Abstract: A system for storing dies and the like has a plurality of die storage cells arranged vertically in two columns with an elevator mounted in between. The system can be interfaced with a press or other equipment by means of a bridge. The storage cells each have three rollers mounted therein to guide and transport the dies. The elevator has a lift table with ball rollers and V-rollers thereon. The V-rollers guide the die from side to side and the V-rollers guide the die from front to rear and vice-versa on the elevator. There is a ball screw on the elevator to push or pull the dies from side to side between the elevator and the storage cells. There is a one way rigid chain unit on the system to push or pull the dies from front to rear or vice-versa on the elevator to or from the system.

Abstract: An apparatus for transferring a substantially circular article from a first unloading position to a second loading position compensates for misalignment of the article on a support arm. During movement of the support arm the periphery of the circular article is detected, and a correction of the movement of the support arm is generated.

Abstract: A process for handling products comprising the steps of providing a product handling system having a storage structure comprising a plurality of product pallet lanes having product pallets therein, simultaneously replenishing pairs of juxtaposed pallet lanes with corresponding pairs of pallets, determining if there is a product pallet lane depleted of product pallets such that the quantity of product pallets therein is below a first predetermined quantity; and automatically suspending the simultaneous replenishment of pairs of juxtaposed lanes if it is determined that there is a depleted lane, and replenishing only the depleted lane until the quantity of product pallets therein increases to a second predetermined quantity.

Abstract: A fork-lift apparatus for use in a stacker crane has a running apparatus for traveling forward and backward and a carriage provided with a fork device and arranged for upward and downward movements by a lift apparatus for the purpose of carrying a load with the fork device to and from a desired rack in a multi-tier automatic warehouse. In particular, the carriage has at its lower region a swivel device, a swivel frame driven by the swivel device for rotating movement, and a ram fork provided in the swivel frame as driven by a drive device for movement.

Abstract: A method and apparatus for correcting the appearance of each of a plurality of vertically stacked load stages each stage having a load placed on a pallet. Each of the vertically stacked load stages is separated independently of the other, and each separated load stage is corrected.

Abstract: A moveable label printer-applicator/conveyor loader assembly for loading articles onto a conveyor comprises a frame mounted for movement along a conveyor path and a controller. The controller receives data from a host computer which specifies an article to be selected and actuates a drive motor to move the assembly to the selected bin location. The quantity of articles to be picked is displayed to an operator via a CRT display. Sensors detect the profile of articles loaded onto the conveyor and transmit this data to the controller. After the controller verifies that the correct article has been selected, a labeler prints and applies a label to each article.

Abstract: An inter-system transport mechanism for moving data cartridges between robotic data cartridge handling systems in an automated fashion is disclosed. Each data cartridge handling system includes a carousel-type storage mechanism for storing a plurality of data cartridges. A gripper mechanism comprising a gripper assembly, an extension axis assembly, and a vertical rail assembly is provided to transport the data cartridges to the storage mechanism and the inter-system transport mechanism.

Abstract: For an article processing system which includes a filler and a capper, for example, an operating status display is provided which is capable of monitoring the operating status of the filler or capper under an optimum condition. The system includes a filler and a capper as article processors, each of which includes a plurality of sensors, and information derived by these sensors are stored in a memory at corresponding addresses. A controller includes an editor which permits a suitable location on display means to be allocated for a selected one of the addresses, and allows information stored in the memory at a specified address to be displayed on the display means at a location allocated by the editor. In this manner, any desired information detected by the sensors may be easily displayed on the display means in any desired combination.

Abstract: A dynamic sweeping mechanism which drives a line-scan camera's field of view in a direction which is substantially perpendicular to the scan direction. The operation of the dynamic sweeping mechanism enables the line scan camera to make multiple scans across a target, providing the image processor the necessary image information to generate a two-dimensional image of the object as well as positioning the line scan camera at an optimal angle of view to obtain accurate single scan image data. The scan line angle of view is dynamically swept in a rotational manner about an axis of rotation which is parallel to the scan line under the control of either a dedicated drive mechanism or coupled to pre-existing drive mechanisms in the robotic hand mechanism.

Abstract: In a multi-bin sheet collecting system for a reproduction apparatus, in which printed sheets may be directed an array of bins for job separation, sorting, and/or user mailboxing, to stack on a tray in a selected bin, the removal of printed sheet from individual bins is sensed to indicate the availability of those bins for receiving further printed sheets by an integral optical transmitter/receiver unit mounted in an aperture in each bin tray in an area to be overlaid by sheets stacked thereon. Each transmitter/receiver unit has a light transmitting element transmitting a first light beam in a first direction towards another transmitter/receiver unit in the next adjacent bin in the first direction, and a light beam receiving element for receiving a second light beam from a second, opposite direction and generating an electrical bin empty signal to a controller unless the second light beam is blocked by sheets in the tray of the adjacent bin.

Abstract: A method and apparatus are described for on-the-fly cataloging of library cell contents in an automated robotic tape library. This method decouples the robotic arm motion/tape cartridge label scanning process from the image processing software/hardware. In accordance with the present invention, tape cartridge label images are captured at a library system processor priority which is higher than the priority of the image processing task. These captured images are stored in a circular buffer while image processing continues to take place in a lower priority task. Both the image processing system hardware and software are asynchronous with respect to the velocity of the robotic arm used to scan the tape cartridge cells. The scanning velocity of the robotic arm can be maximized with respect to purely mechanical, electrical, or optical camera considerations and is independent of the library system processor image processing speed.

Abstract: A robotic arm calibration system is described which comprises a video line scan camera vision system used in conjunction with a plurality of novel "N"-shaped targets in an automated tape storage library. The targeting system of the present invention provides, with a single horizontal video scan of the target, all of the data necessary to enable calculation of a reference point of the robotic arm with respect to each target to thereby obtain precise robotic arm calibration in relationship to the library system workspace. The position of the robotic arm is determined using the vision system in conjunction with calibration targets which are located within the tape cartridge library, in addition to a target located on the robotic arm. The present system functions independently of the spacing between the arm retrieval mechanism and the tape cartridge storage cells.

Abstract: An improved article handling system includes an article storage structure for containing articles to be handled, transport structure for transporting articles to a position where they can be delivered to or removed from machine, control devices to identify, remove and deliver article to said storage bins, a record keeping device for recording each transaction of the system including dispensing, retrieval and identification of the article and user. The construction and arrangement of the transport means for transporting articles to the dispense and/or return position is unique in its construction, its two axes of motion is performed using one motor allows this article vending machine to be constructed very efficiently and at a very reliable cost. Further, The article vending machine is capable of identifying articles for return prior to their insertion into the machine.

Abstract: A method of adjusting the moveable unit of a positioning device having a light source and a photodetector for scanning markers identifying positions at which the moveable unit is to be located includes the steps of accurately and manually positioning the unit at one of the identifying positions. The unit is then automatically driven to a second position where the output signal of the photodetector is maximum. The deviation from the first position to the second position is stored as an offset which is subsequently used to accurately position the moveable unit.

Abstract: An article handling system comprises closed loop pathways, movable carriers adapted to travel along the pathways, a plurality of article storage buffer stations located adjacent to the pathways, and a hierarchical control system for controlling the transfer of articles to or from a given one of the article storage buffer stations by a movable carrier. The buffer stations provide distributed article storage which allows the system to operate with enhanced speed and efficiency.

Abstract: An apparatus for taking out and storing articles includes a stocking device having a plurality of compartments for storing articles, a carrier for moving articles which is movable with respect to the stocking device in multi directions, and a control device for memorizing the position of a compartment in which an article is stored and for controlling movement of the carrier by means of the identification code on the article. The storing and taking out articles can be carried out automatically, thereby reducing operation time required for storing and taking out articles.

Abstract: The method is characterized by identifying each form stack (8) with regard to the identity received during manufacture thereof, the information received regarding the identity of the form stack (8), comparing the information received regarding the identity of the form stack (8) with stored information regarding the identities of one or more form stacks (8) sorted in the storage system (11), sorting form stacks (8) with a certain identity in such compartments in the storage system (11) containing a form stack or form stacks (8) with the same identity if, during the identity comparison, it is determined that there is/are one or more form stacks (8) with the same identity in a certain compartment in the storage system (11), sorting form stacks (8) with a certain identity in a free compartment in the storage system (11) if, during the identity comparison, it is determined that there is/are not one or more form stacks (8) with the same identity in the storage system, and removing stored identity information when a

Abstract: The modular magazine for feeding tubular containers for stacks of electronic components to a dispenser rack of a machine for the automatic insertion of such components essentially comprises at least one assembly with containment cells for respective tubular containers of the components, each cell being defined by an elongated compartment closed at least at one end by an oscillable lid element, a plurality of sensor elements, each of which is associable with a preset respective portion of the rack to indicate the depletion of components in at least one of the containers in the rack, and electronic control circuit elements driven by the sensor elements to indicate the depletion of the components in the at least one container and to actuate the opening oscillation of the oscillable lid of that cell among the assembly of cells which accommodates tubular containers which contain components of the kind of the depleted ones.

Abstract: A handling apparatus, used for handling a carrier of semiconductor wafers, comprises a first mechanism for transferring a carrier between a loader/unloader table and a storage compartment, and a second mechanism, for moving the first mechanism in both vertical and horizontal directions. The first mechanism includes an arm, a loading portion for loading the carrier, and an arm-rocking mechanism. The second mechanism moves the first mechanism to the loader/unloader table, picks up the carrier, and then moves the first mechanism to the storage compartment, where the arm is rocked, so as to discharge the object from the loading portion.

Abstract: A new and useful device for initializing an automated warehouse system when the system is in its "power-up" mode. The device of the invention initializes the system at "power-up" by sensing the midpoint of a specially formed gap between two strips of retroreflective tape, and establishing the midpoint of that gap as the floating, zero offset, reference point for the system.

Abstract: A loading elevator for a multi-platen press is provided with a pusher which simultaneously transfers a number of transport plates loaded with stampings to the press. After press operations are completed, the plates are unloaded by an extractor to an unloading elevator. The pushing and the unloading of the plates are automatic, with sensors provided to halt the loading and unloading in the event of excessive resistance to the movement of any one of the plates. A plurality of sensors are provided in the pusher and in the extractor, one sensor there for each of the plates. Each sensor is connected to halt the operation on recognition by the sensor that an express resistance exists and if desired to provide a signal that the halting has taken place.

Abstract: A wafer basket station includes a semiconductor wafer basket containing therein a number of semiconductor wafers and an elevating device which raises and lowers the wafer basket to bring a desired wafer in its taken out height. A wafer detecting device is formed with a transmission type optical sensor disposed inclined so that the optical axis thereof passes a center of a semiconductor wafer at the desired height, but not to pass adjacent wafers of the semiconductor wafer.The elevating device of the wafer basket has an elevator which supports wafers to be worked and treated and is guided and driven vertically with respect to a base frame of the device. The elevator is provided with an opaque body. A photocoupler support plate is guided to move vertically and supported with respect to the base frame of the device. A spring means is energized in the departing direction away from the photocoupler support plate against the base frame.

Abstract: A system using free ranging automatic guided vehicles (AGVs) for loading and unloading material from a number of trailers is provided. The system employs a plurality of sensors for monitoring both pedestrian, operator driven vehicles and other AGV traffic, and for ensuring that the trailers are parked in position and ready for loading and unloading. The system further includes signals for controlling traffic and a plurality of trailer mounted targets for AGV navigation. During an operation cycle full containers are unloaded from a first trailer and empty containers are loaded on a second trailer.

Abstract: An apparatus for dispensing and returning reusable articles each identifiable with its own identification code, comprising: a pair of opposing, stationary arrays of locations, each location being capable of holding a reusable article therein and having its own particular location code; a memory adapted to store details of the location codes and the article codes in memory; a data receiver for receiving informational data from a patron; a receptacle for receiving and discharging the articles; a transfer mechanism for placing an article in a location in the arrays or removing an article therefrom, the transfer mechanism being movable relative to the arrays between operative engagement with any of the locations and the receptacle; an article code sensing device adapted to sense the article code of an article carried by the transfer mechanism; and a control device having means for receiving control information and for generating output instructional information and control signals, the control device being respon

Abstract: A monitoring device for determining the presence or absence of wafer-like objects in a carrier having a plurality of shelves, each shelf being constructed to support one such object in an orientation normal to a carrier axis. The monitoring device may advantageously be used in an apparatus for handling wafer-like objects in a self-contained environment. The monitoring device includes a first detector capable of detecting movement of a body past the detector and generating a corresponding first signal. A translation member is physically coupled to the carrier, such that movement of the translation member results in movement of the carrier. The translation member is moved such that the carrier, and any objects such as wafers supported in the carrier, move along the carrier axis past the first detector. As the translation member moves, a position signal is generated, such that the position signal encodes the position of the translation member.

Abstract: Apparatus for distributing empty and filled trays in a production line wherein the output of a cigarette maker is normally processed by a packing machine has a tray filling unit which withdraws the surplus of cigarettes from the transporting unit between the maker and the packing machine, a tray evacuating unit which admits stored cigarettes from trays into the transporting unit when the requirements of the packing machine exceed the output of the maker, at least one mobile magazine for empty and filled trays, and a transferring device which can advance filled and empty trays directly between the two units or between either of the two units and the magazine. The transferring device has an inclined holder for a filled or an empty tray and motors which can move the holder up or down as well as about a vertical axis.

Abstract: An automatic handling apparatus for plate-shaped objects, including a height-adjustable magazine having compartments lying horizontally, one above the other, and a manipulator which can be moved in a linear manner and is swivelable. The manipulator is equipped with interchangeable gripping arms. The gripping arms and the plate-shaped objects are deposited in compartments of the magazine. The compartments include a coding for the size and shape of the plate-shaped objected and the associated gripping arms. A control device controls the manipulator as a function of the coding of the plate-shaped object or gripping arm to be handled.

Abstract: An apparatus and method for controllably moving the carriage assembly of a automated load handling vehicle vertically and horizontally. The carriage assembly includes load detecting sensors which detect the opening in the load during movement of the carriage assembly. Once the opening is located, a controller positions the carriage assembly at vertical and horizontal target positions, and moves the carriage assembly into the opening.

Abstract: A document and storage retrieval system including a plurality of containers, each having machine readable identifying indicia thereon. The containers are positioned by automatic palletizing apparatus on each of a plurality of pallets. The identity of the containers on each pallet is correlated with a storage location address assigned by a controller. Additionally identifying indicia for the pallet is preferably correlated to the address. On retrieval of a selected container, the pallet is retrieved, all of the containers are removed from the pallet, the selected container is sorted from the remaining containers, and all of the remaining containers are repalletized and reassigned a new address in the storage volume. The address or location of containers in the storage volume is dynamically changing, but the controller for the system always has a correlation of container identities and storage location addresses.

Abstract: An improved catalyst handling process and system is provided to safely, effectively, and automatically transport catalyst by remote control to and from resid hydrotreating units. The process and equipment feature computerized monorail equipment for efficiently transporting special fresh catalyst containers and spent catalyst containers. Various electronic equipment is provided to electronically detect the type of catalyst stored in the catalyst containers. Lift elevators, four-prong liftfork trucks, remote control tilting mechanisms, catalyst transfer lines, deoiler units, bridge cranes, and other transport vehicles, as described, can also be used.

Abstract: A photoelectric system for controlling storage units arranged in a row and movable along the row to form passageways between adjacent storage units. Each storage unit includes a motor for moving the storage unit in respnose to manual and automatic electric control signals. Light-operated transmitters and receivers are located on each side of each storage unit so that the transmitters and receivers of the storage units interact with each other to control movements of the storage units in a preselected manner. Mirrors are also located on each side of each storage unit so as to provide a reflective signal path between a transmitter and receiver located on an adjacent storage unit. The reflective path is completed when the storage units are spaced a preselected distance from one another. Logic circuitry for the control system is also disclosed.

Abstract: An automated parts supply system is disclosed for a manufacturing operation to deliver parts to individual work stations on a "just-in-time" basis. A carrier module with a supply of parts in a set of containers is placed on a computer controlled guided vehicle at a receiving station. A record of module data including the identification, quantity and location of parts in the module is supplied for use in the computer system. The vehicle is automatically controlled to move to successive work stations to deliver parts according to a predetermined schedule and in response to special interrupt requests. The system may include more than one vehicle and each vehicle may be loaded with more than one parts carrier module. An in-plant storage module may be used as a back-up supply source in conjunction with scheduled delivery of parts carrier modules at the plant receiving dock.

Abstract: A device for exchanging disks is provided with a pair of opposing disk containers each containing a large number of disk caddies each having side grooves and an upper surface having a recess adapted for containing a disk, a unit for extracting disks interposed between the opposing disk containers and adapted for extracting disk caddies from these disk containers, and a unit for vertically shifting the disk extracting unit. The latter is movable between the disk containers from a first position to a second position and vice versa, and is provided with a pair of hook members cooperable with one of the disk containers and another pair of hook members cooperable with the other disk container. These hook members are actuated by electromagnetic devices thereby and engageable in the side grooves of the disk caddy.

Abstract: A control device for loading and unloading mechanism adapted to be incorporated in a fork lift truck comprises a sensor unit 100 including a lifting height sensor 102, a control unit 200 comprising a control command producing circuit 240 constituted by a microcomputer 230 producing a control command on the basis of comparing calculation between the output of the sensor unit 100 and the concerned data stored in the microcomputer 230, and a driving unit 300 producing a driving output signal so as to the lifting height of the fork 18 in accordance with the control command fed from the control unit 200. The control device includes a component operable for inhibiting storage of sampled lifting height data when the actual lifting height data are not within an allowed range, thereby to prevent erroneous operation based on erroneous data and to effect smooth follow-up speed control to the target height when automatic lifting height control is effected.

Abstract: A scanning mechanism is provided for scanning individual output bins for receiving documents from a paper printer. The mechanism determines each bin's availability for receiving documents, the degree of fullness and whether or not a lock box is positioned in the bin for receiving designated documents.

Abstract: In a system for controlling the horizontal and vertical alignment of a materials handling vehicle and for transferring articles to and from storage locations of a warehousing system in which several control sensors are positioned on the materials handling vehicle, a monitoring method and circuit for determing the operational status of the sensors by monitoring their status during a selected portion of a cycle of operation when their output is known. In one embodiment sensor outputs are cross checked against each other during a portion of an operating cycle in which the sensors outputs will be at a predetermined relationship to one another.

Abstract: Storage installation permitting the automatic selection and removal of articles stored at different levels on carrying elements of one or more shelf units, each carrying element (5) being fitted with a device for transporting the articles and with an individual and self-governing control member (6) for actuating this transporting device. The articles removed in this way can be grouped and moved by a common transporting means towards a central packaging and distributing station.

Abstract: A commodity retrieval and storage apparatus which includes shelves for storing a plurality of like configured commodities. A movable carriage is vertically and horizontally displaceable along the shelves and carries apparatus for engagement with the commodity selected, apparatus for transferring the selected commodity to the carriage and apparatus for securely holding the selected commodity to the carriage. After transfer of the commodity to the carriage, the carriage may be moved to a commodity processing area.

Abstract: A storage rack entry vehicle for transporting loads in a warehousing system includes infrared radiation source and detector units which determine the relative position of the vehicle and load. The optical axes of the source and detector are parallel and closely-spaced. When infrared radiation from the source is scattered by the load (or a pallet carrying the load), some of the radiation is reflected back to the detector along a path substantially parallel to the optical axes. The maximum range of detection is controlled by adjusting the gain of an amplifier which forms part of the detector.

Abstract: An article handling system and, more particularly, a box or container picker system having miniaturized components for detecting the presence as well as the orientation of various sizes of boxes and containers in a pallet layer of product including suction cups and associated pneumatically-operated sensing structure arranged in arrays for detecting the presence or absence of a box or container therebeneath during a cycle and controls for determining the coordinates at which box presence is detected and also for activating those suction heads which are to function to pick a box from a layer of product. The vacuum pickup head including the suction cup has a casing with an interior vacuum chamber controlled by a motor-operated valve member which, in one position, connects an operating negative pressure to a suction cup and, in another position, closes off the negative pressure and connects the suction cup to atmosphere.

Abstract: A system for determining the position of vehicles in an automated warehouse of the type utilizing transfer vehicles and robot vehicles is disclosed. The position determining system includes a photo-electric sensor flexibly coupled to a robot vehicle, which sensor is responsive to its alignment with a pallet stored in the warehouse. The system further includes a photo-electric reflector retaining bracket mounted adjacent to an aisle in the warehouse, the bracket supporting a number of reflectors arranged in a pattern containing information identifying the aisle. A photo-electric transceiver supported by a mounting bracket is connected to a transfer vehicle and is arranged to provide an output signal related to the pattern of the reflectors when the transceiver is in alignment with the reflectors whereby the transfer vehicle is apprised of its location in the warehouse.