CN1105672C - Method and apparatus for automatized high-density warehouse - Google Patents
Method and apparatus for automatized high-density warehouse Download PDFInfo
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- CN1105672C CN1105672C CN 00120529 CN00120529A CN1105672C CN 1105672 C CN1105672 C CN 1105672C CN 00120529 CN00120529 CN 00120529 CN 00120529 A CN00120529 A CN 00120529A CN 1105672 C CN1105672 C CN 1105672C
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Abstract
The present invention relates to a dense type automatization material flow storage method and an apparatus thereof, which comprises article detection, article warehousing, article storage, article warehouse-out, etc. The transfer connection of materials can be realized through an aisle stacker or an automatic guided fork truck and a stereo storehouse. An empty tray alignment machine is arranged outside an automatic conveyor system or directly arranged on the automatic conveyor system, a high-speed automatic charging station is put outside the stereo storehouse, a remote-control railroad bicycle is transferred to the high-speed automatic charging station by the aisle stacker to do charging operation, a C-shaped beam of a goods shelf and a space track of the aisle stacker are supported by the stereo storehouse, and the beam of the goods shelf is used as a running rail of the remote-control railroad bicycle.
Description
The present invention relates to the technical field of logistic storage, particularly relate to the storage method and the device thereof of automatic stereowarehouse.
New century brings human unlimited hope, but also can't avoid such reality: human social development is to today, and it is more and more crowded that the earth seems.How to treasure the every inch of land that the mankind depend on for existence, become a very urgent problem.And commercial production, for example tobacco, chemical industry, machinery, food and drink, electronics, medicine, electrical equipment and auto trade or the like all need to build the huge cartridges bank of floor area.Traditional storage storehouse area utilization is low, and the storage process is numerous and diverse, is difficult to realize automation mechanized operation, and labour intensity is big, and inefficiency can not adapt to the needs of modern production far away.
The present invention is directed to the above-mentioned problems in the prior art, a kind of storage method of automatized high-density is provided, its main purpose is: this method on the one hand can be with various production money section, instrument and efficient, orderly the storing of finished product; Automatic loading and unloading, short-distance transport and delivery be can carry out on the other hand,, management quality and level of management improved to realize the automatic management in warehouse.
Another object of the present invention provides to realizing the device of described method.
The storage method of automatized high-density provided by the invention comprises the following steps:
1, article detect
Article become solid tray with artificial pile or with the robot pile, and the solid tray that pile is good is delivered to the solid tray entry platform by artificial fork truck or other operatorless device, detect through bar-code identification and profile detecting test station.If qualified, the solid tray warehouse-in; If bar-code identification is unclear or profile detects nonconformity, solid tray is delivered to the manual sorting mouth by conveyer, and brand is by the manual entry computing machine, being delivered to the profile detecting test station again after the profile arrangement detects, if detect qualified then warehouse-in, previous step is rapid if nonconformity is reformed again, up to detecting qualified warehouse-in again.
2, article warehouse-in and storage
Remote control rail self-moving vehicle is a little awaited orders awaiting orders of appointment, the computer management dispatching system is sent into library command, remote control rail self-moving vehicle receives order by digital radio, automatically arrive the row of appointment, the first lattice goods yard of layer along rail running, perhaps at the track piler or under the cooperation of electrical forklift, arrive the first lattice goods yard of the row layer of track appointment.The solid tray of passed examination, by conveyor delivery to the piler storage station, again by lane stacker or be put into the first lattice goods yard of the row layer of appointment from electrical forklift cooperation.The automatic goods taking device of remote control rail self-moving vehicle upwards rises, and holds in the palm super goods, orbiting, automatically recognize suitable parking a little, goods taking device is fallen automatically, parks goods, get back to the row of appointment, the first lattice goods yard of layer then, receive new instruction, carry out next one warehouse-in, outbound circulation.If this tunnel warehouse-in, outbound reach specify require after, remote control rail self-moving vehicle will travel back automatically and await orders a little, perhaps at the track piler or under the cooperation of electrical forklift, get back to and will await orders a little or enter new tunnel operation.Certain is listed as termination, certain layer of pairing tunnel, electromechanical stop is arranged, the article that remote control rail self-moving vehicle is stored from the inside to surface one connect one, dense arrangement, the host computer system can leave remote control rail self-moving vehicle under order this tunnel when the first lattice goods yard of the row layer that is stored into appointment, deposits article in lane stacker or from electrical forklift again.
3, article outbound
Certain is listed as the article in certain layer of pairing first lattice goods yard, and during outbound, computer system will at first go out its duty with lane stacker or from electrical forklift, vacate this position, be convenient to exchange remote control rail self-moving vehicle.Remote control rail self-moving vehicle appointment await orders a little or at the row of appointment, await orders in the first lattice goods yard of layer, the issue an order of computer management dispatching system, remote control rail self-moving vehicle receives order by digital radio, automatically along rail running, perhaps at the track piler, arrive the row of appointment down from the cooperation of electrical forklift, the first lattice goods yard of layer, automatically travel along track, automatically recognize parking a little of goods, goods taking device is super to rising automatically, holds up goods, get back to the row of appointment then, layer first lattice are borrowed the position, by the track piler or from the electrical forklift cooperation, take goods away, deliver on the outbound platform, deliver to out the warehouse-in mouth by conveyer, deliver on the lorry by fork truck again.During the article outbound, computer management dispatching system remote control rail self-moving vehicle divides the tunnel from outside to inside, takes out one by one.If divide the tunnel storage by brand, then can dispatch automatically by computer system, divide the tunnel by brand, one connects a ground outbound.
4, the processing of empty pallet:
After article were put into lorry, remaining empty pallet was taken away by fork truck, delivered to empty pallet and aligned machine, carry out piling, the empty pallet group that pile is good waits until that fork truck is delivered to storage station when not having goods to go out to put in storage, take warehouse-in away by piler again, the flow process of empty pallet group warehouse-in is identical with the flow process of article warehouse-in.
By the time before goods warehousing being arranged, supervisory computer notice piler takes out the empty pallet group, delivers to out the warehouse-in mouth by load transfer device, is taken off by artificial fork truck or the cooperation of other facility, uses for the goods pile.
The present invention adopts down fast method processing to loose mail:
The not full tray that delivery can produce rearranges by the host computer system and makes to confirm the back warehouse-in, the pallet that looses go out, put in storage flow process and article to go out to put in storage flow process identical, but looked over one's shoulder by host computer, make mistakes with prevention.
The physical construction that is used to realize the device of the inventive method comprises lane stacker or homing guidance fork truck, remote control rail self-moving vehicle, tiered warehouse facility, empty pallet aligns machine, the computer management dispatching system, autonomous cruise speed system goes out to put in storage conveyer, profile detects platform, the manual sorting platform, transfer mechanism system, fast automatic battery-charging station, piler goes out storage station, remote control rail self-moving vehicle track, three-dimensional storehouse column, lane stacker sky rail, object solid tray or blank panel group, lane stacker ground rail.The practical application of apparatus of the present invention is to decide according to concrete logistics system technical index, usually the automatic transport machine system equipment is positioned at the tiered warehouse facility outside, realize that with vertical library the transfer of material connects by lane stacker or homing guidance fork truck, the empty pallet machine of aligning is placed on beyond the automatic transport machine system equipment, also can directly in the transfer mechanism system, be provided with, fast automatic battery-charging station is placed in the outside of tiered warehouse facility, lane stacker shifts the operation of charging on the fast automatic battery-charging station of remote control rail self-moving vehicle, three-dimensional storehouse upright supports the C shape crossbeam of shelf, and is supporting lane stacker sky rail; Remote control rail self-moving vehicle is orbit with the guard frame rail, and remote control rail self-moving vehicle roller is back and forth operation in the C type groove of borrowing the frame crossbeam, and lane stacker is back and forth operation between sky rail and ground rail then.Package unit is is automatically allocated and transported row by automatic controlling system by the computer management dispatching system.
Compare with traditional storage technique, the present invention has following outstanding advantage:
1, the present invention adopts high-rise track tiered warehouse facility, the intensive stacking shelf in many goods yards, shelf itself are again the orbits of remote control rail self-moving vehicle, one row's goods lattice can a plurality of pallets of intensive storage, and this shelf constitute in groups, can folk prescription to construction, also can build by left and right directions, because remote control rail self-moving vehicle can two way, also can satisfy lane stacker or from about electrical forklift, get the goods function simultaneously, this tiered warehouse facility can be set up several layers as required.Remote control rail self-moving vehicle cooperates with piler the material transportation of shuttling back and forth, and realizes material is delivered to or taken out of the loan position of column, layer; Remote control rail self-moving vehicle and intensive stacking formula shelf are used, and have utilized the space fully, needing to be particularly useful for the warehouse of intensive stacking.
2, the present invention is to the lane stacker in the logistics system; the transfer mechanism system; the operation of warehouse-in, the outbound of equipment such as remote control rail self-moving vehicle, the operation that makes preparations for sowing such as make an inventory of goods in a warehouse is controlled, and has mutual information intercommunication, fault alarm, various safety guard, manually and automatic guidance.The material requirements planning of article case, goods yard management, the processing of making an inventory of goods in a warehouse, report form statistics, printing, inquiry etc. are managed automatically, and adopted one of goods to connect a ground automation high-density memory technology.Total system is rational in infrastructure, and the technological process advanced person can realize intensive to high-density storage material, automatically carry out short-distance transport, the loading and unloading of material, warehouse-in storage and automatic withdrawing delivery automatically, efficient operation, save the space, realize the automatic management in warehouse, improve management quality and level of management.
3, the data communication between critical equipment remote control rail self-moving vehicle of the present invention and other equipment adopts the wireless digital communication technology, has guaranteed that this is equipped in the high degree of flexibility and the automatic guidance requirement in multilayer track shelf tiered warehouse facility district.The employed power mode of remote control rail self-moving vehicle is power with the battery, and battery has tradable lead-acid batteries or quick two kinds of options of ultra-high magnifications cadmium-nickel alkaline storage battery group.If lead-acid batteries, when capacity of cell is not enough, can be in advance from the report of trend control center, battery is changed in request, after being sent to charge position and being stopped, manually or automatically more finish changing battery pack after, operation voluntarily.If quick ultra-high magnifications cadmium-nickel alkaline storage battery group, when capacity of cell is not enough, can be in advance from the report of trend control center, the request charging.After being sent to charge position and being stopped, automatic rapid charging, reach the battery specified volume after, break away from automatically, the computer system scheduling puts into operation automatically.
4, the present invention makes full use of land resources and storage space, realizes unit space, the maximization of cost per unit storage material.Computer management of the present invention is to be based upon on the subject bases such as system theory, information theory and cybernetics, fully satisfies client's demand, pursues best economies of scale.At the key issue of modern enterprise bottom logistics, with efficient, orderly the storing of the various means of production, the tool of production and finished product, improve enterprise from producing to the quick reaction capability of selling, adapt to the needs of market economy more.
Particular content of the present invention is provided by following embodiment and accompanying drawing thereof, but content of the present invention is not limited to shown in the accompanying drawing.
Fig. 1 is that the device plane of one embodiment of the invention constitutes scheme drawing;
Fig. 2 is the left side view of device shown in Figure 1;
Fig. 3 is the front elevation of device shown in Figure 1;
Fig. 4 is the scheme drawing of empty pallet group;
Fig. 5 is the scheme drawing of article solid tray group.
As Fig. 1～shown in Figure 5, the physical construction of apparatus of the present invention comprises lane stacker 1, remote control rail self-moving vehicle 2, tiered warehouse facility 3, empty pallet align machine 4, computer management dispatching system 5, autonomous cruise speed system 6, go out to put in storage conveyer 7, profile detects platform 8, manual sorting platform 9, automatic conveying system 10, fast automatic battery-charging station 11, piler goes out storage station 12, remote control rail self-moving vehicle track 13, three-dimensional storehouse column 14, lane stacker sky rail 15, object solid tray or empty pallet group 16, lane stacker ground rail 17.Automatic conveying system 10 is installed in the outside of tiered warehouse facility 3, realizes that by lane stacker 1 and tiered warehouse facility the transfer of material connects.Empty pallet aligns machine 4 and is seated in automatic conveying system 10 outsides.Fast automatic battery-charging station 11 is placed in the outside of tiered warehouse facility 3, and lane stacker 1 shifts the operation of charging on the fast automatic battery-charging station 11 of remote control rail self-moving vehicle 2, and three-dimensional storehouse column 14 is supporting the C shape crossbeam of shelf, and is supporting lane stacker sky rail 15; Remote control rail self-moving vehicle 2 is an orbit with the guard frame rail, and remote control rail self-moving vehicle 2 rollers are back and forth operation in the C of guard frame rail type groove, 1 back and forth operation between sky rail 15 and ground rail 17 of lane stacker.Package unit is by autonomous cruise speed system 6 controls, by computer management dispatching system 5 management and running automatically.
On empty pallet 18, the article solid tray 19 that pile is good is delivered to the solid tray entry platform by artificial fork truck or other operatorless device to article, detects through bar-code identification and profile detecting test station 8 with artificial or robot piling.If qualified, solid tray 19 warehouse-in; If bar-code identification is unclear or profile detects nonconformity, solid tray 19 is delivered to manual sorting platform 9 by conveyer 10, brand is by the manual entry computing machine, being delivered to profile detecting test station 8 after the profile arrangement again detects, if detect qualified then warehouse-in, previous step is rapid if nonconformity is reformed again, up to detecting qualified warehouse-in again.
Remote control rail self-moving vehicle 2 is a little awaited orders awaiting orders of appointment, central management control computer system 5 sends into library command, remote control rail self-moving vehicle 2 receives order by digital radio, automatically arrive the row of appointment, the first lattice goods yard of layer along rail running, perhaps at lane stacker 1 or under the cooperation of electrical forklift, arrive the first lattice goods yard of the row layer of track appointment.The article solid tray 19 of passed examination, by conveyor delivery to piler storage station 12, again by lane stacker 1 or be put into the first lattice goods yard of the row layer of appointment from electrical forklift cooperation.The automatic goods taking device of remote control rail self-moving vehicle 2 upwards rises, hold in the palm super goods, along 13 operations of remote control rail self-moving vehicle track, automatically recognize suitable parking a little, automatically goods taking device is fallen, and parks goods, gets back to the row of appointment, the first lattice goods yard of layer then, receive new instruction, carry out next one warehouse-in, outbound circulation.If this tunnel warehouse-in, outbound reach specify require after, remote control rail self-moving vehicle 2 will travel back automatically and await orders a little, perhaps at lane stacker or under the cooperation of electrical forklift, get back to and will await orders a little or enter new tunnel operation.Certain is listed as termination, certain layer of pairing tunnel, electromechanical stop is arranged, the article that remote control is stored from the inside to surface one connect one, dense arrangement, the host computer system can leave remote control rail self-moving vehicle 2 under order this tunnel when the first lattice goods yard of the row layer that is stored into appointment, deposits article in lane stacker 1 or from electrical forklift again.
Certain is listed as the article in certain layer of pairing first lattice goods yard, and during outbound, computer system will at first be taken out it with lane stacker 1 or from electrical forklift, vacate this position, be convenient to exchange the position of remote control rail self-moving vehicle 2.Remote control rail self-moving vehicle 2 appointment await orders a little or at the row of appointment, await orders in the first lattice goods yard of layer, 5 issue an orders of central management control computer system, remote control rail self-moving vehicle 2 receives order by digital radio, automatically travel along track 13, perhaps under the cooperation of lane stacker 1, arrive the row of appointment, the first lattice goods yard of layer, automatically travel along track, automatically recognize parking a little of goods, goods taking device upwards rises automatically, holds up goods, get back to the row of appointment then, the layer first lattice goods yard, by lane stacker 1 cooperation, take goods away, deliver to out on the storage station 12, deliver to out warehouse-in mouth 7 by conveyer 10, deliver on the lorry by fork truck again.During the article outbound, computer system is dispatched 5 remote control rail self-moving vehicles 2, divides the tunnel from outside to inside, takes out one by one.If divide the tunnel storage by brand, then can dispatch automatically by computer system, divide the tunnel by brand, one connects a ground outbound.
After article are put into lorry, remaining empty pallet 18 is taken away by fork truck, deliver to empty pallet and align machine 4, carry out piling (6/ group), the empty pallet group that pile is good is waited until when not having goods to go out to put in storage, fork truck is delivered to storage station 12, takes warehouse-in away by piler 1 again, and the flow process of empty pallet group 16 warehouse-ins is identical with the flow process of article warehouse-in.
By the time before goods warehousing being arranged, supervisory computer notice piler 1 takes out empty pallet group 16, delivers to out warehouse-in conveyer mouth 7 by load transfer device 10, is taken off by artificial fork truck cooperation, uses for the goods pile.
The not full tray that delivery can produce rearranges by the host computer system and makes to confirm the back warehouse-in, the pallet that looses go out, put in storage flow process and article to go out to put in storage flow process identical, but looked over one's shoulder by host computer, make mistakes with prevention.
Remote control rail self-moving vehicle 2 is to realize key equipment of the present invention, and it is power with the battery.Battery is quick ultra-high magnifications cadmium-nickel alkaline storage battery group.
This installs high four layers, have 3696 goods yards, on average the cargo size that can store of each goods yard is 1200mm * 1000mm * 1250mm, and the goods maximum weight of each goods yard storage can reach 1.2 tons, by the unified management of computer management dispatching device, scheduling, full-automatic operation.
Lane stacker 1 is the major equipment of automatic stereowarehouse access material, and it is delivered to article on the shelf from going out storage station, or article are delivered to out storage station from shelf according to the instruction of computing machine, remote control rail self-moving vehicle is delivered to specified on the goods yard.Fast identical with lane stacker 1 effect from electrical forklift, be the main material handling equipment that connects between goods, remote control rail self-moving vehicle and the tiered warehouse facility.
Described screen bar code recognizer can be read the bar code with the identify objects case, and reading information is reported the computer management dispatching system.Described remote control rail self-moving vehicle cooperates with piler the material transportation of shuttling back and forth, and realizes material is delivered to or taken out of the goods yard of column, layer; Remote control rail self-moving vehicle and intensive stacking formula shelf are used.
Described automatic conveying device mainly comprises chain-linked conveyer, lift and conveyer, bay-lift.By these load transfer devices article solid tray 19 is transported to piler and goes out storage station 12, be transported to article and go out the reservoir area otherwise the article solid tray is gone out storage station from piler.In addition, it also finishes the mass transport work that empty pallet group, empty tray go out, put in storage.Automatic guidance and unified management scheduling are carried out in various operations such as the warehouse-in of equipment such as 6 pairs of lane stackers 1 of autonomous cruise speed system, automatic conveying device 10 and remote control rail self-moving vehicle 2, outbound, carrying, detection.The computer management dispatching system comprises that logistics management, scheduling and logistics control several aspects, just melt working control and physical asset management, be scheduling to one, solve mechanization, automation and the rationalization of logistics activity, the streams that stroke is autotelic, real-time reaches rapid, accurate, timely, efficient modern storehouse management function.
Claims (4)
1, a kind of automatized high-density warehouse method, this method comprises the following steps:
(1) article detect
The article pile forms solid tray on empty pallet, the solid tray that pile is good is delivered to the solid tray entry platform by artificial fork truck or other operatorless device, detect through bar-code identification and profile detecting test station, if qualified, the solid tray warehouse-in; If bar-code identification is unclear or profile detects nonconformity, solid tray is delivered to the manual sorting mouth by conveyer, and brand is by the manual entry computing machine, being delivered to the profile detecting test station again after the profile arrangement detects, if detect qualified then warehouse-in, previous step is rapid if nonconformity is reformed again, up to detecting qualified warehouse-in again;
(2) article warehouse-in and storage
Remote control rail self-moving vehicle is a little awaited orders awaiting orders of appointment, the computer management dispatching system is sent into library command, remote control rail self-moving vehicle receives order by digital radio, automatically arrive the row of appointment, the first lattice goods yard of layer along rail running, perhaps at the track piler or under the cooperation of electrical forklift, arrive the first lattice goods yard of the row layer of track appointment.The solid tray of passed examination, by conveyor delivery to the piler storage station, borrow the position by the lane stacker or first lattice that are put into the row layer of appointment from electrical forklift cooperation again, the automatic goods taking device of remote control rail self-moving vehicle upwards rises, hold in the palm super goods, orbiting, automatically recognize suitable parking a little, automatically goods taking device is fallen, park goods, get back to the row of appointment then, the first lattice goods yard of layer, receive new instruction, carry out next one warehouse-in, the outbound circulation, if this tunnel warehouse-in, after outbound reaches and specifies requirement, remote control rail self-moving vehicle will travel back automatically and await orders a little, perhaps at the track piler or under the cooperation of electrical forklift, get back to and await orders a little or enter new tunnel operation, certain is listed as termination, certain layer of pairing tunnel, electromechanical stop is arranged, the article that remote control rail self-moving vehicle is stored from the inside to surface one connect one, dense arrangement, the host computer system can leave remote control rail self-moving vehicle under order this tunnel when the first lattice goods yard of the row layer that is stored into appointment, deposits article in lane stacker or from electrical forklift again;
(3) article outbound
Certain is listed as the article in certain layer of pairing first lattice goods yard, during outbound, computer system will at first be taken out it with lane stacker or from electrical forklift, vacate this position, be convenient to exchange remote control rail self-moving vehicle, remote control rail self-moving vehicle appointment await orders a little or at the row of appointment, await orders in the first lattice goods yard of layer, the issue an order of computer management dispatching system, remote control rail self-moving vehicle receives order by digital radio, automatically along rail running, perhaps at the track piler, arrive the row of appointment down from the cooperation of electrical forklift, travelling automatically along track in the first lattice goods yard of layer, recognizes parking a little of goods automatically, automatically get and count upwards rise of device, hold up goods, get back to the row of appointment then, cooperate by the track piler or from electrical forklift in the layer first lattice goods yard, take goods away, deliver on the outbound platform, deliver to out the warehouse-in mouth, deliver on the lorry by fork truck again by conveyer; During the article outbound, computer management dispatching system remote control rail self-moving vehicle divides the tunnel from outside to inside, takes out one by one; If divide the tunnel storage by brand, then can dispatch automatically by computer system, divide the tunnel by brand, one connects a ground outbound.
2, in accordance with the method for claim 1, it is characterized in that described empty pallet adopts following method to handle:
After article were put into and borrowed car, remaining empty pallet was taken away by fork truck, delivers to empty pallet and aligns machine, carry out piling, the empty pallet group that pile is good waits until that fork truck is delivered to storage station when not having goods to go out to put in storage, take warehouse-in away by piler again, the flow process of empty pallet group warehouse-in is identical with the flow process of article warehouse-in; By the time before goods warehousing being arranged, supervisory computer notice piler takes out the empty pallet group, delivers to out the warehouse-in mouth by load transfer device, is taken off by artificial fork truck or the cooperation of other facility.
3, in accordance with the method for claim 1, it is characterized in that adopting following method to handle: the not full tray that delivery can produce to loose mail, rearrangement do to be confirmed the back warehouse-in by the host computer system, the pallet that looses go out, put in storage flow process and article to go out to put in storage flow process identical.
4, a kind of device that is used to realize the method for claim 1, comprise physical construction, it is characterized in that said physical construction is by lane stacker, remote control rail self-moving vehicle, tiered warehouse facility, empty pallet aligns machine, the computer management dispatching system, autonomous cruise speed system goes out to put in storage conveyer, profile detects platform, the manual sorting platform, transfer mechanism system, fast automatic battery-charging station, piler goes out storage station, remote control rail self-moving vehicle track, three-dimensional column, lane stacker sky rail, object solid tray or empty pallet group, lane stacker ground rail is formed; The automatic transport machine system equipment is positioned at the tiered warehouse facility outside, realize that with vertical library the transfer of material connects by lane stacker or homing guidance fork truck, the empty pallet machine of aligning is placed on beyond the automatic transport machine system equipment, also can directly in the transfer mechanism system, be provided with, fast automatic battery-charging station is placed in the outside of tiered warehouse facility, lane stacker shifts the operation of charging on the fast automatic battery-charging station of remote control rail self-moving vehicle, three-dimensional storehouse upright supports the C shape crossbeam of shelf, and is supporting lane stacker sky rail; Remote control rail self-moving vehicle is an orbit to borrow the frame crossbeam, remote control rail self-moving vehicle roller is back and forth operation in the C of guard frame rail type groove, lane stacker is back and forth operation between sky rail and ground rail then, package unit is is automatically allocated and transported row by automatic controlling system by the computer management dispatching system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 00120529 CN1105672C (en) | 2000-10-28 | 2000-10-28 | Method and apparatus for automatized high-density warehouse |
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| CN 00120529 CN1105672C (en) | 2000-10-28 | 2000-10-28 | Method and apparatus for automatized high-density warehouse |
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| CN1105672C true CN1105672C (en) | 2003-04-16 |
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2000
- 2000-10-28 CN CN 00120529 patent/CN1105672C/en not_active Expired - Lifetime
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