檔案管理存儲類立體倉庫主要被裝在辦公樓內(nèi)，教學(xué)類立體倉庫也主要放在教室內(nèi)，而模具存儲類，標(biāo)準(zhǔn)件存儲類立體倉庫主要放置在車間內(nèi)。隨應(yīng)用場合不用，其結(jié)構(gòu)有小的區(qū)別。下面就以存儲朔料箱的立體庫為例進(jìn)行介紹。這類立體庫主要由貨架，朔料箱，放貨出貨處和取放搬運機器人組成。圖1是沈陽萊茵機器人德國合作伙伴Berger Lahr公司的多貨架和單貨架兩種小型立體庫。我們?yōu)橛脩羲O(shè)計的立體庫也是借鑒百格拉的成功案例及得到他們的幫助，特別是抓取部分。圖2是沈陽萊茵機器人為一用戶設(shè)計制造的1000箱銀行保管箱自動存取系統(tǒng)和為一客戶設(shè)計的太陽能板自動存儲系統(tǒng)。盡管各家的小型立體庫有區(qū)別，但主要部分都類似，下面就對各個主要部分進(jìn)行簡單的介紹。
圖1：Berger Lahr多貨架立體庫和單貨架立體庫。
圖2：左圖是萊茵機器人設(shè)計制造的1000箱全自動保管箱系統(tǒng)，右圖是為用戶設(shè)計的太陽能板自動存儲庫。
（壹）可編程序控制器（PLC）
Allen Bradley羅克韋爾AB 1747/1756/1784/1785/2094/2098/1394C/1336F/1745系列,瑞恩模Reliance系列
GE Fanuc發(fā)那科 IC647/693/697/IC660系列模塊卡件
Schneider施耐德140（Quantum處理器,內(nèi)存卡,電源模塊）AS開頭系列
Siemens西門子6DD,6DS老型號停產(chǎn)系列 /摩爾MOORE（APACS I/O模塊,通信模塊,電源模塊。數(shù)字控制器）系列
OMRON（歐姆龍） C500系列
（貳）分散式控制系統(tǒng)(DCS)
ABB 工業(yè)機器人備件DSQC系列/procontic(BBC) DP800 Bailey Control(貝利) Net90/Infi90
FOXBORO（?？怂共_）FBM系列
TRICON（EX）3503E 3805E 3604E ESD系統(tǒng)備件
Honeywell霍尼韋爾 TDC2000/3000 系統(tǒng)備件模件 Leeds & Northrup MAX1000
Bosch Rexroth 博世力士樂 Indramat,I/O模塊,PLC控制器,驅(qū)動模塊等
OVATION DCS系統(tǒng)卡件
YOKOGAWA橫河
（叁）MOTOROLA 摩托羅拉MVME
工業(yè)用模組 MVME147 /167/177/162系統(tǒng)模組
GE,VMIC VME BUS 卡件
XYCOM VME BUS,庫卡Kuka機器人系列備件
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全球瘋狂低價甩賣
HP/Agilent 85990A Multicarrier Signal Generator, 5 to 1100MHz, 75 ohm
Tektronix ADA400A, ADA-400A Tektronix ADA400A Differential Preamplifier
Boonton 952011 Kit Probe Kit
HP/Agilent 54001A Probe 1 GHz For 54100 Series
HP/Agilent 10430A 500MHz Probe
HP/Agilent 10434A 10:1, 1m Miniature Passive Probe
HP/Agilent 1144A 800MHZ Active Probe
HP/Agilent 1152A 2.5ghz,0.6pF Active Probe
HP/Agilent 11807A -100 HP 8920A/21A RF Communications System Support Test Software
HP/Agilent 11807B-044 HP 8921A/D RF Communications System Northern P Series Cell Site Test Software Option 044 Rev. B.01.20
HP/Agilent 11807B-H04 HP 8921A/D RF Communications System Northern Telecom DRU/TRU Test Software Option H04 Rev B.01.05
HP/Agilent 16089B Kelvin Clip Leads
HP/Agilent 41941A Impedance Probe Kit
HP/Agilent 44492A Reed Relay Multiplexer Assembly b Characteristics:
HP/Agilent 5060-3351 Option 760 PCA Relay for the 66100 series modules
HP/Agilent 54007A RF & Lightwave Accessory Kit
HP/Agilent 54701A 2.5-Ghz, 0.6-pF Active Probe
HP/Agilent 66001A Modular Power System Keyboard
HP/Agilent 81000VA Optical Interface ST Connector
HP/Agilent 85036B 75ohm type N Calibration Kit
HP/Agilent 85131D Semi-Rigid Cable Set, 3.5 mm to 3.5 mm
HP/Agilent 85620A Mass Memory Module
HP/Agilent 85702A 128K BYTE RAM Card
HP/Agilent 85902A Burst Carrier Trigger
HP/Agilent E4444A Benchb Spectrum Analyzer software version A.01.06 for Windows 95, 98, & NT
Tektronix 012-1221-00 2 Meter Cable For Sampling Heads
Tektronix 1101 Probe Power Supply
Tektronix 1101A Probe Power Supply
Tektronix 1102 Probe Power Supply
Tektronix K420 Tektronix K420 Oscilloscope Cart
Tektronix P6139A Tektronix P6139A 501 MHz, 10X Probe Accessories/Probes
Tektronix P6243 Tektronix P6243 Probe
Tektronix P6245 Tektronix P6245 1.5Ghz FET Probe
Wavetek 15271 Power Detector, 1MHz-26.5GHz
Wiltron 34RKNF50 Precision Ruggedized K (m) to N (f) Adapter, 20 GHz
WILTRON 560-97N50 VSWR AutoTester
Racal Instruments 11-1572 SENSING HEAD
HP/Agilent 85723A DECT Measurement personality card
General Microwave N436A 18GHz Peak Power Sensor sold only with GM 478A Meter
Anritsu MA2481A Universal Power Sensor, 10 MHz to 6 GHz, 50 Ohm, -60 to +20dBm
HP/Agilent 11612A Bias Network, 45 MHz to 26.5 GHz
HP/Agilent 16442A Test Fixture for use and sold only with the 4155 or 4156.
HP/Agilent 16014A Series Loss Test Adapter for the 4342A Q Meter
HP/Agilent 16048C Test Fixture with Alligator Clips
HP/Agilent 41800A Active Probe, 5Hz to 500MHz
HP/Agilent 11590A Bias Network, 1 to 12.4 GHz
HP/Agilent 16475A Inductor
HP/Agilent 346A 18GHz Noise Source with Type N
Rohde & Schwarz NRT-Z3, NRTZ3 RS232 Interface Adapter
HP/Agilent 54650A HP-IB Interface Module
HP/Agilent E1779A Snap On Battery Pack
HP/Agilent 81000AF Optical Interface Connector
HP/Agilent A2636-6103 e1497/98A Video cable
HP/Agilent E1497-61601 e1497/98A SCSI cable
HP/Agilent 85901A AC Battery / Power Supply for HP Portable Spectrum Analyzers
Consultronics CSI12815-5 Attenuator control cable 11713A
HP/Agilent 346A-04 18GHz Noise Source with APC-7
Tektronix P6209 Tektronix P6209 Active Probe 4 GHz
Tektronix 012-1220-00 1 METER CABLE FOR SAMPLING HEADS
HP/Agilent 54006A 6GHz Passive Divider Probe
HP/Agilent E1454A Pattern I/O Pod
HP/Agilent 85727A GSM Multi-Band Measurement Personality
HP/Agilent 85718B NADC-TDMA Measurement Personality
HP/Agilent 85710A Digital Radio Personality Module
HP/Agilent E5901B Emulation Run Control Module
HP/Agilent E5900B/E3453B/E3497B Emulation Probe
Anritsu MA4601A Power Sensor, 100 kHz to 5.5GHz, -30 to 20dBm, N (m)
HP/Agilent 83440C 1300/1550 nM, DC-20GHz Lightwave Detector
Tektronix ORR24 Tektronix ORR24 Optical Test (General)
HP/Agilent 43961A RF Impedance Test Set
Agilent 85133F(85133-60016)(85133-60017) Flexible Cable Set, 2.4 mm(F) to (m), DC-50GHz
HP/Agilent 11693A Limiter 0.1-12.4 GHz
Wiltron-Anritsu 560-97NF50 SWR AutoTester, 10MHz to 18GHz
Wiltron Anritsu 34NFNF50 Type N Adapter, N Female to N Female, DC-18GHz, 50 Ohm
Wiltron Anritsu 34NN50A Precision Adapter, N(m)-N(m), DC to 18 GHz, 50 Ohm
Wiltron Anritsu 22N50 Open/Short, DC to 18 GHz, N(m), 50 Ohm
Wiltron Anritsu 26N50 50 Ohm Termination, N Female
Tektronix 015-0310-01 Comparator Head for Tektronix CG551AP and CG5001 series calibrators
Anritsu 3670N50-2 Semi-Rigid Cable, Type N(f) - N(m), 2 foot
Anritsu 3653 Type N Calibration
NoiseCom NC346B, HP 346B Noise Source, .01 to 18GHz
HP/Agilent 11807B -044-B.01.08 HP 8921A/D RF Communications System Northern P Series Cell Site Test Software Option 044 Rev. B.01.08
HP/Agilent 11807B -120 AMPS Call Analysis, Logging, and Monitoring software personality module (Rev.B.00.01) for HP 8921A/D RF Communications System
HP/Agilent 11807B -040 p-n 11807-10012 Motorola AMPS/NAMPS Cell Site Test Software personality module (Rev A.02.01) for HP 8921A/D RF Communications System
HP/Agilent 11807B -040 p-n 11807-10012 p/n 11807-10012 Motorola AMPS/NAMPS Cell Site Test Software personality module (Rev B.01.01) for HP 8921A/D RF Communications System
HP/Agilent 83205A TDMA Cellular Adapter
Tektronix P3420 (sold only with DG2020x) Variable-Level Pod with 12 Output Channels
HP/Agilent 85054B Type N Calibration Kit
HP/Agilent 11807E -14 PCMCIA Radio Test Software for 8920B, Option 14 - AMPS/NAMPS/DAMPS/DCCH Dual-Mode TDMA Cellular Phones
Anritsu 36582KKF Autocal Module, 40 MHz to 40 GHz, K Connector
Tektronix P6249 Active Probe, DC to 4 GHz
Tektronix P7240 Tektronix P7240 4.0GHZ Active FET Probe
HP/Agilent E1498-65501 E1498-65501 32MB Memory Kit for E1498A
HP/Agilent 8120-2703 equivalent Viking Cable for HP 11713A, attenuators, switches, etc.
Tektronix P5205 Hi Voltage Differential Probe 100Mz
HP/Agilent E5381A Differential Flying Leads with 90-pin Cable Connector
HP/Agilent E5405A Agilent E5405A - Logic Analyzer Probe Login Analyzer Probe for 90-pin Cable. 17 channels, differential or single-ended clock and data.
HP/Agilent E5380A Mictor Probe-Single-ended, with 90-pin Cable Connectors
HP/Agilent 54657A GPIB Measurement Storage Module
Fluke 5700A Cable Interconnect cable for Fluke 5700A, 5720A, 5725A. Fluke part number 859897
Anritsu MA2481B -01 Universal Power Sensor, 10 MHz to 6 GHz, 50 Ohm, -60 to +20dBm
ETS-Emco 7405 Probe set with amplifier
HP/Agilent 83440C-012 1300/1550 nM, DC-20GHz Lightwave Detector
HP/Agilent 54001A Probe 1 GHz FOR 54100 Series
HP/Agilent 1152A 2.5ghz,0.6pF Active Probe
HP/Agilent 85024A High-Frequency Probe
HP/Agilent 16093A Binding Post Test Fixture
HP/Agilent 16099A Test Fixture Adapter, for use w/ HP / 16092A and HP / 16093A/B
Anritsu MA2424B Thermal Power Sensor, 10 MHz to 40GHz
HP/Agilent N1020A Time Domain Probe Kit
Tektronix P6418 Logic Analyzer Probe
HP/Agilent 41941B Impedance Probe Kit
Lecroy HFP3500 3.5 GHz Active Voltage Probe Oscilloscopes
HP/Agilent 11940A Close-Field Probe, 30MHz to 1GHz
HP/Agilent 1142A Probe Control and Power Module
HP/Agilent 1141A 200 MHz Differential Probe
Tektronix P6247 Differential Probe, DC-1GHz
HP/Agilent 54121-68701 RF Accessories Kit
HP/Agilent E5385A 34-CH Single-ended samtec connector probe
HP/Agilent 1156A Active Probe, 1.5 GHz
FuturePlus Systems FS2009 PCI-X 266 2.0 Bus Analysis Probe
FuturePlus Systems FS4400 PCI Express Analysis Probe
Inter-Continental Microwave TRL-301B, TRL301B Calibration kit
HP/Agilent 1153A 200 MHz Differential Probe,
Spirent ACC-6002A MM-Gigabit Interface Converter (GBIC) Multi-mode
Spirent ACC-6003 SM-Gigabit Interface Converter (GBIC) single-mode
Tektronix P6150 Passive Probe, DC to 9 GHz, Low Impedance
Inter-Continental Microwave TRL-301B, TRL301B Calibration kit
HP/Agilent 85671A Phase Noise Measurements Utility RF Measurement
HP/Agilent 11570A 50 Ohm Accessory Kit
HP/Agilent 1159A 1GHz Differential Probe for the HP 54846A
HP/Agilent 16518-68701 Master Expansion Accessory Kit Kit consists of 16517-82104 16517-82105 16517-82106 16517-82107 16517-82108 16517-61601 16517-61604 16517-63201 16517-68701
Lecroy TF-USB USB Test Fixture for USB 2.0 testing
HP/Agilent 85132E 7 to 3.5 mm flexible test port cable
Fluke 2280B-3063 RTD/Ohms Scanner Assy
HP/Agilent 11730A 5Ft. Power Meter Cable
Keithley 7024-3 TRIAX CABLE, 2 LUG BNC BOTH ENDS
HP/Agilent 11854A 50-ohm BNC Accessory Kit
Tektronix P6022 AC Oscilloscope Current Probe
HP/Agilent 85027D Directional Bridge, 0.01 to 50 GHz
HP/Agilent 86200B RF Scalar Detector, 50 ohms, 10MHz to 1300MHz. Used with 8711x series network analyzers.
HP-Agient 16092A 16092A Spring Clip Fixture is designed for impedance buation of both lead and SMD.
HP/Agilent 04291-60144 (4291A-B Opt. 14) High Temperature, Low Impedance Test Head for 4291A/B
Agilent E9288A Power Meter Cable, 5 ft, (1.5m)
Anritsu 3671V50-1 Test Port Cable Set to 65 GHz Anritsu 3671V50-1 Test Port Cable Set (2 cables) to 65 GHz, V (f-m) Connectors, 25 inches
HP/Agilent 16095A Probe Test Fixture HP/Agilent 16095A Probe Test Fixture for 4192A, 4285A etc.
HP/Agilent 16047B Test Fixture Test Fixture, High Voltage, Remote Cabled, (Like 16065A)
HP/Agilent 16023B Bias Controller Bias Controller
Boonton 95600005A Power Sensor Cable 5ft.
Tektronix P6015A Tektronix P6015A High voltage probe
HP/Agilent 85131-60012 3.5mm Flexible Test Port Cable
HP/Agilent 85032-60011 Type N 50 Ohm Male Combination Open/Short
Anritsu SM-PL-1 Precision Load, DC to 6 GHz, 42 dB, N(m), 50 Ohm
Anritsu SM-PLNF Precision Load, DC to 4 GHz, 42 dB, N(m), 50 Ohm
HP/Agilent 85131-60013 3.5mm Flexible Test Port Cable
Tektronix TCP202 Current Probe, DC Coupled
Agilent 1169A 12GHz Infinimax Probe System
HP/Agilent N1022A Probe Adapter
HP/Agilent 16093B RF Binding Post Test Fixture for HP 419X series.
Tektronix P6248 Differential Probe, DC-1.5 GHz
Anritsu MA2444A High Accuracy Power Sensor for ML2430 Series. 10 MHz to 40 GHz, -67 to +20 dBm,
HP/Agilent 85131-60026 - 85131FC04 Flexible Test Port Cable, 3.5mm F-F, 38 inches (Longer version of 85131-60013)
HP/Agilent 16034B Test Fixture w/ Tweezers
HP/Agilent 1155A Low Mass Active Probe 2-Channel, 750 MHz
HP/Agilent 16197A Bottom Electrode SMD Test Fixture
HP/Agilent 16081A BNC Test Lead adapter for 4277A, 4278A, 4279A, 4280A
HP/Agilent 1158A Active Probe, 4GHz
HP/Agilent 10483A 3-State 3.3V Data Pod
Tektronix P7260 Tektronix P7260 6 GHZ Active FET Probe
HP/Agilent 85712D (For Rent Only) EMC Auto Measurement Personality
Tektronix P6860 34 Channel High-Density Probe
HP/Agilent 16453A Dielectric Material Test Fixture
HP/Agilent 83440D 1300/1550 nM, DC-32GHz Lightwave Detector
Tektronnix 178 Linear IC Test Fixture for the 577 Curve Tracer
HP/Agilent 85062B 3.5mm Electronic Calibration Kit
HP/Agilent 85070E Upgrade Dielectric Probe Kit
Fluke 80T-150U Universal Temperature Probe
Tektronix P7313 12.5 GHz, Z-Active Differential Probe
HP/Agilent U2000A-100 USB Power Sensor, 10 MHz - 18 GHz
HP/Agilent 11970V Waveguide Harmonic Mixer, 50 GHz to 75 GHz
HP/Agilent V281A Coaxial Waveguide Adapter, 1.85 mm (f), 50 to 67 GHz
Tektronix P6980 Differential Data Logic Analyzer Probe, 34-Channel
HP/Agilent U2002A-100 USB Power Sensor, 50 MHz - 24GHz with N1918A-100 Power Analyzer w/PC License ($2,583)
HP/Agilent U2004A-100 USB Power Sensor, 9kHz to 6 GHz with option 100 (N1918A-100 Power Analyzer w/PC License, +$2,583)
HP/Agilent U2001A-100 USB Power Sensor, 10MHz to 6 GHz with option 100 (N1918A-100 Power Analyzer w/PC License, +$2,583)
Tektronix P6864 17 Channel High-Density Probe
Agilent E9288C Power Meter Cable, 10M (31 Ft)
HP/Agilent 85132-60004 Connector Assembly - 3.5mm (F) to 7mm
Anritsu 3671V50-3 Anritsu 3671V50-1 Test Port Cable Set (2 cables) to 65 GHz, V (f-m) Connectors, 25 inches
HP/Agilent E5900B/E3452B Emulation Probe
HP/Agilent E5900B/E3454B Emulation Probe
HP/Agilent E5900B/E3463B Emulation Probe
Tektronix P7513 Trimode differential probe to 13 GHz
HP/Agilent 70800B MSIB Interface Cable Set for 70004A, 70001A, 70843A/B/C, 71612A/B/C
HP/Agilent 85054B Type N Calibration Kit
