second loading control is performed to control the loading operation unit to perform an orientation changing operation, and thereafter release the target article from the state of being sucked by the sucking portion when the target article is located immediately above the first supporting member and the first sucking-target surface faces upward.
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公开(公告)号：US20200165081A1
公开(公告)日：2020-05-28
申请号：US16777462
申请日：2020-01-30
申请人： Daifuku Co., Ltd.
发明人： Takuya Gondoh , Shigeru Sugano , Atsushi Kurayama , Masami Iwai , Atsushi Minoo
摘要： A control unit performs first loading control that is to be performed when a target article that has been determined by a determination unit as being an article that is in an appropriate orientation is to be loaded onto a first supporting member in the appropriate orientation, and second loading control that is to be performed when a target article that has been determined by the determination unit as being an article that is in an inappropriate orientation is to be loaded onto the first supporting member in the appropriate orientation. The first loading control is performed to control a loading operation unit to suck and support a first sucking-target surface of a target article that is supported by the second supporting member, from above, then move a sucking portion, and thereafter release the target article from the state of being sucked by the sucking portion, and the second loading control is performed to control the loading operation unit to perform an orientation changing operation, and thereafter release the target article from the state of being sucked by the sucking portion when the target article is located immediately above the first supporting member and the first sucking-target surface faces upward.
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公开(公告)号：US20180022551A1
公开(公告)日：2018-01-25
申请号：US15654841
申请日：2017-07-20
申请人： Daifuku Co., Ltd.
发明人： Takuya Gondoh , Nobuhiko Sato , Masami Iwai , Kenji Kato
CPC分类号： B65G1/1373 , B65G1/0485 , B65G1/1378 , B65G47/52 , B65G47/905 , B65G2203/041 , G06Q10/083 , G06Q10/0832 , G06Q10/0833 , G06Q10/087
摘要： An arranging section is provided to rearrange the order of articles received by a receiving portion into a specified order. When distributing and collecting a plurality of articles, that are being rearranged, among and in a plurality of upstream collecting branch portions, the operations of the arranging section are controlled such that the articles are classified into article groups of the same number of articles as the number of the last collecting branch portions, and such that, for each article group, elements of a subsequence representing the specified order assigned to a plurality of articles forming an article group are elements of a consecutive subsequence for the articles forming the article group, so that the articles in one article group are distributed and collected before the articles in any other article group. And when transporting the plurality of articles being rearranged, from the upstream collecting branch portions to the last collecting branch portions, the operations of the arranging section are controlled such that articles in an article group formed by the articles to which earlier positions in the specified order are assigned are distributed among the last collecting branch portions before articles in any other article group formed by articles to which later positions in the specified order are assigned, and such that the articles that form any one given article group are distributed among, and collected in, the last collecting branch portions, one by one in accordance with the specified order.
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公开(公告)号：US20220009108A1
公开(公告)日：2022-01-13
申请号：US17293646
申请日：2019-11-12
申请人： Daifuku Co., Ltd.
发明人： Mitsuo Morikubo , Yoshikazu Tai , Takuya Gondoh , Masami Iwai , Atsushi Minoo , Shigeru Sugano
摘要： A control unit executes first loading control is determined that a loaded article is not present above a loading surface region based on captured image information and second loading control if it is determined that it is uncertain whether the loaded article is not present above the loading surface region based on the captured image information. The first loading control causing a holding unit to release a target article when the target article is directly above the loading surface region and the lower surface of the target article is higher than the upper surface of the loading surface region by a first specified distance, and the second loading control causing the holding unit to release the target article when the target article is directly above the loading surface region and the lower surface of the target article is higher, by a second specified distance, than a specified height.
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公开(公告)号：US10280013B2
公开(公告)日：2019-05-07
申请号：US15848463
申请日：2017-12-20
申请人： Daifuku Co., Ltd.
发明人： Takuya Gondoh , Masami Iwai , Atsushi Minoo
摘要： An article loading facility includes an imaging device configured to capture an image of an article in a support member, and a weighing device configured to measure a weight of an article W in the support member. A controller is configured to perform a first determining operation, a second determining operation, and a third determining operation. The first determining operation is an operation in which an attitude and position of an article placed in the support member is determined based on image information from the imaging device. The second determining operation is an operation in which it is determined whether it is possible to place a target article in the support member in an attitude and position indicated by arrangement information based on arrangement information and attitude and position information obtained in the first determining operation. The third determining operation is an operation in which it is determined whether an article W is properly placed in the support member based on the arrangement information, weight information, the attitude and position information, and measured weight information measured by the weighing device.
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公开(公告)号：US20180065818A1
公开(公告)日：2018-03-08
申请号：US15696632
申请日：2017-09-06
申请人： Daifuku Co., Ltd.
发明人： Takuya Gondoh , Shigeru Sugano , Atsushi Kurayama , Masami Iwai , Atsushi Minoo
摘要： A control unit performs first loading control that is to be performed when a target article that has been determined by a determination unit as being an article that is in an appropriate orientation is to be loaded onto a first supporting member in the appropriate orientation, and second loading control that is to be performed when a target article that has been determined by the determination unit as being an article that is in an inappropriate orientation is to be loaded onto the first supporting member in the appropriate orientation. The first loading control is performed to control a loading operation unit to suck and support a first sucking-target surface of a target article that is supported by the second supporting member, from above, then move a sucking portion, and thereafter release the target article from the state of being sucked by the sucking portion, and the second loading control is performed to control the loading operation unit to perform an orientation changing operation, and thereafter release the target article from the state of being sucked by the sucking portion when the target article is located immediately above the first supporting member and the first sucking-target surface faces upward.
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公开(公告)号：US11833665B2
公开(公告)日：2023-12-05
申请号：US17293646
申请日：2019-11-12
申请人： Daifuku Co., Ltd.
发明人： Mitsuo Morikubo , Yoshikazu Tai , Takuya Gondoh , Masami Iwai , Atsushi Minoo , Shigeru Sugano
CPC分类号： B25J13/08 , B65G47/905 , B65G47/917 , B65G57/04 , B65G61/00 , B65G2201/02 , B65G2203/041
摘要： A control unit executes first loading control if it is determined that a loaded article is not present above a loading surface region based on captured image information, and second loading control if it is determined that it is uncertain whether the loaded article is not present above the loading surface region based on the captured image information. The first loading control causing a holding unit to release a target article when the target article is directly above the loading surface region and the lower surface of the target article is higher than the upper surface of the loading surface region by a first specified distance, and the second loading control causing the holding unit to release the target article when the target article is directly above the loading surface region and the lower surface of the target article is higher, by a second specified distance, than a specified height.
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公开(公告)号：US20220017249A1
公开(公告)日：2022-01-20
申请号：US17293606
申请日：2019-11-12
申请人： Daifuku Co., Ltd.
发明人： Mitsuo Morikubo , Yoshikazu Tai , Masami Iwai , Atsushi Minoo
摘要： A transfer device and a control device for controlling the transfer device are provided. The control device is configured to execute setting control to set a storing position, in a container, of each of a plurality of articles to be stored in the container, storage control to control the transfer device so as to store each of the articles at the storing position, and replacement control to replace one of a first holding portion and a second holding portion attached to the attachment portion with the other one. The setting control is control to set the storing position in accordance with an order of transferring the plurality of articles so as to sequentially place the articles from a reference position that is set at a position adjacent to a side wall portion.
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