Pallet transport 4-way shuttle

Abstract

This invention relates to a four-way pallet transport shuttle suitable for a pallet-type automated storage warehouse where a system is in operation to automatically manage and control the storage, handling, and inbound / outbound movement of pallets loaded with goods. [Solution] A pallet transport 4-way shuttle 1000 is provided, which is mounted on a chassis 1100 and includes a travel mechanism including lateral travel wheels 1204 and longitudinal travel wheels 1308, a lateral drive mechanism for moving the lateral travel wheels 1204, a longitudinal drive mechanism 1300 for moving the longitudinal travel wheels, a pallet platform lifting mechanism 1400 for moving a pallet platform 1500 on which pallets 4000 are loaded, and a shuttle control mechanism that operates the lateral drive mechanism, the longitudinal drive mechanism 1300, and the pallet platform lifting mechanism 1400, and also operates the pallet platform lifting mechanism 1400 with precision and efficiency appropriate to the configuration of the pallet rack.

Description

Technical Field

[0001] The present invention relates to, for example, a pallet transport vehicle, and particularly to a four-way shuttle for pallet transport suitable for a pallet-type three-dimensional automated warehouse in which a system for automatically managing and controlling the storage, storage, and incoming and outgoing of pallets loaded with goods is operated.

Background Art

[0002] In large-scale logistics centers and the like, automated warehouse systems that manage the storage, storage, and incoming and outgoing of goods by automatic control of a computer, that is, automated storage and retrieval systems (AS / RS), have become common in three-dimensional automated warehouses (for example, Non-Patent Document 1). Such three-dimensional automated warehouses are roughly classified into pallet types and case types based on the storage format in the goods storage facilities for goods, luggage, etc. (hereinafter referred to as "goods") in the distribution process (for example, Non-Patent Document 2). The former is a warehouse that stores goods in units of pallets on which containers or cardboard boxes loaded with goods are stacked, and the latter is a warehouse that stores goods in units of cases such as containers or cardboard boxes loaded with goods.

[0003] Conventionally, regardless of the method of storing goods in the goods storage facility, the mainstream method for loading and unloading pallets or cases into and out of the storage shelves has been to use a stacker crane equipped with a traveling mechanism that moves vertically and horizontally on guide rails, and a lifting mechanism that has both a goods placement function and a goods transfer function for transferring pallets or cases (for example, Patent Documents 1 and 2). This is because, with a stacker crane, if storage shelves consisting of partitioned shelves with predetermined widths, heights, and depths are arranged on both sides of its traveling space, one SRM can access all partitioned shelves with specified locations for two rows of storage shelves, and it has the advantage of simple operation. However, the significant advantage of this stacker crane type automated storage warehouse—that a single stacker crane can access all the storage compartments in the two rows of shelves located on either side of its travel space—conversely presents a disadvantage: if the number of storage compartments to be accessed becomes excessive, the work efficiency of a single stacker crane decreases. This demonstrates that there are limits to the processing capacity of stacker crane type automated storage warehouses.

[0004] As a result of the dramatic increase in e-commerce (EC), the use of online mail-order businesses, there has been a growing demand for automated storage and warehousing systems with extremely high loading and unloading capacity per unit of time. This has led to numerous instances where the advantages of stacker crane-type automated storage and warehousing systems have become apparent as disadvantages. Consequently, the efficiency and rationalization of automated storage and warehousing systems have become an urgent issue, and the development of shuttle-type automated storage and warehousing systems, which are calculated to have high processing capacity, has progressed.

[0005] First, regarding case-type automated storage warehouses, a shuttle-type item transport system has been developed that has the function of loading and transporting items in each row and tier, as well as the function of transferring items to partitioned shelves, so that it can access partitioned shelves at all locations in each tier of the storage shelves. Furthermore, for the transport of items in the vertical direction, elevators or lifters are provided to enable access to partitioned shelves at all locations in each row, each row and each tier of the storage shelves (for example, Patent Documents 3 and 4). A typical case-type automated storage warehouse of this system has the following configuration: Storage shelves, consisting of a grid-like arrangement of partitioned shelves that can identify locations in the longitudinal (Y-axis, row) direction and the vertical (Z-axis, tier) direction, are installed facing each other with a predetermined space in the vertical (X-axis, column) direction of the YZ plane. The side of the opposing storage shelves with space is the item loading / unloading surface, and guide rails are attached at predetermined positions on this item loading / unloading surface so that the item transport shuttle can travel in the Y-axis direction, forming an item storage block. Multiple of these item storage blocks are arranged adjacently in the X-axis direction at the back of their storage shelves. Elevators equipped with item loading platforms for transporting items in the Z-axis direction are attached to predetermined positions adjacent to the guide rails at the ends of these item storage blocks and / or within them, forming an item storage zone, which is a single unit for storing items. The item transport shuttle has an arm controlled by an actuator capable of horizontally transferring items in the X-axis direction. It travels along guide rails positioned in the Y-axis direction of the storage shelves, traversing the space formed by opposing storage shelves. It accesses all partitioned shelves at all locations in the YZ plane of each level, allowing for loading and unloading of items via the arm's movement. Since items transported by the item transport shuttle are also transported in the Z-axis direction via the elevator equipped with the item loading platform, high-speed access to all partitioned shelves in each row, each row, and each level is possible. An example of such an automated storage warehouse is the "Multi-Shuttle (registered trademark)" system, which boasts extremely high processing capacity and storage density. Currently, this automated storage warehouse is widely used in various logistics facilities.

[0006] On the other hand, pallet-type automated storage warehouses have evolved through the following process, leading to the development of pallet-type automated storage warehouses as we see them today. Originally, pallet storage involved stacking containers such as cardboard boxes containing the same type or purpose of goods vertically and horizontally on standardized pallets, and these were often laid flat as a single unit. However, this was extremely inefficient, so pallet-type automated storage warehouses were developed, using pallet racks with vertically arranged flat shelving units that could be easily moved by forklifts. Subsequently, to automate this equipment and improve efficiency, pallet-type automated storage warehouses employing stacker cranes as SRMs were created. This method was devised because, unlike case-type automated storage warehouses, pallet-type automated storage warehouses have a larger surface area, and the number of goods loaded onto pallets increases significantly, requiring SRMs and pallet racks that are suitable for this. It was also chosen because of its high compatibility with conventional forklift transfers. When this system was first adopted, goods were handled in pallet units and there was no need for detailed sorting, so there was no particular need for high inbound and outbound capacity. However, as already mentioned, with the spread of e-commerce, it has become common to handle a huge number of products and orders in a single logistics center, and the number and quantity of goods to be stocked has increased dramatically, so higher inbound and outbound capacity has become required for pallet-type automated storage warehouses. In terms of equipment, there is a desire to reduce the installation area, improve storage efficiency, and reduce the overall area of ​​the logistics center, including the warehouse, as well as reduce fixed costs. For this reason, there has been a growing demand for the development of pallet-type automated storage warehouses that are more efficient and rational than conventional pallet-type automated storage warehouses that use stacker cranes as SRM (Storage Management System). This is largely due to the fact that if the receiving, storing, and keeping of goods in the distribution process can be carried out more efficiently and rationally using pallets as units for loading goods in various forms such as heavy items, items of different shapes, and various cases containing goods, it can be applied to automated warehouses in upstream manufacturing industries other than the e-commerce industry mentioned above, such as the food and beverage industry, the automotive industry, the electronics industry, the chemical industry, the energy industry, and the pharmaceutical industry, and can also be used in special environments such as refrigerators and freezers.

[0007] However, since the base area of ​​pallets handled in pallet-type automated storage warehouses and the volume including the loaded goods are large, and the weight of pallets including goods can exceed 1 ton, the fundamental challenge that must be solved to improve efficiency and rationalize stacker crane-type pallet-type automated storage warehouses is the development of efficient and rational transfer technology for pallets to partitioned shelves that constitute pallet storage equipment and store pallets in units.

[0008] One solution to this is a pallet-type automated storage warehouse that combines conventional straight roller conveyor units, right-angle branching conveyor units with roller conveyors between conveyor rollers, turntable units equipped with roller conveyors, and lifters, without using shuttles like shuttle-type case-type automated storage warehouses, or a conveyor-type pallet-type automated storage warehouse that combines straight roller conveyor units and straight chain conveyor units, right-angle branching conveyor units with chain conveyors between conveyor rollers, turntable units using chain conveyors, and lifters (for example, Non-Patent Documents 3 and 4). The straight roller conveyor unit or straight chain conveyor unit is responsible for the linear transport of pallets on a plane within the automated storage warehouse, the turntable is responsible for the directional changes of pallets on a plane, the lifters are responsible for the three-dimensional transport of pallets within the automated storage warehouse, and the right-angle branching conveyor is responsible for the transfer of pallets between the transport path and partition shelves. While it offers high storage efficiency, allows for the loading and unloading of pallets into and out of all compartment shelves, and incorporates conveyor functionality into the compartment shelves, enabling rational pallet logistics with no restrictions whatsoever, the reliance on conveyors for pallet transport and transfer means it cannot achieve the high-speed pallet transport and transfer capabilities of a shuttle-type case-type automated storage warehouse equipped with arms, leaving a challenge in terms of the processing capacity of the automated storage warehouse.

[0009] Therefore, a type of automated storage warehouse that has been attracting attention in recent years is the shuttle-type pallet-type automated storage warehouse, which is comparable in functionality to the shuttle-type case-type automated storage warehouse. The key feature of this automated storage warehouse is its pallet transport shuttle. As with the shuttle-type case-type automated storage warehouse, the three-dimensional transport of pallets is carried out by a lifter, but this pallet transport shuttle is an ultra-thin shuttle, only a few tens of centimeters high, despite having a drive mechanism that can change direction in four directions to handle the planar transport of pallets and a drive mechanism that can raise and lower pallets to transfer them to partitioned shelves. This does not impair the storage efficiency of pallets, and allows for highly efficient loading and unloading of pallets.

[0010] When a pallet-type automated storage warehouse is converted to a shuttle system, pallets loaded with goods weighing 1 ton or more must be moved in and out of the compartment shelves. Therefore, the role of the arm that moves light cases in and out of the compartment shelves of the case transport shuttle in a shuttle-type automated storage warehouse must be entrusted to a pallet platform that can lift and lower heavy pallets using actuators such as cylinder type, cam type, ball screw type, link type, crank type, and rack and pinion type on the pallet transport shuttle. Consequently, the pallet storage equipment must form a pallet storage zone with a configuration in which pallet racks, each consisting of compartment shelves of the same size for storing pallets and a space directly below them where the pallet transport shuttle can move in and out to transfer pallets, are stacked vertically, and these stacked pallet storage units are arranged horizontally. Accordingly, in order to avoid reducing storage efficiency, an ultra-thin pallet transport shuttle, only a few tens of centimeters high, has been developed that is equipped with a drive mechanism that can change direction in four directions and a drive mechanism that can lift and lower pallets (for example, Patent Documents 5-8).

[0011] To explain in more detail, if we assume that this shuttle-type pallet-type automated warehouse is constructed in the space formed by the X-axis (column), Y-axis (row), and Z-axis (tier), then it has a configuration in which partition shelves, whose locations are specified by the rows, rows, and tiers, and sets of spaces directly below these partition shelves where pallet transport shuttles enter and exit to transport pallets are arranged regularly. In this regular arrangement, in the YZ plane, sets of partition shelves and the pallet transport shuttle entry / exit spaces directly below them, including the rails for the pallet transport shuttles, are stacked in the Z-axis direction so that the pallet transport shuttles can enter and exit in the Y-axis direction, and are further arranged in a row in the Y-axis direction. Furthermore, grid-like pallet storage units, each consisting of partition shelves in each tier and a space directly below them into which the pallet transport shuttles can enter in the Y-axis direction, are arranged adjacently in the X-axis direction, and a pallet storage zone is formed at at least one end of each tier of these pallet storage units, with a travel path for the pallet transport shuttles extending in the X-axis direction. In this way, a shuttle-type pallet-type automated warehouse is constructed in which partitioned shelves and the travel space for pallet transport shuttles are regularly arranged in the space created by the XYZ axes.

[0012] Two methods have been proposed for a pallet transport shuttle to access each compartment shelf in such a pallet storage zone. One method consists of a dedicated pallet transport shuttle that loads pallets and transports them in and out of the compartment shelves, and a shuttle transport trolley that moves the pallet transport shuttle. The dedicated pallet transport shuttle accesses each compartment shelf in each row and each section of each level via the Y-axis travel space of the pallet storage unit to transport pallets in and out, while the shuttle transport trolley moves the ultra-thin dedicated pallet transport shuttle, which is responsible for transporting pallets, along the travel space provided in the X-axis direction at one end of the pallet storage zone. The shuttle transport trolley then transports the pallet transport shuttle in the Z-axis direction via a lifter, and the loading and unloading of pallets is carried out. In this method, the transport of pallets on each level of the pallet storage zone is performed by a drive mechanism that changes direction in four directions using two vehicles (for example, Patent Documents 5 and 6). On the other hand, a pallet transport shuttle has a travel path formed at each level surrounding the pallet storage zone, and the shuttle is able to change direction in four directions by wheels provided vertically and horizontally surrounding it, allowing a single unit to access all compartment shelves in the YZ plane, and also transporting pallets in the X and Z axes via a lifter (for example, Patent Documents 7 and 8).

[0013] The latter method is considered superior to the former method in terms of efficient and rational pallet processing capacity. However, as is clear from the above explanation, in both methods, after the pallet transport shuttle enters the space directly below the partition shelves that make up the pallet rack, it moves up and down using various actuators, and uses a pallet platform that does not intersect with the partition shelves on which the pallets are placed and stored to transport pallets into the partition shelves and unload pallets from the partition shelves. For this reason, the height of the space directly below the partition shelves is designed to be greater than the height of the pallet transport shuttle. The pallet platform is set higher than the bottom of the partition shelves, and after entering the space directly below the partition shelves, the pallet platform is lowered to store the pallets, and the pallet platform is set higher than the bottom of the partition shelves to unload the pallets. However, in order to avoid compromising the storage efficiency of the pallet-type automated storage warehouse, as mentioned above, the space directly below the partition shelves into which the pallet transport shuttle enters must be as narrow as possible, and the height of the pallet transport shuttle needs to be about ten centimeters.

[0014] In the former method, the pallet transport shuttle is functionally separated into a dedicated pallet transport shuttle and a shuttle transport trolley, so only a drive mechanism for travel in one direction and a drive mechanism for raising and lowering pallets are required, making it easy to make the system thin. However, it requires two shuttles to transport pallets, the transfer of pallets on the XY axis plane of the pallet storage zone is performed twice, and complex equipment and transfer time are required to transfer the dedicated pallet transport shuttle to the shuttle transport trolley, making it a shuttle-type pallet automated warehouse that cannot be called an efficient or rational system.

[0015] On the other hand, the latter method is generally referred to as the four-way shuttle system, and provides an efficient and rational shuttle-type pallet automated warehouse that houses a drive mechanism capable of changing direction in four directions and a drive mechanism capable of raising and lowering pallets in a single pallet transport shuttle. However, in terms of storage efficiency, both mechanisms must be built into a single unit to achieve ultra-thinness, and numerous solutions have been proposed for these mechanisms (for example, Patent Documents 7 and 8). Basically, in the above-mentioned shuttle-type pallet automated warehouse in the XYZ axis space, a drive mechanism is employed that allows the pallet transport shuttle to be made thinner by raising and lowering the X-axis wheels and the pallet mounting platform in conjunction with the X-axis wheels and Y-axis wheels surrounding the pallet transport shuttle, so that only the wheels in the direction of travel are in contact with the rails, and the height of the pallet mounting platform is set to suit the direction of travel, and the operation consists of the process of transporting pallets in the X-axis direction and the process of transporting pallets in the Y-axis direction and loading and unloading pallets into and out of partitioned shelves of pallet racks. Furthermore, the actuators used in these drive mechanisms, such as cylinder type, cam type, ball screw type, link type, crank type, and rack and pinion type, exhibit distinctive features.

[0016] Therefore, the relationship between the position of the bottom of the partition shelf, the pallet placement platform, and the operation of the drive mechanism when loading and unloading pallets into and out of the partition shelves of the pallet rack is as follows when loading a pallet into a partition shelf containing a pallet storage zone. First, the X-axis wheels and pallet placement platform of the pallet transport shuttle loaded with the pallet are lowered to the lowest position by the actuator. The X-axis wheels make contact with the X-axis rail, and the shuttle becomes able to move in the X-axis direction with the pallet placed in the most stable lowest position. Then, this pallet transport shuttle travels along the X-axis rail to the Y-axis pallet storage unit where the partition shelf to be stored is located, and stops at the intersection of the X-axis and Y-axis rails. Here, the X-axis wheels and pallet placement platform are raised to the highest position by the actuator. The X-axis wheels of the pallet transport shuttle separate from the X-axis rail, and the Y-axis wheels make contact with the Y-axis rail, entering the space directly below the partition shelf to be stored. Then, when the wheels in the X-axis direction are lowered to a degree that does not obstruct the movement of the pallet transport shuttle in the Y-axis direction, the pallet is placed on the designated compartment shelf, and the storage of the pallet into the compartment shelf is completed. Maintaining this state, the pallet transport shuttle travels along the rail in the Y-axis direction and returns to the intersection of the rails in the X-axis direction and the rail in the Y-axis direction.

[0017] Conversely, when retrieving pallets stored in partitioned shelves, the process is as follows: First, the X-axis wheels and pallet transport platform of the pallet transport shuttle, loaded with pallets, are lowered to their lowest position by actuators. The X-axis wheels then make contact with the X-axis rail, and the pallet platform is in its most stable lowest position, allowing the shuttle to move in the X-axis direction. The pallet transport shuttle then travels along the X-axis rail to the Y-axis pallet storage unit where the partitioned shelves containing the pallets to be retrieved are located, and stops at the intersection of the X-axis and Y-axis rails. At this point, the X-axis wheels and pallet transport platform are raised to an intermediate position by actuators. The X-axis wheels of the pallet transport shuttle detach from the X-axis rail, and the Y-axis wheels make contact with the Y-axis rail, allowing the shuttle to enter the space directly below the partitioned shelves containing the pallets to be retrieved. Finally, the pallet platform is raised to its highest position, and the pallets to be retrieved are placed on the platform. The wheels in the X-axis direction are raised to a position where they do not obstruct the movement of the pallet transport shuttle in the Y-axis direction. Maintaining this position, the pallet transport shuttle travels along the rail in the Y-axis direction, returning to the intersection of the rails in the X-axis and Y-axis directions, and completing the unloading of the pallets.

[0018] In this system, pallets are transferred between the pallet transport shuttle and the pallet rack without hindrance. Therefore, the height of the wheels in the X-axis direction of the pallet transport shuttle and the pallet platform are set to three levels: highest, intermediate, and lowest, allowing for the loading and unloading of pallets (for example, Patent Document 8). This is because, if the pallet transport shuttle cannot travel freely in four directions, it cannot transport pallets. Therefore, collisions between the pallets loaded on the pallet platform and the bottom of the partition shelves of the pallet rack are avoided by ground contact control of the rails of the longitudinal and lateral traveling wheels, including the drive wheels and driven wheels of the pallet transport shuttle. However, the position of the bottom of the partition shelves where pallets are loaded and unloaded and the height of the pallet platform are not optimized. Consequently, if the height of the pallet platform is higher than necessary, there will be wasted energy consumption of the actuator and wasted transfer processing time. Furthermore, unless the partition shelves of the pallet rack and the pallet transport shuttle are designed as a pair of pallet-type automated warehouses with standardized heights, pallets and pallet loading platforms will collide with the partition shelves, resulting in poor pallet storage efficiency. This makes it impossible to realize an efficient and rational shuttle-type automated warehouse. Consequently, a logistics system would require designing a high-performance and expensive pallet transport shuttle for each different pallet storage facility, leading to waste and limiting the versatility of the pallet transport shuttle. However, a pallet transport shuttle that controls the positional relationship between the pallet rack and pallet loading platform has yet to be found. [Prior art documents] [Patent Documents]

[0019] [Patent Document 1] Japanese Patent Publication No. 2000-355404 [Patent Document 2] Japanese Patent Publication No. 2004-123277 [Patent Document 3] International Publication No. 10 / 026633 [Patent Document 4] U.S. Patent No. 8790061 [Patent Document 5] Japanese Patent Application Laid-Open No. 2010-235246 [Patent Document 6] Japanese Patent Application Laid-Open No. 2017-160040 [Patent Document 7] Japanese Patent Application Laid-Open No. 2023-502564 [Patent Document 8] Japanese Patent Application Laid-Open No. 2023-541238 [Non-Patent Document]

[0020] [Non-Patent Document 1] Takuya Hatta, Toshinari Kaibara, Nobutada Fujii, Masashi Morikawa, "Research on Optimization Method Based on Social Negotiation for Operation of Automated Warehouse System", Proceedings of the Precision Engineering Society Academic Lecture Meeting, 2011A0, pp. 49 - 50, Spring Conference of the Precision Engineering Society 2011, [online], [searched on June 16, 2024], Internet <https: / / www.jstage.jst.go.jp / article / pscjspe / 2011S / 0 / 2011S_0_561 / _pdf / -char / ja.> [Non-Patent Document 2] Daifuku Co., Ltd., "Types and Features of Automated Warehouses", [online], HOME > Solutions > Logistics Solutions > Product and Solution List > Automated Warehouse System > Types and Features of Automated Warehouses, [searched on June 16, 2024], Internet <https: / / www.daifuku.com / jp / solution / intralogistics / products / automated-warehouse / types-features / >. [Non-Patent Document 3] Itoh Denki Co., Ltd., "MDR (Motorized Drive Roller) Type Mathen Auto Pallet Sequencing System (APSS, Auto Palette Sequencing System)", [online], [searched on May 8, 2025], Internet URL <https: / / www.itohdenki.co.jp / products / autopalletrack.html#prettyPhoto> [Non-Patent Document 4] CONVEYOR SYSTEMS LIMITED, “Interroll MPP (Modular Pallet Platform) Pallet conveyor System - Available from CSL”, [online], [searched on May 8, 2025], Internet URL <https: / / youtu.be / X2HNN3-Nc-cc>

Summary of the Invention

Problems to be Solved by the Invention

[0021] As described in the background art, a shuttle-type pallet-type three-dimensional automated warehouse comparable to the functions of a shuttle-type case-type three-dimensional automated warehouse has attracted attention. The three-dimensional conveyance of pallets is performed by a lifter, similar to a shuttle-type case-type three-dimensional automated warehouse. However, despite having a drive mechanism that can change directions in four directions responsible for the planar conveyance of pallets and a drive mechanism that can lift and lower pallets responsible for transferring pallets to sectional shelves, the system uses an ultra-thin four-direction shuttle with a height of only a dozen centimeters to carry pallets in and out. According to this system, the inbound and outbound, storage, and storage of goods in the distribution process can be carried out very efficiently and reasonably in units of pallets loaded with goods in various forms such as heavy goods, goods with different shapes, and various cases containing goods. Therefore, it can be applied not only to the logistics industry but also to automated warehouses in other upstream manufacturing industries, such as the food and beverage industry, automotive industry, electronics industry, chemical industry, energy industry, and pharmaceutical industry. Also, the ability to handle special environments such as refrigerators and freezers has been a major factor attracting attention.

[0022] However, unlike the shuttle in a shuttle-type pallet-type automated storage warehouse, the shuttle cannot move cases in the X-axis direction using an arm. Therefore, the pallet transport shuttle enters from the space directly below the partition shelves arranged in the Y-axis direction of the pallet storage rack, and the pallet transport shuttle loads and unloads pallets using its pallet loading platform. For example, when the pallet transport shuttle loads a pallet in the Y-axis direction of a certain level, as the lateral wheels for travel in the X-axis direction lift off the rails, the longitudinal wheels for travel in the Y-axis direction make contact with the rails, and at the same time, the pallet on the pallet loading platform is held at a position higher than the bottom of the partition shelves of the pallet rack (highest position). When the pallet transport shuttle arrives at a predetermined partition shelf in the Y-axis direction driven by the longitudinal wheels, the pallet loading platform lowers to a height (intermediate position) where the lateral wheels do not obstruct the movement of the longitudinal wheels, and the pallet is stored in the pallet rack. Then, in that state, after returning to the plane intersection of the rail laid in the Y-axis direction and the rail laid in the X-axis direction, the longitudinal wheels lift off the rails, and the pallet platform descends further to a low position (lowest position) where the lateral wheels make contact with the rails, and then travels in the X-axis direction driven by the lateral wheels. When unloading pallets, the pallet transport shuttle is held in three positions and operates in a way that does not hinder its movement.

[0023] Thus, the height of the pallet transport shuttle's interconnected lateral wheels and pallet platform can be set to three levels: highest, intermediate, and lowest, allowing for the loading and unloading of pallets. This is because the pallet transport shuttle must be able to travel freely in all four directions to transport pallets. Therefore, the ground contact control between the rails of the pallet transport shuttle's longitudinal and lateral wheels prevents collisions between the pallets loaded on the platform and the bottom of the partition shelves of the pallet rack. However, this does not mean that the position of the bottom of the partition shelves where pallets are loaded and unloaded is optimized for the height of the pallet platform. Consequently, if the height of the pallet platform is higher than necessary, there is a problem of wasted energy consumption in the actuators and wasted transfer processing time. Furthermore, if the partition shelves of the pallet rack and the pallet transport shuttle are not designed as a pair of pallet-type automated warehouses with standardized heights, not only will pallets and pallet storage platforms collide with the partition shelves, but the storage efficiency of pallets will also be poor, making it impossible to realize an efficient and rational shuttle-type automated warehouse. This would result in logistics equipment where a high-performance and expensive pallet transport shuttle must be designed for each different pallet storage facility, leading to waste and a lack of versatility for the pallet transport shuttle.

[0024] In other words, in conventional shuttle-type pallet automated warehouses employing a four-way pallet transport shuttle, the control of the pallet platform lifting mechanism that raises and lowers the pallet platform of the four-way pallet transport shuttle when loading and unloading pallets is insufficient, resulting in unnecessary movement of the pallet platform of the four-way pallet transport shuttle, and thus the shuttle is not efficient or rational. Furthermore, shuttle-type pallet automated warehouses can only use the four-way pallet transport shuttle that is standardized for that system, which is a problem as the four-way pallet transport shuttle lacks versatility. [Means for solving the problem]

[0025] This invention solves the above problem by controlling the contact between the rails of the lateral and longitudinal wheels of the pallet transport shuttle, and by controlling the actuator that determines the height of the pallet platform, based on information from a shuttle-type pallet automated warehouse. This led to the completion of the present invention.

[0026] In other words, the present invention is a four-way pallet transport shuttle characterized in that the chassis is equipped with a traveling mechanism including lateral and longitudinal traveling wheels, a lateral drive mechanism for moving the lateral traveling wheels, a longitudinal drive mechanism for moving the longitudinal traveling wheels, a pallet platform lifting mechanism for moving a pallet platform on which pallets are loaded, and a shuttle control mechanism that operates the lateral drive mechanism, the longitudinal drive mechanism, and the pallet platform lifting mechanism, and also operates the pallet platform lifting mechanism with precision and efficiency appropriate to the configuration of the pallet rack.

[0027] Thus, for the pallet platform lifting mechanism to operate accurately using the shuttle control mechanism, it is preferable that the shuttle control mechanism operates the pallet platform lifting mechanism within a specific lifting range of the pallet platform based on the morphological information of the pallet rack. This morphological information of the pallet rack may be known design values ​​or measured values ​​of the structure of the installed shuttle-type pallet automated warehouse, or it may be morphological information obtained from cameras or sensors equipped on the four-way pallet transport shuttle. With the accurate operation of such a pallet platform lifting mechanism, the loading and unloading of pallets into and out of the pallet rack by the four-way pallet transport shuttle can be performed within an optimal, efficient, and rational lifting range corresponding to the height of the partition shelves in the pallet rack.

[0028] In particular, it is preferable to operate the pallet rack lifting mechanism within a specific lifting range based on information obtained from sensors equipped on the four-way pallet transport shuttle, as this allows for compatibility with all shuttle-type pallet-type automated warehouses and offers high versatility.

[0029] This sensor is not particularly limited, but is preferably one or more selected from LiDAR (Light Detection And Ranging), millimeter-wave radar, laser scanner, camera, infrared camera, AI (Artificial Intelligence) camera, image sensor, and ultrasonic sensor. In particular, in order to detect obstacles in all other travel stages, not just obstacles in partition shelves when entering directly beneath the pallet racks for the four-way pallet transport shuttle, it is preferable to equip the shuttle with one or more selected from LiDAR, millimeter-wave radar, and camera, which enable high-precision measurement and situational judgment.

[0030] On the other hand, the method for raising and lowering the pallet platform of the pallet platform lifting mechanism of the pallet transport four-way shuttle of the present invention is not particularly limited, but it is preferably selected from cylinder type, cam type, ball screw type, link type, crank type, and rack and pinion type actuators. Among these, the ball screw type is more preferable as it can faithfully reflect the shape of the pallet rack of the pallet platform and operate with higher precision and efficiency.

[0031] Furthermore, the pallet transport 4-way shuttle of the present invention is composed of a chassis comprising a travel mechanism including lateral and longitudinal travel wheels, a lateral drive mechanism for moving the lateral travel wheels, a longitudinal drive mechanism for moving the longitudinal travel wheels, a pallet platform lifting mechanism for moving a pallet platform on which pallets are loaded, and a shuttle control mechanism that operates the lateral drive mechanism, the longitudinal drive mechanism, and the pallet platform lifting mechanism, and also operates the pallet platform lifting mechanism with precision and efficiency appropriate to the configuration of the pallet rack. The lateral drive mechanism for moving the lateral travel wheels, the longitudinal drive mechanism for moving the longitudinal travel wheels, and the pallet platform lifting mechanism for moving the pallet platform on which pallets are loaded may each operate independently by the shuttle control mechanism, but two or more selected from the lateral drive mechanism, the longitudinal drive mechanism, and the pallet platform lifting mechanism may be linked together as needed. Linking them together reduces the number of parts and contributes to making the pallet transport 4-way shuttle thinner.

[0032] In particular, it is preferable that the lifting and lowering motion of the lateral or longitudinal wheels is linked to the lifting and lowering motion of the pallet loading platform. This is because it is efficient, rational, and preferable for the lifting and lowering of the wheels to simultaneously control the direction of the four-way pallet transport shuttle and the height of the pallet loading and unloading platform.

[0033] Furthermore, in order for the shuttle control mechanism to operate with precision and efficiency appropriate to the configuration of the pallet rack, it is preferable to operate the pallet rack lifting mechanism within a specific lifting range of the pallet rack based on the configuration information of the pallet rack. This is achieved by the operation of the lateral drive mechanism that moves the lateral wheels, the longitudinal drive mechanism that moves the longitudinal wheels, and the pallet rack lifting mechanism that moves the pallet rack on which the pallets are loaded. Then, by operating the lifting motion of the lateral wheels or longitudinal wheels in conjunction with this pallet rack lifting mechanism, pallets can be loaded into and out of the pallet rack within an efficient and reasonable lifting range of the pallet rack lifting mechanism.

[0034] Similarly, based on the information acquired from the sensor, it is preferable that when the pallet rack lifting mechanism operates within a specific lifting range, the lateral or longitudinal wheels move in conjunction with the pallet rack's morphological information. Similarly, it is preferable that the sensor is one or more selected from LiDAR, millimeter-wave radar, laser scanner, camera, infrared camera, AI (Artificial Intelligence) camera, image sensor, and ultrasonic sensor, and more preferably one or more selected from LiDAR, millimeter-wave radar, and camera.

[0035] Furthermore, the method for raising and lowering the pallet platform of the pallet platform lifting mechanism is preferably one of the actuators selected from cylinder type, cam type, ball screw type, link type, crank type, and rack and pinion type, and more preferably a ball screw type. [Effects of the Invention]

[0036] This invention enables efficient and rational logistics in a shuttle-type pallet automated warehouse by allowing a four-way pallet transport shuttle to load and unload pallets from the partition shelves of a pallet rack without the unnecessary movement of the pallet loading platform. Furthermore, this invention eliminates the need for a pair of shuttle-type pallet automated warehouses with standardized heights for the partition shelves of the pallet rack and the pallet transport shuttle. Different models of four-way pallet transport shuttles can be applied to shuttle-type pallet automated warehouses with different specifications, thus increasing the versatility of the shuttle-type pallet automated warehouse. [Brief explanation of the drawing]

[0037] [Figure 1] This is a schematic plan view of a four-way pallet transport shuttle according to one embodiment of the present invention, showing the pallet platform cut and removed in a horizontal plane to illustrate the mechanism of the four-way pallet transport shuttle. [Figure 2] This is a schematic front view of the pallet transport four-way shuttle shown in Figure 1, according to one embodiment of the present invention, as viewed from direction A, i.e., the vertical (Y-axis, continuous) direction. [Figure 3] This is a schematic side view of the four-way pallet transport shuttle shown in Figure 1, according to one embodiment of the present invention, as viewed from direction B, i.e., from the lateral (X-axis, column) direction. [Figure 4] Figure 1 is a schematic front view, viewed from the vertical (Y-axis, continuous) direction, showing how the four-way pallet transport shuttle, according to one embodiment of the present invention, enters a pallet rack. [Figure 5] This is a schematic front view from the vertical (Y-axis, continuous) direction showing a shuttle equipped with LiDAR on a four-way pallet transport shuttle, according to one embodiment of the present invention, as it enters a pallet rack. [Modes for carrying out the invention]

[0038] The present invention will be specifically described below with reference to the drawings, illustrating typical embodiments. However, the embodiments specifically described with reference to the drawings are merely examples of the present invention and are not limited thereto. Various modifications can be made without departing from the spirit of the invention, and the invention is limited only to the technical concept described in the claims.

[0039] The technical concept of the present invention will be clarified using Figures 1 to 3, which specifically illustrate an example of the four-way pallet transport shuttle of the present invention. Figure 1 is a schematic plan view of a four-way pallet transport shuttle according to one embodiment of the present invention, showing the pallet mounting platform cut and removed in a horizontal plane to explain the mechanism of the four-way pallet transport shuttle. Figure 2 is a schematic front view of the four-way pallet transport shuttle shown in Figure 1 according to one embodiment of the present invention, viewed from direction A, i.e., the vertical (Y-axis, row) direction, and Figure 3 is a schematic side view of the four-way pallet transport shuttle shown in Figure 1 according to one embodiment of the present invention, viewed from direction B, i.e., the horizontal (X-axis, column) direction. As is clear from these figures, the four-way pallet transport shuttle of this embodiment travels in the vertical direction, and pallets are transferred between the four-way pallet transport shuttle 1000 and predetermined partition shelves of the pallet rack (not shown) 3000 at predetermined levels and predetermined columns of the pallet rack, and by traveling in the horizontal direction, it can access all partition shelves in the XY axis plane. Furthermore, although the entire shuttle-type pallet-type automated storage warehouse is not shown here, in order to access all compartmentalized shelves in the Z-axis direction, the shuttle-type pallet-type automated storage warehouse is equipped with elevators that transport the four-way pallet transport shuttle in the Z-axis direction.

[0040] As can be seen from Figures 1-3, the framework of the pallet transport 4-way shuttle 1000, which is one embodiment of the present invention, is configured such that a chassis 1100 is equipped with a lateral drive mechanism, a longitudinal drive mechanism, lateral traveling wheels and a pallet platform lifting mechanism, and a pallet transport 4-way shuttle control mechanism. This configuration is just one example, and it is also a preferred embodiment of the pallet transport 4-way shuttle of the present invention to be equipped with a lifting mechanism for each of the lateral traveling wheels and the pallet platform, and to be configured so that each can be driven independently, or to be equipped with a lifting mechanism for each of the longitudinal traveling wheels and the pallet platform, and to be configured so that each can be driven independently. Here, the lateral traveling wheels are a collective term for the lateral drive wheels 1204 and the lateral driven wheels 1209. ru.

[0041] Furthermore, the lateral drive mechanism, longitudinal drive mechanism, lateral running wheels, pallet platform lifting mechanism, and pallet transport four-way shuttle control mechanism that constitute the pallet transport four-way shuttle 1000 shown in Figures 1-3 are configured as follows.

[0042] The lateral drive mechanism consists of a lateral drive wheel drive motor 1200, a lateral drive wheel drive gear 1201, a lateral drive wheel connecting shaft transmission gear 1202, a lateral drive wheel connecting shaft 1203, a lateral drive wheel 1204, a lateral driven wheel transmission gear 1205, a lateral driven wheel connecting chain 1206, a lateral driven wheel connecting shaft transmission gear 1207, a lateral driven wheel connecting shaft 1208, and a lateral driven wheel 1209. It is composed of the following main components. Note that the lateral drive wheel 1204 and the lateral driven wheel 1209 are collectively referred to as the lateral running wheels, and the same applies hereafter.

[0043] The longitudinal drive mechanism consists of major components such as the longitudinal drive wheel drive motor 1300, longitudinal drive wheel drive gear 1301, longitudinal drive wheel connecting shaft transmission gear 1302, longitudinal drive wheel connecting shaft 1303, longitudinal drive wheel connecting shaft support 1304, longitudinal drive wheel transmission gear 1305, longitudinal drive wheel rotation gear 1306, longitudinal drive wheel rotation shaft 1307, longitudinal drive wheel 1308, longitudinal driven wheel transmission gear 1309, longitudinal driven wheel connecting chain 1310, longitudinal driven wheel rotation gear 1311, longitudinal driven wheel rotation shaft 1312, longitudinal driven wheel oscillation prevention member 1313, longitudinal driven wheel rotation shaft support 1314, and longitudinal driven wheel 1315. The longitudinal drive wheel 1308 and the lateral driven wheel 1315 are collectively referred to as the longitudinal driving wheels, and the same applies hereafter.

[0044] The lateral travel wheel and pallet platform lifting mechanism is a link mechanism consisting of links (1) 1401 to link (4) and joints (1) to joint (6), connected by a lateral drive wheel connecting shaft 1203 and a lateral driven wheel connecting shaft 1208, and a pallet platform fixing part 1502 of a pallet platform support part 1501 that supports the pallet platform 1500.

[0045] These mechanisms then operate according to instructions from the pallet transport 4-way shuttle control unit 1600, which is the core of the pallet transport 4-way shuttle control mechanism, a feature of the present invention. Specifically, the pallet transport 4-way shuttle control unit 1600 simultaneously raises and lowers the lateral wheels and the pallet platform 1500 based on the morphological information of the pallet racks of a shuttle-type pallet automated warehouse (not shown). In particular, the accurate and precise raising and lowering of the pallet platform 1500 shortens the pallet transfer time and reduces the energy required to raise and lower the pallet platform 1500.

[0046] This effect will be explained using a schematic front view from the vertical (Y-axis, continuous) direction, which shows the 4-way pallet transport shuttle shown in Figure 1, according to one embodiment of the present invention, entering the pallet rack. For example, the case in which the 4-way pallet transport shuttle 1000 loads (not shown) items onto a pallet 4000 and transports them to the pallet rack 3000 will be explained. In the pallet transport four-way shuttle 1000 of this embodiment, pallets 4000 are loaded onto the pallet loading platform 1500 of the pallet transport four-way shuttle 1000. The pallet loading platform 1500 is raised by the lateral wheels and pallet loading platform lifting actuator 1400 to a position higher than the pallet support beam 3001, which is spanned across the support columns 3002 of the pallet rack 3000, i.e., the bottom of the partition shelves. The shuttle travels along the rail 2000 in the Y-axis direction from the intersection of the rails in the X-axis direction and the Y-axis direction, and enters directly below the partition shelves of a predetermined stage and predetermined row of the pallet rack 3000. At this time, as the pallet loading platform 1500 rises, the lateral wheels also rise and move away from the rail-laying surface, so that the longitudinal wheels can travel in contact with the rail 2000. Subsequently, when the pallet 4000 makes contact with the pallet support beam 3001 of the pallet rack 3000, and the pallet platform 1500 lowers to the extent that the lateral wheels do not touch the rail surface, the loading is completed, and the pallet transport 4-way shuttle 1000 returns to the intersection of the rails in the X-axis and Y-axis directions along the same path as the entry path. As can be seen from this series of operations, setting the pallet platform 1500 lower than the pallet support beam 3001 is out of the question, but if the pallet platform 1500 is not set to the optimal height, the amount of movement of the lateral wheels and the pallet platform lifting actuator 1400 will increase during the loading and unloading of the pallet 4000 by the pallet transport 4-way shuttle 1000, resulting in wasted transfer time and energy consumption. However, the pallet transport four-way shuttle of the present invention is capable of efficient and rational loading and unloading of pallets because the pallet transport four-way shuttle control unit 1600 mounted thereon can control the lifting and lowering amount of the pallet mounting platform 1500 accurately and precisely based on design information relating to the pallet rack.

[0047] Furthermore, as shown in Figure 5, by equipping the pallet transport 4-way shuttle 1000 shown in Figure 1 with LiDAR, in another embodiment of the present invention, even in cases where the pallet transport 4-way shuttle 1000 is not standardized as a shuttle-type pallet automated warehouse, the lifting and lowering amount of the pallet platform 1500 is controlled to the optimal level based on the structural information of the pallet racks obtained by the sensors. This allows for accurate and precise lifting and lowering of the pallet platform 1500 without the need to prepare a new pallet transport 4-way shuttle, enabling efficient and rational loading and unloading of pallets. [Industrial applicability]

[0048] The shuttle-type pallet-type automated warehouse, which handles pallets loaded with goods in various forms such as heavy items, items of different shapes, and various cases containing goods, can be applied to automated warehouses in manufacturing industries such as the food and beverage industry, automotive industry, electronics industry, chemical industry, energy industry, and pharmaceutical industry, as well as the food and beverage industry, automotive industry, electronics industry, chemical industry, energy industry, and pharmaceutical industry, and can also handle special environments such as refrigeration and freezing, has extremely high industrial applicability. [Explanation of symbols]

[0049] 1000 pallet transport 4-way shuttle 1100 Chassis 1200 Lateral drive wheel drive motor 1201 Lateral drive wheel drive gear 1202 Lateral drive wheel connecting shaft transmission gear 1203 Lateral drive wheel connecting shaft 1204 Lateral drive wheels 1205 Lateral Drive Wheel Transmission Gear 1206 Lateral Driven Wheel Connecting Chain 1207 Lateral Drive Wheel Connecting Shaft Transmission Gear 1208 Lateral Drive Wheel Connecting Shaft 1209 Lateral Driven Wheel 1300 Longitudinal drive wheel drive motor 1301 Longitudinal drive wheel drive gear 1302 Longitudinal drive wheel connecting shaft transmission gear 1303 Longitudinal drive wheel connecting shaft 1304 Longitudinal drive wheel connecting shaft support 1305 Longitudinal drive wheel transmission gear 1306 Longitudinal drive wheel rotation gear 1307 Longitudinal drive wheel pivot shaft 1308 Longitudinal drive wheels 1309 Longitudinal Drive Wheel Transmission Gear 1310 Longitudinal Driven Wheel Connecting Chain 1311 Longitudinal Driven Wheel Rotating Gear 1312 Vertical Driven Wheel Rotation Axle 1313 Vertical Driven Wheel Oscillation Prevention Member 1314 Longitudinal Driven Wheel Rotary Axle Support 1315 Longitudinal Driven Wheel 1400 Pallet Platform Lifting Actuator 1401 Link (1) 1402 Links (2) 1403 Links (3) 1404 Links (4) 1405 Joint (1) 1406 Joint (2) 1407 Joint (3) 1408 Joint (4) 1409 Joint (5) 1410 Joint (6) 1500 Pallet Stand 1501 Pallet mounting platform support section 1502 Pallet mounting base fixing part 1600 Pallet Transport 4-Way Shuttle Control Unit 1700 LiDAR 2000 rails 3000 pallet rack 3001 Pallet support beam 3002 Post 4000 pallets 4001 Fork insertion port A, B arrow view

Claims

1. Chassis and A running mechanism including lateral-traveling wheels and longitudinal-traveling wheels, A lateral drive mechanism that moves the lateral wheels mounted on the chassis, A longitudinal drive mechanism that moves the longitudinally traveling wheels mounted on the chassis, A pallet platform lifting mechanism is mounted on the chassis and moves the pallet platform on which pallets are loaded, A shuttle control mechanism mounted on the chassis, which can operate the lateral drive mechanism, the vertical drive mechanism, and the pallet mounting platform lifting mechanism, A four-way pallet transport shuttle equipped with sensors, Based on the morphological information of the pallet rack acquired from the sensor, the shuttle control mechanism operates the pallet platform lifting mechanism within a specific lifting range of the pallet platform, and controls the lifting motion of the lateral or longitudinal wheels to be synchronized with the lifting motion of the pallet platform. A pallet transport shuttle with a distinctive four-way design.

2. The pallet transport four-way shuttle according to claim 1, characterized in that the sensor is one or more selected from LiDAR (Light Detection and Ranging), millimeter-wave radar, laser scanner, camera, infrared camera, AI (Artificial Intelligence) camera, image sensor, and ultrasonic sensor.

3. The pallet transport four-way shuttle according to claim 1 or 2, characterized in that the method for raising and lowering the pallet platform of the pallet platform lifting mechanism is an actuator selected from cylinder type, cam type, ball screw type, link type, crank type, and rack and pinion type.

4. The pallet transport four-way shuttle according to claim 1, characterized in that the pallet platform lifting mechanism and the wheel lifting mechanism that controls the lifting motion of the lateral or longitudinal wheels are each configured to be independently drivable.

5. The four-way pallet transport shuttle according to claim 1, characterized in that the lateral travel wheels and the actuators related to the pallet platform lifting mechanism are connected by the lateral drive wheel connecting shaft and the lateral driven wheel connecting shaft that constitute the lateral drive mechanism, and by the pallet platform fixing portion of the pallet platform support portion that supports the pallet platform.

6. A four-way pallet transport shuttle comprising a chassis, a running mechanism including lateral and longitudinal wheels, a lateral drive mechanism for moving the lateral wheels, a longitudinal drive mechanism for moving the longitudinal wheels, a pallet platform lifting mechanism for moving a pallet platform on which pallets are loaded, and a shuttle control mechanism capable of operating the lateral drive mechanism, the longitudinal drive mechanism, and the pallet platform lifting mechanism, A pallet rack is configured to allow the aforementioned four-way pallet transport shuttle to enter, and has support columns and pallet support beams spanning across the columns, A rail configured to allow the aforementioned longitudinally traveling wheels to make contact with the ground and travel, A sensor for acquiring structural information of the pallet rack Equipped with, Based on the morphological information of the pallet rack acquired from the sensor, the shuttle control mechanism operates the pallet platform lifting mechanism within a specific lifting range of the pallet platform, and controls the lifting motion of the lateral or longitudinal wheels to be synchronized with the lifting motion of the pallet platform. A shuttle-type pallet-type automated warehouse characterized by the following features.

7. The shuttle-type pallet automated warehouse according to claim 6, characterized in that a pallet is loaded onto the pallet platform of the four-way pallet transport shuttle, the pallet platform is raised to a position higher than the pallet support beam of the pallet rack, the four-way pallet transport shuttle travels along the rail, enters directly below the partition shelves of a predetermined level and row of the pallet rack, the pallet makes contact with the pallet support beam of the pallet rack, and the pallet platform is lowered to such an extent that the lateral wheels do not make contact with the rail surface, thereby completing the loading process.

8. The shuttle-type pallet-type automated warehouse according to claim 6, characterized in that the sensor is one or more selected from LiDAR (Light Detection and Ranging), millimeter-wave radar, laser scanner, camera, infrared camera, AI (Artificial Intelligence) camera, image sensor, and ultrasonic sensor.

9. The shuttle-type pallet-type automated storage warehouse according to any one of claims 6 to 8, characterized in that the method for raising and lowering the pallet platform of the pallet platform lifting mechanism is an actuator selected from a cylinder type, a cam type, a ball screw type, a link type, a crank type, and a rack and pinion type.

10. The shuttle-type pallet-type automated storage warehouse according to claim 6, characterized in that the pallet platform lifting mechanism and the wheel lifting mechanism that controls the lifting motion of the lateral or longitudinal wheels are each configured to be independently drivable.

11. The shuttle-type pallet-type automated warehouse according to claim 6, characterized in that the actuators relating to the lateral travel wheels and the pallet platform lifting mechanism are connected by the lateral drive wheel connecting shaft and the lateral driven wheel connecting shaft constituting the lateral drive mechanism, and by the pallet platform fixing part of the pallet platform support part that supports the pallet platform.

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