Storage-retrieval machine guidance mechanism for shuttle-type pallet-type automated multi-level warehouse

Abstract

To provide an SRM guiding mechanism at a level intersection of guide rails, which can prevent accidents when a shuttle travels in a shuttle-type pallet-type automated multi-level warehouse.SOLUTION: In a shuttle-type pallet-type automated multi-level warehouse, an SRM guidance mechanism is provided in which X-axis guide rails and Y-axis guide rails are fixed by a buffer connection mechanism at a level intersection where a pair of X-axis guide rails, each of which is approximately rectangular prism-shaped and arranged in a first (X-axis) direction where a shuttle changes direction, intersect with a pair of Y-axis guide rails, each of which is approximately rectangular prism-shaped and arranged in a second (Y-axis) direction that is approximately perpendicular to the X-axis. This SRM guidance mechanism prevents accidents and noise while the shuttle is running.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an SRM guidance mechanism in a shuttle-type pallet-type automated multi-story warehouse, in which a storage and retrieval machine (SRM) equipped with a traveling mechanism with wheels that travels vertically and horizontally on guide rails and a lifting mechanism for transferring pallets can store pallets carrying goods in three dimensions, and is used on pallet storage shelves on which SRM guide rails are installed to allow pallets to be moved in and out. [Background technology]

[0002] Although JIS B8941:2012 of the Japanese Standards Association (JSA) mentions automated storage and retrieval systems as a reference, the English translation is not limited to specific applications. The English translation is referred to as an "AS / RS (Automated Storage and Retrieval System)," and it can be said to refer to a warehouse equipped with an item storage and retrieval system. Among these, an automated distribution warehouse in the distribution industry, to which the technology of the present invention is applied, is defined as "an automated distribution warehouse for the purpose of storing or sorting and shipping during the distribution process for commercial purposes" and is referred to as "AS / RS in warehouse." Therefore, it is recognized as a multi-story warehouse in which the storage and retrieval of items are managed by automatic computer control. In fact, automated warehouses equipped with AS / RSs managed by warehouse management systems (WMS), warehouse control systems (WCS), or warehouse execution systems (WES) are now common in large-scale logistics centers and other facilities (see, for example, Non-Patent Document 1).

[0003] Such automated multi-level warehouses can be broadly classified into pallet-type and case-type warehouses according to the type of storage of goods. The former is a type in which containers or cardboard boxes containing goods are loaded onto pallets for storage, while the latter is a type in which goods are stored in containers, cardboard boxes, or other cases (see, for example, Patent Document 1). Regardless of the storage type, stacker cranes have traditionally been used as SRMs. This is because a single stacker crane can access all of the shelves' openings on all levels and rows on both sides of an aisle. However, while this method has the advantage of being able to access all of the shelves' openings on all levels and rows on both sides, it also has a major disadvantage in that the number of openings is too large, resulting in low loading and unloading capacity per unit time.

[0004] For this reason, with the advent of the age of mail-order businesses using the Internet (so-called e-commerce (EC, Electronic Commerce)), there was a demand for automated warehouse systems with even higher storage and retrieval capacity per unit time, and shuttle-type systems became mainstream, with dedicated shuttle cars installed on each level to enable access to all the frontages of all shelves on each level and all rows, and elevators, lifters, and other lifting mechanisms for vertically moving goods, allowing access to all the frontages of all shelves on all levels and all rows.First, in the case of case-type warehouses, in order to improve efficiency and streamline operations, a shuttle system is used as an SRM, equipped with an arm that can move cases in and out and wheels that can run on guide rails in two directions, and a double-sided storage shelf with single-sided storage shelves arranged in a grid pattern horizontally (X-axis) and vertically (Y-axis) adjacent to each other at their backs, called an XY system. Shuttle-type automated case-type multi-level warehouses have been developed and are now widely used. They are composed of storage facilities with shuttle travel guide rails and shuttle elevators, facing each other at a predetermined distance in the vertical (Z-axis) direction of the storage facility. The shuttles run along guide rails arranged along the X-axis direction on the space formed by the opposing double-sided storage shelves, and along guide rails arranged in the Y-axis direction on the same horizontal plane. They move up and down along the Y-axis direction on the same vertical plane, and are transported along the Z-axis direction in the space of the storage facility where the double-sided storage shelves are arranged in rows. Cases are moved in and out of the storage facilities by driving the shuttle arms along the Z-axis (see, for example, Patent Document 2).

[0005] Furthermore, in order to increase the density of warehouses, a shuttle-type, case-type, multi-level automated warehouse has been developed and is widely adopted. The warehouse is composed of a robot equivalent to a shuttle, equipped with an elevator that can take cases in and out and wheels that can move in four directions, and an item storage facility in which the single-sided storage shelves mentioned above are attached in the Z-axis direction and a grid-like travel path is formed in the XZ directions on the top surface of the storage shelves. The robot moves freely in the XZ directions on the top surface of the item storage facility, and bins equivalent to cases are moved in and out of the storage shelves by driving the robot's elevator in the Y-axis direction (for example, Patent Document 3).

[0006] In this way, the processing speed and storage density of case-type automated warehouses have been dramatically improved. In recent years, even for pallet-type automated warehouses, which can handle a wider range of items than case-type automated warehouses, shuttle-type pallet-type automated warehouses that use shuttles as SRMs, which are superior to stacker cranes in terms of improving work efficiency and streamlining, have been actively developed and are already becoming widespread (for example, Patent Documents 4 and 5).

[0007] The shuttle in this pallet-type automated warehouse is comprised of an SRM shuttle equipped with a lifter capable of raising and lowering pallets loaded with more than 1 ton of goods and wheels capable of running on guide rails in four directions; shelves configured in the X, Y, and Z axes that can support and store pallets; guide rails that allow the shuttle to enter beneath the shelves; guide rails that allow the shuttle to travel between the pallet storage shelves; and an item storage facility equipped with a shuttle elevator. The shuttle travels along a path laid with guide rails, and pallets are moved into and out of the storage shelves by entering under the storage shelves that support the pallets and raising and lowering the lifter. In particular, because this type of shuttle must move using the narrow space between the pallet storage shelves and the guide rails to move pallets in and out, a thin shape is preferred to increase the vertical space utilization efficiency (number of shelves per unit height). Furthermore, a certain type of rail-guided automated guided vehicle (RGV) that can utilize conventional technology is preferably used.

[0008] This type of shuttle-type pallet-type automated multi-story warehouse is capable of efficiently and rationally loading and unloading pallets that can carry a variety of cargo types, such as heavy items, items of different shapes, and cases containing items, and is applicable to various forms of logistics, so it has attracted attention from a variety of industries, including the food and beverage, automotive, electronics, chemical, energy, and pharmaceutical industries.The adoption of this shuttle-type pallet-type multi-story warehouse is expected to result in even more significant benefits than stacker crane-type pallet-type multi-story warehouses, such as (1) improved work efficiency and productivity, (2) reduced work errors, (3) more effective use of space, and (4) reduced labor costs.

[0009] However, the technology is still in the development stage and presents various challenges. First, because the shuttle is designed with powerful wheel drive mechanisms and lifter lifting mechanisms, which are capable of transporting pallets loaded with heavy loads, the increased weight of the shuttle poses the following problems. Specifically, the strength of the structure assembled with the guide rails on which the shuttle runs, and the resulting positional accuracy of the guide rails, are required. The shuttle is prone to large, large-scale oscillations and vibrations, which can easily cause breakdowns or damage to the shuttle and storage shelves, potentially resulting in derailment of the shuttle. Reinforcing the guide rails and the structure including them to prevent this also increases the weight of the storage shelves, necessitating more frequent maintenance and frequent replacement of shuttle and storage shelf parts. Furthermore, in light of these challenges, earthquake countermeasures beyond those of conventional multi-story warehouses are likely to be required. Therefore, there remains considerable room for improvement before the technology can be widely adopted. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-236683 [Patent Document 2] U.S. Patent No. 8,790,061 [Patent Document 3] U.S. Patent No. 1,1794,997 [Patent Document 4] Patent No. 7309243 [Patent Document 5] Special Publication No. 2023-541238 [Non-patent literature]

[0011] [Non-Patent Document 1] Taku Hatta, Toshiya Kaihara, Nobutada Fujii, Masashi Morikawa, "Study on social negotiation-based optimization method for the operation of automated warehouse systems," Proceedings of the JSPE Annual Meeting, 2011A0, pp. 49-50, 2011 JSPE Spring Meeting, [online], [Retrieved March 16, 2024], Internet<https: / / www.jstage.jst.go.jp / article / pscjspe / 2011S / 0 / 2011S_0_561 / _pdf / -char / ja> . Summary of the Invention [Problem to be solved by the invention]

[0012] As explained in the background art, a storage and retrieval machine (SRM) equipped with a traveling mechanism with wheels that travels vertically and horizontally on guide rails and a lifting mechanism for transferring pallets can store pallets carrying goods in three dimensions, and an automated multi-story warehouse is used with pallet storage shelves on which SRM guide rails are laid so that pallets can be moved in and out, that is, a shuttle-type pallet-type automated multi-story warehouse. Compared to conventional automated multi-story warehouses, both the SRM and the pallet storage shelves are large-scale mechanical equipment that is heavy and bulky, and they generate intense vibrations at high speeds, so they need to be operated with precision.

[0013] More specifically, in order to transport pallets loaded with more than 1 ton of cargo in three dimensions, such shuttle-type pallet-type automated warehouses often use a four-way pallet transport shuttle (hereinafter referred to as a "4DP shuttle") as the SRM. This shuttle has a drive mechanism with at least eight wheels (preferably 12 or more wheels to reduce the weight per axle) that can travel at high speed in two dimensions, i.e., in four directions, and a powerful lifter for raising and lowering heavy pallets. In particular, some types of rail-guided automated guided vehicles (RGVs) are preferably used for such 4DP shuttles. Therefore, even though the 4DP shuttle is designed to be a robust storage facility, the intense vibrations caused by the shuttle's movement can easily cause deterioration, such as a decrease in the positional accuracy and wear, of the pair of guide rails laid lengthwise and widthwise. This deterioration can induce shaking of the 4DP shuttle, which can lead to accidents such as falling goods or cargo and derailments, necessitating frequent maintenance and inspection of the guide rails. One way to solve this problem is to use various reinforcing members or to introduce railway rail fastening mechanisms, but although the shuttle-type pallet-type automated warehouse is capable of handling a variety of items, this would make it heavier, larger, and more complex, going against the trend toward lighter, smaller, and simpler systems.

[0014] Therefore, an object of the present invention is to provide an SRM guidance mechanism for guide rail at-grade intersections that can prevent deterioration of an automated warehouse and the resulting accidents of 4DP shuttles caused by the violent vibration of the SRM in a shuttle-type pallet-type automated warehouse, without using various reinforcing members or rail fastening mechanisms, and that allows for easy and infrequent maintenance and inspection.This SRM guidance mechanism is a type of guide rail mechanism. [Means for solving the problem]

[0015] In order to solve this problem, the inventors conducted a detailed investigation into the component mechanisms that make up shuttle-type pallet-type automated multi-story warehouses and found that the main cause of the shaking of the 4DP shuttle in shuttle-type pallet-type automated multi-story warehouses is the vibration of the 4DP shuttle at grade intersections where a pair of guide rails that make up the 4DP shuttle's track intersect vertically and horizontally and the 4DP shuttle's travel path is changed by a control mechanism, and that this vibration has a major impact on deterioration such as reduced positioning accuracy and wear of the guide rails.As a result of studying SRM guidance mechanisms using guide rails at grade intersections with reference to steel frame structures, they were able to devise an SRM guidance mechanism that is able to absorb the vibration of the 4DP shuttle and prevent its transmission, leading to the completion of this invention.

[0016] That is, first, the present invention provides an SRM guidance mechanism for a shuttle-type pallet-type automated multi-story warehouse, which is composed of: a storage and retrieval machine (SRM) equipped with a pallet lifting mechanism that can move pallets loaded with goods in and out, and a traveling mechanism including wheels that can move on guide rails; grid-shaped pallet storage shelves that can store pallets in three dimensions; goods storage equipment that is equipped with guide rails that are laid out so that the SRM can move two-dimensionally between the pallet storage shelves, allowing the SRM to enter the lower part of the pallet storage shelves to move pallets in and out; and a lifting mechanism that moves the SRM and / or pallets in the vertical direction; and the SRM guidance mechanism is characterized in that the X-axis guide rail and the Y-axis guide rail are fixed at a predetermined interval at the level intersection where the SRM changes direction and where a pair of approximately rectangular pillar-shaped X-axis guide rails arranged in a first (X-axis) direction intersect with a pair of approximately rectangular pillar-shaped Y-axis guide rails arranged in a second (Y-axis) direction that is approximately perpendicular to the X-axis.

[0017] To explain the first aspect of the present invention more specifically, an automated storage and retrieval system (AS / RS) managed by a warehouse management system (WMS), a warehouse control system (WCS), or a warehouse execution system (WES) is introduced, and a storage and retrieval machine (SRM) is provided with a pallet lifting mechanism that can take in and out pallets loaded with goods, and a traveling mechanism including wheels that can move on guide rails. This SRM guidance mechanism is for preventing deterioration of the shuttle-type pallet-type automated multi-story warehouse and associated accidents caused by the violent vibrations of heavy 4DP shuttles loaded with pallets containing goods, in a shuttle-type pallet-type automated multi-story warehouse consisting of a 4DP shuttle (4DP Transport Machine), a grid-shaped pallet storage shelf capable of storing pallets in three dimensions, where the 4DP shuttle can enter and exit the pallets below and where a pair of guide rails is installed so that it can move two-dimensionally between the pallet storage shelves, and an elevator or lifter capable of moving the 4DP shuttle and / or pallets vertically. The SRM guidance mechanism is characterized in that the X-axis guide rails and Y-axis guide rails at the level intersection where a pair of approximately square pillar-shaped X-axis guide rails arranged in a first (X-axis) direction, where the 4DP shuttle changes direction, intersect with a pair of approximately square pillar-shaped Y-axis guide rails arranged in a second (Y-axis) direction approximately perpendicular to the X-axis, are fixed by a buffer connection mechanism.

[0018] In the above, the buffer connection mechanism refers to a mechanism that realizes connection as a non-structural member that separates the X-axis guide rail and Y-axis guide rail members from each other in order to disperse and absorb external forces that affect the structure of the automated warehouse due to vibrations caused by the operation of loading and unloading machines, earthquakes, temperature expansion and contraction, etc., and may be, for example, a mechanism that maintains a predetermined distance between the X-axis guide rail and the Y-axis guide rail, a mechanism in which an expandable material is arranged between the X-axis guide rail and the Y-axis guide rail, or a mechanism in which both of these mechanisms are used together.

[0019] In this SRM guidance mechanism, it is preferable that the X-axis guide rail and Y-axis guide rail at the level intersection are such that one is continuous and the other has a slit for intersecting with the continuous guide rail, and that the upper surfaces of both guide rails that come into contact with the wheels are on approximately the same plane, intersecting two-dimensionally at four points, and that the four intersections fit together to form a quadrangular level intersection.

[0020] The distance between the X-axis guide rail and the Y-axis guide rail needs to be a predetermined distance at least on one of the eight alignment surfaces of the guide rails at each of the four intersections. However, it is preferable to provide a predetermined distance on the four outer alignment surfaces of the quadrangle at the grade intersection or the four inner alignment surfaces, and it is even more preferable to provide a predetermined distance on all eight alignment surfaces. Furthermore, if the wheels of the 4DP shuttle's traveling mechanism have flanges, the width of this distance is preferably equal to or greater than the width that allows the flanges to pass through. In this case, it is even more preferable that an expandable material be provided between the X-axis guide rail and the Y-axis guide rail to allow the flanges to pass through.

[0021] The first SRM guidance mechanism of the present invention is not limited to the above mechanism. Alternatively, the X-axis guide rail and the Y-axis guide rail at the grade crossing may both be provided with slits at the crossing point, and an isolated, approximately square prism of the same height as both guide rails, surrounded by the slits in the X-axis guide rail and the slits in the Y-axis guide rail, forms the quadrangular grade crossing point. In this case, the slits in the X-axis guide rail and the slits in the Y-axis guide rail are spaced apart at predetermined intervals, forming a quadrangular grade crossing point formed by the isolated, approximately square prism-like guide rails at four locations where the X-axis guide rail and the Y-axis guide rail intersect, completely eliminating contact between the X-axis guide rail and the Y-axis guide rail, thereby blocking vibration transmission. If the wheels of the 4DP shuttle's traveling mechanism have flanges, the width of the slit interval is preferably equal to or greater than the width through which the flanges can pass. In this case, it is more preferable that an extensible material be disposed between the X-axis guide rail and the Y-axis guide rail to allow the flanges to pass.

[0022] As an SRM guidance mechanism for grade crossings similar to these, various slits can be formed, but at least a gap needs to be provided between the X-axis guide rail and the Y-axis guide rail somewhere on the rail.

[0023] The first SRM guidance mechanism of the present invention can block vibrations associated with the operation of a 4DP shuttle transporting pallets loaded with goods, sometimes weighing up to 1 ton, from propagating between the X-axis and Y-axis guide rails at the intersections between the X-axis and Y-axis guide rails where the 4DP shuttle changes direction. This reduces deterioration, such as deterioration in guide rail positioning accuracy and wear, and prevents goods from falling off the 4DP shuttle or derailment of the 4DP shuttle. Furthermore, the first SRM guidance mechanism of the present invention can reduce intermittent, but extremely short-period, short-term, continuous collisions between the wheels and guide rails, and between the side of the 4DP shuttle and its anti-sway wall, caused by vibration. This prevents metal or resin powder generated by these collisions from obscuring information display media, such as one-dimensional or two-dimensional codes, used to control the 4DP shuttle's travel path, thereby reducing malfunction of the 4DP shuttle. Furthermore, the first SRM guidance mechanism of the present invention also reduces damage and losses to storage equipment in shuttle-type pallet-type automated warehouses due to earthquakes.

[0024] In order to further absorb the vibrations that accompany the operation of the 4DP shuttle and prevent their propagation, it is preferable that the X-axis and Y-axis guide rails and their supports are connected with fixing members such as bolts and nuts so that there is a slight amount of clearance between them to allow the guide rails to slide.It is also more preferable to use a material with excellent sliding properties for the guide rail supports, or to insert a buffer member such as a washer with excellent sliding properties between the guide rails and supports and connect them with fixing members.

[0025] Secondly, the present invention provides an SRM guidance mechanism for a shuttle-type pallet-type automated multi-story warehouse, which is composed of: a storage and retrieval machine (SRM) equipped with a pallet lifting mechanism that can move pallets loaded with goods in and out; and a traveling mechanism including wheels that can move on guide rails; grid-shaped pallet storage shelves that can store pallets in three dimensions; goods storage equipment that is equipped with guide rails that are laid so that the SRM can enter the lower part of the pallet storage shelves to move pallets in and out and that are movable two-dimensionally between the pallet storage shelves; and a lifting mechanism that moves the SRM and / or pallets in the vertical direction, and which is characterized in that the SRM changes direction at a level intersection where a pair of approximately rectangular pillar-shaped X-axis guide rails arranged in a first (X-axis) direction intersect with a pair of approximately rectangular pillar-shaped Y-axis guide rails arranged in a second (Y-axis) direction that is approximately perpendicular to the X-axis, the X-axis guide rail and the Y-axis guide rail are fixed at different heights from the surface on which the guide rails are laid. This aspect can also be regarded as one aspect of the buffer connection mechanism described above.

[0026] More specifically, the second present invention also includes an item storage facility that includes an AS / RS managed by a WMS, WCS, or WES, an SRM that is equipped with a pallet lifting mechanism that can move pallets loaded with goods in and out, and a traveling mechanism including wheels that can move on guide rails, a 4DP shuttle that is an SRM that is equipped with a pallet lifting mechanism that can move pallets loaded with goods in and out, and a pallet storage shelf that is in a grid pattern that can store pallets in three dimensions, and the 4DP shuttle can enter the lower part of this pallet storage shelf to move pallets in and out, and is equipped with a pair of guide rails that are laid vertically and horizontally so that it can move between the pallet storage shelves in two dimensions, and an elevator, lifter, etc. that moves the SRM and / or pallets in the vertical direction. This SRM guidance mechanism is for preventing deterioration of the shuttle pallet type automated multi-story warehouse and the resulting accidents caused by the violent vibrations of heavy 4DP shuttles loaded with pallets containing goods, in a shuttle pallet type automated multi-story warehouse consisting of a lifting mechanism and a lifting mechanism for a 4DP shuttle. The SRM guidance mechanism is characterized in that at the level intersection where a pair of approximately square pillar-shaped X-axis guide rails arranged in a first (X-axis) direction, where the 4DP shuttle changes direction, intersect with a pair of approximately square pillar-shaped Y-axis guide rails arranged in a second (Y-axis) direction approximately perpendicular to the X-axis, the X-axis guide rail and the Y-axis guide rail are fixed at different heights from the surface on which the guide rails are laid.

[0027] In this case, the SRM induction mechanism preferably has one of the X-axis and Y-axis guide rails at the grade crossing continuous, the other provided with a slit for crossing the continuous guide rail, and the upper surfaces of both guide rails that come into contact with the wheels have a predetermined step, with the upper surface of the continuous guide rail being higher, so that the guide rails intersect at four points and fit together at the four intersections to form a square grade crossing. This case is similar to the first SRM induction mechanism of the present invention, and therefore a description will be omitted, but it is also possible to have a mechanism in which slits are provided in both the X-axis and Y-axis guide rails.

[0028] The second SRM guidance mechanism of the present invention reduces the propagation of vibrations accompanying the operation of a 4DP shuttle transporting pallets loaded with goods, which can weigh up to 1 ton or more, between the X-axis and Y-axis guide rails at their intersections where the 4DP shuttle changes direction by reducing the contact area due to the difference in level between the two, thereby reducing deterioration such as deterioration of the guide rails' positioning accuracy and wear caused by vibration and preventing goods from falling off the 4DP shuttle and derailment of the 4DP shuttle. The second SRM guidance mechanism of the present invention also reduces collisions between the wheels and guide rails, the side surfaces of the 4DP shuttle and its swing prevention wall, etc., and therefore prevents metal or resin powder generated by these collisions from obscuring information display media such as one-dimensional or two-dimensional codes used to control the 4DP shuttle's travel path, thereby reducing malfunction of the 4DP shuttle.

[0029] In particular, the step of the second SRM guidance mechanism of the present invention shortens the distance the 4DP shuttle has to ascend and descend at grade intersections where the 4DP shuttle's travel route is changed, thereby reducing the vibration of the 4DP shuttle caused by the ascending and descending movement and the wear on its components.

[0030] Needless to say, the second SRM guidance mechanism of the present invention also has the effect of reducing damage and losses caused by earthquakes to the goods storage equipment of the shuttle-type pallet-type automated multi-story warehouse.

[0031] Naturally, an SRM guide mechanism with such a step can exhibit a synergistic effect by providing the above-mentioned buffer connection mechanism between the X-axis guide rail and the Y-axis guide rail, just like the first SRM guide mechanism of the present invention. Furthermore, it is preferable to connect the guide rails and their supports in exactly the same way as in the first SRM guide mechanism of the present invention. [Effects of the Invention]

[0032] The SRM guidance mechanism of the present invention can reduce the vibrations caused by the operation of 4DP shuttles in shuttle-type pallet-type automated multi-story warehouses, the resulting reduction in positioning accuracy, as well as the wear and tear on component parts and the resulting effects of metal powder and wood powder, etc., thereby reducing the risk of goods and cargo falling due to the operation of the 4DP shuttle, and derailment and malfunction of the 4DP shuttle, and reducing the frequency of frequent guide rail maintenance and inspection. [Brief explanation of the drawings]

[0033] [Figure 1] FIG. 1 is a schematic perspective view of a portion of a shuttle-type pallet-type automated multi-level warehouse according to an embodiment of the present invention, near a level intersection where a pair of opposing main guide rails and a pair of opposing sub-guide rails, which are at different heights from the guide rail installation surface, come into contact and intersect. [Figure 2] FIG. 1 is an enlarged perspective schematic diagram of a main portion of a shuttle-type pallet-type automated multi-level warehouse according to an embodiment of the present invention, near a level intersection where a pair of opposing main guide rails and a pair of opposing sub-guide rails, which are at different heights from the guide rail installation surface, intersect without contacting each other. [Figure 3] This is an enlarged perspective schematic diagram of the main part near the intersection where the main guide rail switching section and the auxiliary guide rail switching section intersect when the heights of the main guide rail and the auxiliary guide rail in Figure 2 from the guide rail installation surface are the same. [Figure 4] 1A and 1B are schematic plan views of guide rails near a grade intersection, illustrating various SRM guide mechanisms in which slits are provided in the main guide rail or the auxiliary guide rail according to an embodiment of the present invention. [Figure 5] FIG. 1 is a schematic plan view of guide rails near a grade crossing, illustrating an SRM guide mechanism in which slits are provided in the main guide rail and the sub-guide rail, according to one embodiment of the present invention. [Figure 6] This is a schematic side view of a 4DP shuttle viewed from a direction perpendicular to the main guide rail at an intersection, explaining why the SRM guidance mechanism of the present invention, which has steps in the main guide rail and secondary guide rail, can prevent accidents in the 4DP shuttle. DETAILED DESCRIPTION OF THE INVENTION

[0034] The present invention will be described in detail below by showing representative embodiments of the present invention with reference to the drawings. The embodiments described here are merely examples, and the present invention is not limited thereto. Various modifications can be made within the scope of the present invention, and the present invention is limited only by the technical ideas set forth in the claims.

[0035] 1 is a schematic perspective view of a portion of a shuttle-type pallet-type automated warehouse according to one embodiment of the present invention, near a grade intersection where a pair of opposing main guide rails and a pair of opposing auxiliary guide rails, which are at different heights from the guide rail installation surface, come into contact and intersect. In the following description of the preferred embodiment, the approximately perpendicular guide rails are referred to as the main guide rail and the auxiliary guide rail, with the following meaning: The X-axis and Y-axis guide rails described in the summary of the invention are equally positioned and have no correlation with the configuration of the shuttle-type pallet-type automated warehouse. However, the main and auxiliary guide rails are rectangular in shape when the shuttle-type pallet-type automated warehouse is viewed from above, and the guide rail with the longest travel distance for the 4DP shuttle is referred to as the main guide rail, while the guide rail perpendicular to it is referred to as the auxiliary guide rail. This more specific notation is appropriate for the preferred embodiment.

[0036] In the embodiment shown in FIG. 1 , the level intersection where a pair of opposing main guide rails 110 and a pair of opposing auxiliary guide rails 120 intersect in the shuttle-type pallet-type automated multi-level warehouse forms a rectangular area where the main guide rails 110 with slits and the continuous auxiliary guide rails 120 fit together, but this is not limited to this. For example, slits may also be formed in the auxiliary guide rails. However, as can be seen from FIG. 1 , in this case, the level intersection where the 4DP shuttle changes direction is rectangular, surrounded by a pair of opposing main guide rail switching sections 111 of the main guide rails 110 with slits and a pair of opposing auxiliary guide rail switching sections 121 of the continuous auxiliary guide rails 120.

[0037] In this embodiment, the main guide rail 110 and the sub-guide rail 120 are held and fixed as follows, but the present invention is not limited to this. The columns of the article storage equipment constituting the shuttle-type pallet-type automated multi-story warehouse are perforated C-shaped steel shelf columns 140 each having a fixing hole 141, to which a guide rail support body 130 having a main guide rail support portion 131 and a sub-guide rail support portion 132 is connected with a fixing member 181, and the main guide rail 110 and the sub-guide rail 120 are held and fixed to the main guide rail support portion 131 and the sub-guide rail support portion 132, respectively, with fixing members 182 and 184. Common fixing methods such as bolts and nuts are used as the fixing members, but it is preferable to have a slight play in the connection between each guide rail and each support body. Furthermore, although not shown in the figure, it is more preferable to provide a predetermined gap between both guide rails, insert cushioning material in this gap for the purposes of soundproofing and vibration absorption, etc., to make each support body out of a material with excellent sliding properties, to insert cushioning material between each guide rail and each support body for the purposes of soundproofing and vibration absorption, etc., or to use a combination of these.

[0038] In order to absorb vibrations caused by the operation of the 4DP shuttle and prevent vibration propagation, the four intersections where the main guide rail 110 and the auxiliary guide rail 120 intersect are designed so that the height from the guide rail installation surface to the guide rail upper surface is higher for the auxiliary guide rail 120 than for the main guide rail 110. While this difference in height may only exist at the intersections, it is preferable that it also extend to the main guide rail straight section 112 and the auxiliary guide rail straight section 122 from both a structural and functional standpoint.

[0039] This step can absorb the vibration during the operation of the 4DP shuttle, especially the vibration caused by running, and prevent its propagation by reducing the contact area between the main guide rail 110 and the sub-guide rail 120. Furthermore, since this step can shorten the lifting distance of the 4DP shuttle at the plane intersection where the running path of the 4DP shuttle is changed, it can reduce the vibration of the 4DP shuttle and the wear of its components, reduce the generation of metal powder and resin powder, etc., and reduce the malfunction during direction conversion, so it can effectively prevent accidents of the 4DP shuttle at the plane intersection.

[0040] The mechanism for shortening the lifting distance of the 4DP shuttle at the plane intersection where the running path of the 4DP shuttle is changed is shown in the schematic side view of the 4DP shuttle at the plane intersection in Fig. 6. From this figure, it can be explained that the SRM guiding mechanism with steps provided on the main guide rail and the sub-guide rail of the present invention can exert the accident prevention function of the 4DP shuttle.

[0041] As is clear from Fig. 6, the distance between the main guide rail running wheel 193 and the main guide rail switching part 111 in the case (a) where there is a step between the main guide rail and the sub-guide rail is A, while the distance between the main guide rail running wheel 193 and the main guide rail switching part 111 in the case (b) where there is no step between the main guide rail and the sub-guide rail is B, and A < B. Therefore, in order to change the direction, as shown in (1)-(3), when the sub-guide rail running wheel 194 is lifted and the main guide rail running wheel 193 contacts the main guide rail switching part 111, the sub-guide rail running wheel 194 moves away from the sub-guide rail switching part 121 and changes direction, and the difference in the moving distance of the 4DP shuttle corresponds to the difference between A and B. This leads to the reduction of the vibration and wear of the entire shuttle-type palletized three-dimensional automatic warehouse associated with the operation of the 4DP shuttle, as well as the reduction of the malfunction of the 4DP shuttle.

[0042] 1 shows the main guide rail swing prevention wall 114, which prevents violent swinging in the main guide rail straight section 112 where the 4DP shuttle often travels at high speed, the braces 170 provided between the C-shaped steel shelf columns 140 to strengthen the goods storage facility, and the sub-guide rail cover 160, but it is a schematic diagram and various other elemental members are omitted. Similarly, various elemental members are omitted in the other figures below.

[0043] 2 is an enlarged perspective schematic diagram of a main guide rail and a sub-guide rail at different heights from the guide rail installation surface in a shuttle-type pallet-type automated multi-story warehouse according to one embodiment of the present invention, showing a crossover point at which a pair of opposing main guide rails and a pair of opposing sub-guide rails intersect without contacting each other. In this way, by providing the gaps G1 and G2 between the main guide rails 110 and the sub-guide rails 120 in addition to the step D between the main guide rails 110 and the sub-guide rails 120, the vibration absorption and vibration propagation prevention effects caused by the operation of the 4DP shuttle are synergistically enhanced, resulting in a more preferable SRM induction mechanism. Even in this case, although not shown in the figure, it is even more preferable to provide a predetermined gap between the two guide rails, insert cushioning material in this gap for soundproofing and vibration absorption, etc., use a material with excellent sliding properties for each support, insert cushioning material between each guide rail and each support for soundproofing and vibration absorption, or use a combination of these.

[0044] Figure 3 is an enlarged perspective schematic diagram of the main part near the intersection where main guide rail switching section 111 and sub-guide rail switching section 121 intersect when the heights of main guide rail 110 and sub-guide rail 120 from the guide rail installation surface are the same in Figure 2. The gaps G1 and G2 between main guide rail switching section 111 and sub-guide rail switching section 121 absorb vibrations caused by the operation of the 4DP shuttle and block their propagation, effectively preventing accidents with the 4DP shuttle.

[0045] The SRM guide mechanism of the present invention is characterized in that at least a gap exists between a pair of opposing main guide rails and a pair of opposing auxiliary guide rails at the intersection where the two guide rails intersect, and various configurations of the SRM guide mechanism are conceivable, with four representative examples shown in Figure 4 and two representative examples shown in simple plan schematic diagrams in Figure 5. In both the representative examples of Figures 4 and 5, the intersection at the intersection of the main guide rail 110 and the auxiliary guide rail 120 is a plan view regardless of whether there is a step or not, and includes cases where there is a step and cases where there is no step.

[0046] 4(a) to 4(c) show SRM guidance mechanisms for grade crossings in which slits are provided in the main guide rail 110 and the consecutive secondary guide rails 120 are fitted into the slits. Each mechanism differs as follows: In (a), predetermined gaps G1 and G2 are provided at all matching surfaces between the slits in the main guide rail 110 and the secondary guide rail 120. In (b), predetermined gap G2 is provided at all matching surfaces between the slits in the main guide rail 110 and the secondary guide rail 120 on the inside of the grade crossing. In (c), predetermined gap G1 is provided at all matching surfaces between the slits in the main guide rail 110 and the secondary guide rail 120 on the outside of the grade crossing. These gaps must be at least as wide as possible to allow the wheels of the 4DP shuttle to pass through if they have flanges. In (b) and (c), either of these gaps must be selected depending on the location of the flanges. In (d), predetermined gaps G3 and G4 are provided at all matching surfaces between the slits in the consecutive main guide rails 110 and the secondary guide rail 120. Note that although the grade intersection formed by the main guide rail and the sub-guide rail is depicted here as being approximately square in shape, it is generally rectangular, as in the cases of Figures 1 to 3. This is because, as shown in Figure 6, which will be described later, typical 4DP shuttles are often approximately rectangular in plan view. However, a 4DP shuttle that is approximately square in plan view is rational in terms of direction changes and the configuration of pallet storage shelves, and in such cases, the grade intersection becomes approximately square as shown in Figure 4. The same applies to Figure 5.

[0047] 5 shows an SRM guide mechanism in which slits are provided in both the main guide rail 110 and the secondary guide rail 120, and guide rail relay sections 113, 123 are provided to bridge between the main guide rail switching section 111 and the main guide rail straight section 112, and between the secondary guide rail switching section 121 and the secondary guide rail straight section 122. In (a), the guide rail relay section is the main guide rail relay section 113, which is isolated from the main guide rail switching section 111 and the main guide rail straight section 112 by a predetermined distance G5, and from the secondary guide rail switching section 121 and the secondary guide rail straight section 122 by a predetermined distance G6. In (b), the guide rail relay section is the secondary guide rail relay section 123, which is isolated from the main guide rail switching section 111 and the main guide rail straight section 112 by a predetermined distance G7, and from the secondary guide rail switching section 121 and the secondary guide rail straight section 122 by a predetermined distance G8. The width of any of the intervals G5 to G8 is not limited as long as the guide rail relay sections 113, 123 are isolated, but if the 4DP shuttle has a flange on its wheel, it must be wide enough to allow the flange to pass through. Also, for convenience, there are two SRM induction mechanisms, but in reality, they are the same SRM induction mechanism. [Industrial Applicability]

[0048] Because shuttle-type pallet-type automated multi-story warehouses are capable of efficiently and rationally storing and retrieving pallets that can carry a variety of cargo types, including heavy items, items of different shapes, and cases containing items, it has been calculated that shuttle-type pallet-type automated multi-story warehouses surpass stacker-crane-type pallet-type multi-story warehouses in terms of (1) improved work efficiency and productivity, (2) reduced work errors, (3) effective use of space, and (4) labor cost reduction effects, and its introduction into various industries, including the food and beverage, automotive, electronics, chemical, energy, and pharmaceutical industries, is being considered, making the SRM guidance mechanism of the present invention highly applicable industrially. Furthermore, the technology of the present invention is highly likely to be used, given that it can be applied not only to the SRM in shuttle-type pallet-type automated multi-story warehouses, but also to the SRM guidance mechanism of RGVs used in a variety of industries, and the present invention is likely to be used in a wide range of fields. [Explanation of symbols]

[0049] 100 Near the rail crossing of the shuttle-type pallet-type automated warehouse 110 Main guide rail 111 Main guide rail switching section 112 Main guide rail straight section 113 Main guide rail relay section 114 Main guide rail swing prevention wall 120 Sub-guide rail 121 Sub-guide rail switching section 122 Sub-guide rail straight section 123 Sub-guide rail relay section 130 Guide rail support 131 Main guide rail support 132 Sub-guide rail support part 140 C-shaped steel shelf column with holes 141 Fixing hole 150 Beam 160 Sub-guide rail cover 170 Brace 180 volts 181 Guide rail support fixing member 182 Main guide rail fixing member 183 Main guide rail swing prevention wall fixing member 184 Sub-guide rail fixing member 190 4DP Shuttle 191 Body 192 Lifter 193 Main guide rail running wheel 194 Sub-guide rail running wheel D Step between main and sub guide rails G1~G8 First to eighth guide rail spacing A. Distance between the main guide rail and the main guide rail running wheels when there is a step between the main guide rail and the sub-guide rail B. Distance between the main guide rail and the main guide rail running wheel when there is no difference in level between the main guide rail and the sub-guide rail

Claims

1. a storage and retrieval machine (SRM) equipped with a pallet lifting mechanism capable of taking in and out pallets loaded with articles, and a traveling mechanism including wheels capable of moving on guide rails; an article storage facility in which a grid-shaped pallet storage shelf capable of storing the pallets in three dimensions, the SRM can enter the lower part of the pallet storage shelf to enter and exit the pallets, and the guide rail is installed so that the SRM can move two-dimensionally between the pallet storage shelves; a lifting mechanism for vertically moving the SRM and / or the pallet; In a shuttle-type pallet-type automated multi-level warehouse, an SRM guidance mechanism for preventing an accident of the SRM in the automated warehouse, An SRM guidance mechanism characterized in that at a level intersection where a pair of X-axis guide rails having a substantially rectangular prism shape and arranged in a first (X-axis) direction, where the SRM changes direction, and a pair of Y-axis guide rails having a substantially rectangular prism shape and arranged in a second (Y-axis) direction substantially perpendicular to the X-axis, intersect, the X-axis guide rails and the Y-axis guide rails are fixed by a buffer connection mechanism.

2. 2. The SRM induction mechanism according to claim 1, wherein the buffer connection mechanism is a mechanism for maintaining a predetermined distance between the X-axis guide rail and the Y-axis guide rail and / or a mechanism for disposing an expandable material between the X-axis guide rail and the Y-axis guide rail.

3. 2. The SRM guidance mechanism according to claim 1, wherein the gap is formed inside and / or outside the rectangle of the level intersection formed by the X-axis guide rail and the Y-axis guide rail.

4. 4. The SRM induction mechanism according to claim 3, wherein the distance between the X-axis guide rail and the Y-axis guide rail is equal to or greater than a width that allows the flange of the wheel to pass through.

5. a storage and retrieval machine (SRM) equipped with a pallet lifting mechanism capable of taking in and out pallets loaded with articles, and a traveling mechanism including wheels capable of moving on guide rails; an article storage facility in which a grid-shaped pallet storage shelf capable of storing the pallets in three dimensions, the SRM can enter the lower part of the pallet storage shelf to enter and exit the pallets, and the guide rail is installed so that the SRM can move two-dimensionally between the pallet storage shelves; a lifting mechanism for vertically moving the SRM and / or the pallet; In a shuttle-type pallet-type automated multi-level warehouse consisting of an SRM guidance mechanism for preventing an accident of the SRM in the automated warehouse, An SRM guidance mechanism, characterized in that at an intersection where a pair of X-axis guide rails, each of which is approximately rectangular prism-shaped and arranged in a first (X-axis) direction, where the SRM changes direction, and a pair of Y-axis guide rails, each of which is approximately rectangular prism-shaped and arranged in a second (Y-axis) direction, which is approximately perpendicular to the X-axis, intersect, the X-axis guide rails and the Y-axis guide rails are fixed at different heights from the surface on which the guide rails are laid.

6. 6. The SRM guidance mechanism according to claim 5, wherein the X-axis guide rail and the Y-axis guide rail at the grade crossing are fixed by a buffer connection mechanism.

7. 7. The SRM induction mechanism according to claim 6, wherein the buffer connection mechanism is a mechanism for maintaining a predetermined distance between the X-axis guide rail and the Y-axis guide rail and / or a mechanism for disposing an expandable material between the X-axis guide rail and the Y-axis guide rail.

8. 8. The SRM guidance mechanism according to claim 7, wherein the gap is formed inside and / or outside the rectangle of the level intersection formed by the X-axis guide rail and the Y-axis guide rail.

9. 8. The SRM induction mechanism according to claim 7, wherein the distance between the X-axis guide rail and the Y-axis guide rail is equal to or greater than a width that allows the flange of the wheel to pass through.

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