A system and method provides a supply of consumables to a processing instrument that uses one or more of the consumables for each of a plurality of processes performed by the instrument. The system includes a loading drawer holding a carrier for receiving a plurality of consumables and an input module for holding a carrier supporting a plurality of consumables thereon and presenting the consumables for access by the instrument. A transporter includes a vertical elevator and a lateral actuator for moving a lift platform vertically and laterally and for transporting carriers on the lift platform with or without consumables supported thereon between the loading drawer and the input module, between the loading drawer and one or more holding shelves, or between the input module and one or more holding shelves. A carrier includes parallel support rails for holding multiple receptacle units and retainer tabs for retaining the units on the support rails.

Warehouse vehicle, which can be moved along a guide rail (40) provided with engagement elements (43), the vehicle comprising running gear (30) and a drive unit (20) connected to the running gear (30). The drive unit (20) comprises a drive wheel (21) which is coupled to a drive motor and has circumferential engagement elements; and a continuous drive belt (25) which is provided with engagement elements; and a guide roller assembly (22, 24, 24a) for guiding the continuous drive belt (25), which guide roller assembly is configured such that the continuous drive belt (25) can be brought into engagement with the drive wheel (21) and with the engagement elements (43) of the guide rail (40) in order to drive the warehouse vehicle. The warehouse-vehicle drive according to the invention allows high acceleration values and thus a high level of performance of the warehouse vehicle.

Proposed are an OHT vehicle and a method of controlling the operation of the same. More particularly, proposed is a technology in which when a steering change is not performed properly as a steering wheel is adhered to a damper during the operation of a steering unit of an OHT vehicle, a dithering motion function is applied to the steering wheel to enable an efficient steering change of the OHT vehicle.

An apparatus for transporting groups of consumables between vertically spaced holding shelves that includes a support chassis laterally spaced from the holding shelves, a transport elevator coupled to the support chassis, a lift platform, and a scissors actuator connecting the lift platform to the support chassis and configured to laterally translate the lift platform between a first position laterally aligned with the support chassis and a second position laterally aligned with one of the holding shelves.

A first wheel supporting portion of a stacker crane is fixed to a travelling vehicle main body to be pivotable in the horizontal direction. A first drive wheel is supported by the first wheel supporting portion and is able to contact one side surface of a lower guide rail. A lock mechanism fixes the first wheel supporting portion to the travelling vehicle main body so that the first wheel supporting portion cannot pivot. A second wheel supporting portion is fixed to the travelling vehicle main body to be capable of pivoting horizontally. A second drive wheel is supported by the second wheel supporting portion and is able to contact with another side surface of the lower guide rail. A pressing mechanism presses the first and second wheel supporting portions such that a distance between the first wheel supporting portion and the second wheel supporting portion is reduced, to cause the first and second drive wheels to laterally clamp the lower guide rail. Pressing of the pressing mechanism is capable of being released.

First and second masts of a stacker crane are provided in a travelling vehicle main body to be spaced away from each other in an X-direction and extending in a Z-direction. First and second travel wheels are mounted to the travelling vehicle main body to be spaced away from each other in the X-direction, and roll on an upper surface of a lower guide rail. First and second drive wheel units are provided in the travelling vehicle main body to be spaced away from each other in the X direction. Each of the first and second drive wheel units includes a first drive wheel and a second drive wheel. The first drive wheel is in contact with a first side surface of the lower guide rail, and the second drive wheel is pivotably attached to the travelling vehicle main body and urged toward the first drive wheel so that the second drive wheel is in contact with a second surface of the lower guide rail.

A stacker crane includes a lower carriage including a lower drive wheel, a lower travel motor, and a support located apart from the lower drive wheel; an upper carriage including an upper drive wheel and an upper travel motor that drives the upper drive wheel; and a mast fixed to the lower carriage, standing upward from the lower carriage and connected to the upper carriage, and including a transfer device capable of moving up and down. A displacement mechanism that raises and lowers the support is provided on the lower carriage between a grounded position supported by a lower rail and a retracted position lifted off the lower rail. The support is lowered to the grounded position when the stacker crane is installed between the lower rail and the upper rail and when the stacker crane is stopped for maintenance, and the support is raised to the retracted position when the stacker crane is operated.

In a lifting drive mechanism, first and second masts extend in the vertical direction. A lift platform is configured to be lifted or lowered along the first and second masts. A hanging belt includes a first end fixed to an upper portion of the lift platform and a second end fixed to the lower portion of the lift platform. An upper pulley supports the hanging belt. A driving pulley moves the hanging belt in a positive direction and a negative direction. An idler pulley is arranged in front of, in back of, or on both side of the drive pulley. A lower pulley is lower than the upper pulley and supports the hanging belt. A supporting member is pivotable around a fulcrum spaced away from a rotation center of the lower pulley in the horizontal direction, and is fixed. The supporting member includes a first end extending from the fulcrum in the horizontal direction and supporting the lower pulley such that the lower pulley is pivotable.

First and second masts of a stacker crane are arrayed in an X direction and extend vertically. Connecting plates are mounted at lower portions and on both side surfaces, facing a Y direction, of the first and second masts, each including an upper portion fixed to the first or second masts, and a lower portion whose width in the X direction is greater than that of the upper portion. First and second lower hollow frames include a pair of hollow members disposed on both sides of the first and second masts in the Y direction and extending in the X direction and are fixed to the lower portions of the connecting plates. Travelling wheels are supported by the connecting plates and roll on a lower guide rail.

A lifter system based traversal mechanism for a robot includes detection of the robot at a predetermined distance from a movable platform. The movable platform is part of the lifter system. Teeth orientation of cog wheels of the robot are changed to match teeth orientation of teeth of a fixed teeth structure of the movable platform. The movable platform is moved in to a predetermined proximity of the robot so that teeth are engaged. The movable platform takes the robot from a first position to a second position. On reaching the second position the robot is disengaged from the movable platform.