Automated warehouse system and evacuation mechanism

Abstract

Provided is an automated warehouse system capable of achieving installation of a shield wall with a simple configuration. An automated warehouse system 1 comprises a rack 10 having a plurality of floors 11, each floor 11 being formed by a plurality of floor panels 13. Each floor 11 allows a transport robot 24 to run along the surface thereof. The plurality of floors 11 are separated to a first section 10A and a second section 10B disposed apart from each other via a gap G. An evacuation mechanism 100 establishes a first configuration in which the evacuation mechanism 100 is disposed in the gap G and allows the transport robot 24 to run between the first section 10A and the second section 10B, and a second configuration in which the evacuation mechanism 100 is evacuated from the gap G and opens the gap G. Once the evacuation mechanism 100 establishes the second configuration, the gap G can receive entry of a shield wall 35 that shields the space between the first section 10A and the second section 10B.

Description

Technical Field

[0001] The present invention relates to an automated warehouse system and an evacuation mechanism.

Background Art

[0002] For example, Patent Document 1 discloses a warehouse system including a storage shelf for storing articles. In this warehouse system, articles are transported using a self-propelled carrier along a traveling rail arranged on the storage shelf.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

[0004] It is preferable that a shielding wall such as a fire shutter for preventing the spread of a fire is provided in a warehouse system in the event of a fire or the like. However, in the warehouse system of Patent Document 1, it is not easy to provide a shielding wall due to the presence of obstacles such as traveling rails.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide an automated warehouse system and an evacuation mechanism that can realize the provision of a shielding wall with a simple configuration.

Summary of the Invention

[0006] To achieve the above objective, according to one aspect of the present invention, an automated warehouse system is provided, the automated warehouse system is a rack having a plurality of floors, each floor formed by a plurality of adjacent floor panels, and a plurality of support columns supporting the floors, wherein each floor allows a transport robot to travel along its surface, and the plurality of floors are separated into a first section and a second section spaced apart from each other by a gap, and a retraction mechanism that establishes a first configuration placed in the gap and allowing the transport robot to travel between the first section and the second section, and a second configuration that retracts from the gap and opens the gap, wherein when the retraction mechanism establishes the second configuration, the gap is able to accept the entry of a shielding wall that shields the space between the first section and the second section.

[0007] In such an automated warehouse system, the retraction mechanism comprises a first member positioned adjacent to the floor of the first section so as to be able to swing about a first axis parallel to the surface of the floor, and a second member positioned adjacent to the floor of the second section so as to be able to swing about a second axis parallel to the surface of the floor, with the upper surface of the second member supporting the first member.

[0008] The retraction mechanism further includes a locking mechanism that displaces the second member between a locked position in which the second member supports the first member on its upper surface to establish the first configuration and an unlocked position in which the second member swings about the second axis to retract from the gap and establish the second configuration. When the unlocked position is established, the first member is released from the support of the second member and swings about the first axis to retract from the gap.

[0009] The locking mechanism displaces the second member to the unlocked position based on contact with the shielding wall.

[0010] The retraction mechanism is positioned between a pair of adjacent floor panels that are arranged facing each other with the gap between them.

[0011] The transition of the multiple retraction mechanisms from the first configuration to the second configuration is synchronized.

[0012] The length from the inner edge to the outer edge of the first member is smaller than the size of the gap.

[0013] The length from the inner edge to the outer edge of the second member is smaller than the size of the gap.

[0014] The second member is displaced from the locked position to the unlocked position in response to a warning indicating the occurrence of a disaster.

[0015] The second member is displaced from the locked position to the unlocked position after the transport robot has moved from the surface of the retraction mechanism to the floor.

[0016] The automated warehouse system includes a closing member positioned in the gap defined on the first floor of the rack.

[0017] The rack comprises a plurality of support columns that support the floor, and the retraction mechanism is positioned between a pair of support columns in the first section and the second section, respectively.

[0018] According to another aspect of the present invention, a retraction mechanism is provided to be incorporated into an automated warehouse system comprising a plurality of floors, each floor being formed by a plurality of adjacent floor panels, and separated into first and second sections with gaps between them, wherein the retraction mechanism establishes a first configuration that is positioned in the gap to allow a transport robot to travel between the first and second sections, and a second configuration that retracts from the gap to open the gap, and when the retraction mechanism establishes the second configuration, the gap is able to accept the entry of a shielding wall that shields the space between the first and second sections.

[0019] The retraction mechanism includes a first member disposed adjacent to the floor of the first compartment so as to be swingable about a first axis parallel to the surface of the floor, and a second member that supports the first member on its upper surface in the first configuration and is disposed adjacent to the floor of the second compartment so as to be swingable about a second axis parallel to the surface of the floor.

[0020] The retraction mechanism further includes a locking mechanism that displaces the second member between a locked position where the second member supports the first member on its upper surface to establish the first configuration and an unlocked position where the second member swings about the second axis to retract from the gap to establish the second configuration. When the unlocked position is established, the first member is released from the support of the second member and swings about the first axis to retract from the gap.

[0021] The locking mechanism displaces the second member to the unlocked position based on contact with the shielding wall.

[0022] The retraction mechanism is disposed between adjacent pairs of the floor panels that are disposed opposite to each other through the gap.

[0023] The length from the inner edge to the outer edge of the first member is smaller than the size of the gap.

[0024] The length from the inner edge to the outer edge of the second member is smaller than the size of the gap.

[0025] The second member is displaced from the locked position to the unlocked position triggered by a warning indicating the occurrence of a disaster.

Brief Description of the Drawings

[0026] [Figure 1] It is a perspective view schematically showing the appearance of the warehouse system 1 according to an embodiment of the present invention. [Figure 2] It is an enlarged perspective view seen from the upper side in the z-axis direction, schematically showing the structure of the retraction mechanism 100 according to the first specific example. [Figure 3] It is an enlarged plan view schematically showing the structure of the retraction mechanism 100 according to the first specific example. [Figure 4] It is an enlarged bottom view schematically showing the structure of the retraction mechanism 100 according to the first specific example. [Figure 5] It is an enlarged cross-sectional view taken along the line 5-5 of FIG. 4. [Figure 6] It is an enlarged perspective view schematically showing the structure of the retraction mechanism 100 according to the first specific example, viewed from the lower side in the z-axis direction. [Figure 7] It is an enlarged cross-sectional view corresponding to FIG. 5 and schematically showing the structure of the retraction mechanism 100 of the second configuration. [Figure 8] It is a functional block diagram showing the control system of the automatic warehouse system 1. [Figure 9] It is a side view schematically showing the structure of the automatic warehouse system 1 according to an embodiment of the present invention. [Figure 10] It is a perspective view schematically showing the structure of the retraction mechanism 100A according to the second specific example. [Figure 11] It is a plan view schematically showing the structure of the retraction mechanism 100A according to the second specific example. [Figure 12] It is an enlarged side view schematically showing the structure of the retraction mechanism 100A according to the second specific example. [Figure 13] It is an enlarged perspective view schematically showing the structure of the retraction mechanism 100A according to the second specific example. [Figure 14] It is an enlarged side view schematically showing the structure of the retraction mechanism 100A according to the second specific example. [Figure 15] It is an enlarged view of the lock mechanism 120 viewed from the y-axis direction when the swing member 122 is disposed at the first position. [Figure 16] It is an enlarged side view of the retraction mechanism 100A showing the stage at which the shielding wall 35 descends with respect to the retraction mechanism 100A. [Figure 17] It is an enlarged side view of the retraction mechanism 100A showing the stage at which the shielding wall 35 descends with respect to the retraction mechanism 100A. [Figure 18] It is an enlarged side view of the retraction mechanism 100A showing the stage at which the shielding wall 35 descends with respect to the retraction mechanism 100A. [Modes for carrying out the invention]

[0027] One embodiment of the present invention will be described below with reference to the accompanying drawings. Throughout all drawings, the same reference numerals will be used to refer to identical or similar components. The following embodiments are not intended to limit the invention described in the claims. Examples and features of the disclosed principle are described herein, but can be modified and altered without departing from the spirit and scope of the disclosed embodiments. Furthermore, certain features, structures or characteristics can be combined in any suitable way in one or more embodiments. The following detailed description is for illustrative purposes only, and the true scope and spirit are intended to be shown by the claims.

[0028] Figure 1 is a schematic perspective view of an automated warehouse system 1 according to one embodiment of the present invention. The automated warehouse system 1 is an automated warehouse system that can automate a series of operations from receiving goods, including merchandise, to storage and dispatch, based on centralized management. The automated warehouse system 1 is established, for example, on the floor surface within a building (not shown). In the automated warehouse system 1, the x-axis and y-axis directions are defined as extending horizontally and being mutually orthogonal, and the z-axis direction is defined as extending vertically and being orthogonal to the x-axis and y-axis directions. The z-axis direction is the height direction.

[0029] The automated warehouse system 1 according to this embodiment includes, for example, a rack 10 arranged on the floor. The rack 10 comprises a plurality of floors 11 and a plurality of support columns 12 that support each of the plurality of floors 11. The plurality of floors 11 are constructed by stacking each floor 11, which defines a surface along the xy plane, in the z-axis direction. Each floor 11 is formed from a plurality of floor panels 13 that are adjacent to each other in the x-axis and y-axis directions. The surfaces of the plurality of floor panels 13 are defined to be flush with each other. The flat surface of each floor 11 is defined by these plurality of floor panels 13.

[0030] The shape of each floor panel 13 is defined as, for example, a rectangle in plan view. Each floor panel 13 has a long side 13a defined along the x-axis and a short side 13b defined along the y-axis. The floor panel 13 is formed from, for example, a flat resin panel. One section of the rack 10 is formed on one floor panel 13. This section is the smallest unit that makes up the rack 10. Note that each floor panel 13 may have other shapes in plan view, such as a square.

[0031] Each floor panel 13 is supported by a support column 12 at its four corners. The floor panels 13 are attached to the support columns 12 in a removable manner, for example, from above in the z-axis direction. The support columns 12 are rigid members that extend in the z-axis direction. In this embodiment, they are formed in a prismatic shape, for example, but they may have other shapes such as cylindrical shapes. The support columns 12 are formed from a resin material, for example. One support column 12 can support one or more floor panels 13. As is clear from Figure 1, one support column 12 can support, for example, one to four corners of floor panels 13.

[0032] In this embodiment, each support column 12 has a length corresponding to the height of one floor 11. That is, each floor 11 is supported by a subset of multiple support columns 12. The support columns 12 are configured to be connectable to each other in the z-axis direction. In other words, the lower end of a support column 12 located on the upper side in the z-axis direction can be connected to the upper end of a support column 12 located on the lower side. Note that the z-axis length of a support column 12 supporting the floor panel 13 of the floor 11 corresponding to the lowest floor (1st floor) is set to be smaller than that of a support column 12 supporting the floor panel 13 of floors 11 corresponding to the 2nd floor and above. The floor 11 corresponding to the 1st floor is raised to a predetermined height from the floor surface by these support columns 12.

[0033] The rack 10 includes one or more transport elevators 14, each occupying a single floor panel 13, i.e., a single compartment. The transport elevators 14 can move between each floor 11 in the z-axis direction. Each transport elevator 14 comprises a single floor panel 13, shafts (not shown) positioned at the four corners of the floor panel 13, and electric motors (not shown) mounted on the underside of the floor panel 13. Driven by the electric motors, the floor panel 13 rises and falls along the shafts in the z-axis direction. The shafts may be replaced by support columns 12. Furthermore, the transport elevators 14 may be located in, for example, the inner compartments of the rack 10, or multiple transport elevators 14 may be arranged on the rack 10. Additionally, transport elevators 14 that move only between some of the floors 11 may be provided.

[0034] On the surface of all floor panels 13 that make up each floor 11, two lines 15 are drawn, passing through the center position of the floor panel 13 in the x-axis and y-axis directions. In this example, the two lines 15 intersect at right angles to each other. In each floor 11, multiple floor panels 13 are arranged adjacent to each other in the x-axis and y-axis directions, so that the lines 15 on each floor panel 13 define an x-axis line 16 extending in the x-axis direction and a y-axis line 17 extending in the y-axis direction. The x-axis line 16 and y-axis line 17 extend from edge to edge of the rack 10. The lines 15 are colored, for example, white.

[0035] The rack 10 is separated into a first section 10A and a second section 10B, which are spaced apart from each other by a gap G. In this embodiment, the gap G is formed across the entire rack 10 along the xz plane. As a result, the entirety of the two first sections 10A and the second section 10B are separated from each other by a distance d in the y-axis direction. The distance d is set to a size that can accommodate a shielding wall, i.e., a fire shutter, which will be introduced into the automated warehouse system 1 described later. In this example, it is preferable that the distance d be set to, for example, about one-quarter to one-third of the length of the short side of each floor panel 13. However, the distance d may be set to any other size.

[0036] One or more retractable mechanisms 100 are placed in the gap G. Each retractable mechanism 100 is placed between a pair of floor panels 13 that face each other in the y-axis direction. Details of the retractable mechanism 100 will be described later, but the retractable mechanism 100 is displaceable between a first configuration that closes the gap G and a second configuration that opens the gap G. In Figure 1, the retractable mechanism 100 is in its first configuration. In the first configuration, the retractable mechanism 100 defines a surface that is substantially flush with the surface of the floor panel 13. On this surface of the retractable mechanism 100, a line 101 is formed that constitutes part of the y-axis line 17 of the pair of floor panels 13 adjacent to the retractable mechanism 100.

[0037] On the other hand, a closing member 200 is placed in the gap G formed in the floor 11 corresponding to the lowest floor (1st floor). The closing member 200 closes the gap G. That is, the closing member 200 is fixed to the gap G and does not open the gap G. The surface of the closing member 200 is defined to be substantially flush with the surface of the floor panel 13. On this surface of the closing member 200, a line 201 is formed that constitutes part of the y-axis line 17 of a pair of floor panels 13 adjacent to the closing member 200. The closing member 200 is formed, for example, from a flat resin panel similar to the floor panel 13.

[0038] Each floor 11 of the rack 10 contains one or more storage bins 20 for storing goods. Each storage bin 20 comprises, for example, a bin body 21 that defines the internal space of a rectangular parallelepiped, and four support legs 22 that extend downward from the four corners of the bottom surface of the bin body 21. In this example, the top surface of the bin body 21 is open. Goods 23 are stored inside the bin body 21. The goods 23 are identified, for example, by a unique stock storage unit (SKU) assigned to the goods 23. The storage bins 20 are also identified by a unique ID assigned to each storage bin 20. In each storage bin 20, the unique ID is managed in association with the SKU of the goods 23.

[0039] Each storage bin 20 occupies one floor panel 13, i.e., one compartment. In a plan view of the rack 10, the contour of the storage bin 20 is defined, for example, as a rectangle. The contour of the storage bin 20 is positioned inside the contour of the floor panel 13. The spacing between a pair of adjacent support columns 12 is set to be greater than the length of the storage bin 20 defined in the x-axis and y-axis directions, respectively. The height of the storage bin 20 is set to be less than the height between adjacent floors 11 in the z-axis direction. A space is defined below the bottom surface of the bin body 21 of the storage bin 20 and the surface of the floor 11.

[0040] The automated warehouse system 1 includes one or more transport robots 24 for transporting storage bins 20. Each transport robot 24 occupies one floor panel 13, i.e., one section. In a plan view of the rack 10, the contour of the transport robot 24 is positioned inside the contour of the floor panel 13. This transport robot 24 is an autonomous transport robot that can autonomously travel within the rack 10 by determining its own position on a map of the rack 10. The transport robot 24 has, for example, multiple Mecanum wheels (not shown) and can move in the x-axis and y-axis directions without changing its orientation. The transport robot 24 can also travel along the x-axis line 16 and y-axis line 17 by having a function to trace the x-axis line 16 and y-axis line 17 of the floor 11 (line tracing function).

[0041] The transport robot 24 has, for example, a flat cubic shape. In this example, in a plan view, it has, for example, an octagonal outline with the four corners of a square cut out. The top surface of the transport robot 24 is also defined as flat. The height of the top surface of the transport robot 24 in the z-axis direction is set to be less than the height of the bottom surface of the bin body 21 of the storage bin 20. In addition, the length of one side of the transport robot 24 in the z-axis and y-axis directions is set to be less than the distance between a pair of adjacent support legs 22 of the storage bin 20. That is, the transport robot 24 can enter the space below the bin body 21 of the storage bin 20. Therefore, the transport robot 24 can also travel through the section of the floor panel 13 where the storage bin 20 is placed.

[0042] The transport robot 24 can change its height between a first configuration in which the height of its upper surface is set to a first height, and a second configuration in which the height of its upper surface is set to a second height that is higher than the first height. In the first configuration, the transport robot 24 can enter the space below the bin body 21. In the space below, the transport robot 24 changes its height from the first configuration to the second configuration, thereby holding the bottom surface of the storage bin 20 with its upper surface. As a result, the storage bin 20 is lifted off the surface of the floor 11. The transport robot 24 can travel on the floor panel 13 in both the first and second configurations. That is, the transport robot 24 can travel on the floor 11 while holding the storage bin 20, and can also ride on the transport elevator 14.

[0043] The automated warehouse system 1 includes one or more picking stations (not shown) for sorting items stored in storage bins 20. The picking stations are established, for example, along the perimeter of a floor 11 corresponding to the second floor. That is, the picking stations are defined within the racks 10. Multiple picking stations may be defined within the racks 10. The transport robot 24 transports the storage bins 20 located on the floor 11 of the racks 10 to the picking stations. At the picking stations, sorting operations are performed by human workers or robotic arms to retrieve desired items from the storage bins 20.

[0044] Figure 2 is an enlarged perspective view from above in the z-axis direction, schematically showing the structure of the retraction mechanism 100 according to the first specific example. Figure 3 is an enlarged plan view schematically showing the structure of the retraction mechanism 100 according to the first specific example. Note that in Figures 2 and 3, only some of the support columns 12, a pair of floor panels 13, and the retraction mechanism 100 arranged between them are shown, and descriptions of other components are omitted. The retraction mechanism 100 according to the first specific example comprises a first plate-shaped member (first member) 102 arranged adjacent to the long side 13a of one of the floor panels 13, and a second plate-shaped member (second member) 103 arranged along the long side 13a of the other floor panel 13 that is opposite the long side 13a of the first floor panel 13.

[0045] The first plate-like member 102 is a substantially rectangular plate that, in a plan view, extends from the long side 13a of one floor panel 13 toward the long side 13a of the other floor panel 13. The first plate-like member 102 is attached to the first mounting member 104 on its inner edge, which is its long side. The first mounting member 104 is a member that extends along the long side 13a of one floor panel 13. The first mounting member 104 is supported by the flange 12a of the support column 12 by protruding pieces 104a that project longitudinally from both ends of its longitudinal direction (see lower part of Figure 3). In the retraction mechanism 100 with the first configuration established, the first plate-like member 102 defines a surface that is substantially flush with the surface of the floor panel 13.

[0046] The second plate-like member 103 is a substantially rectangular plate that, in plan view, extends from the long side 13a of the other floor panel 13 toward the long side 13a of the first floor panel 13. The second plate-like member 103 is attached to the second mounting member 105 on its inner edge, which is its long side. The second mounting member 105 is a member that extends elongated along the long side 13a of the other floor panel 13. The second mounting member 105 is supported by the flange 12a of the support column 12 by protruding pieces 105a that project longitudinally from both ends of its longitudinal direction (see Figures 2 and 3, lower side). In the retraction mechanism 100 with the first configuration established, the second plate-like member 105 defines a surface that is substantially flush with the surface of the floor panel 13.

[0047] Figure 4 is an enlarged bottom view schematicly showing the structure of the retraction mechanism 100 according to the first specific example. Referring to Figures 2 to 4 together, the length L1 of the first plate-shaped member 102, defined in the y-axis direction, is smaller than the size (distance) d of the gap G, which is similarly defined in the y-axis direction. The length L2 of the second plate-shaped member 103, defined in the y-axis direction, is similarly smaller than the size (distance) d of the gap G, which is similarly defined in the y-axis direction. Thus, the second plate-shaped member 103 receives at least a portion of the lower surface of the first plate-shaped member 102 with its upper surface. That is, in a plan view, the second plate-shaped member 103 is positioned to overlap the first plate-shaped member 102 at least partially.

[0048] In the example shown in Figure 4, the width W1 of the first plate-shaped member 102, defined in the x-axis direction, is greater than the width W2 of the second plate-shaped member 103, which is similarly defined in the x-axis direction. However, widths W1 and W2 may be the same size, or width W2 may be greater than width W1, as long as the transport robot 24 can travel across the surfaces of the first plate-shaped member 102 and the second plate-shaped member 103. As is clear from Figures 2 and 3, the line 101 of the retraction mechanism 100 is formed spanning the first plate-shaped member 102, the second plate-shaped member 103, the first mounting member 104, and the second mounting member 105. In this way, the first configuration of the retraction mechanism 100 closes the gap G with the first plate-shaped member 102 and the second plate-shaped member 103.

[0049] Figure 5 is an enlarged cross-sectional view along line 5-5 in Figure 4. Figure 6 is an enlarged perspective view from below in the z-axis direction, schematically showing the structure of the retraction mechanism 100 according to the first specific example. Note that in Figures 5 and 6, only a pair of floor panels 13 and the retraction mechanism 100 arranged between them are shown, and other components are not described. Referring together to Figures 4 to 6, the first plate-shaped member 102 is pivotably attached to the first mounting member 104 by one or more first hinge members 106. In this example, four first hinge members 106 are arranged along the longitudinal direction of the first mounting member 104.

[0050] The first hinge member 106 includes a pair of vanes 108 and 109 that are relatively pivotable around a core rod 107 that defines a rotation axis X1 parallel to the surface of the floor panel 13. In this example, the rotation axis X1 is defined parallel to the long side 13a of the floor panel 13. Also, as shown in Figure 5, in this example, the rotation axis X1 is defined adjacent to the upper surface of the first mounting member 104. Vane 108 is attached to the lower surface of the first plate-shaped member 102, while vane 109 is attached to the side surface of the first mounting member 104. Thus, the first plate-shaped member 102 is configured to pivot freely around the rotation axis X1.

[0051] On the other hand, the second plate-shaped member 103 is pivotably attached to the second mounting member 105 by one or more second hinge members 110. In this example, two second hinge members 110 are arranged along the longitudinal direction of the second mounting member 105. The second hinge member 110 comprises a pair of brackets 112 and 113 that can pivot relative to each other around a core rod 111 that defines a rotation axis X2 parallel to the surface of the floor panel 13. In this example, the rotation axis X2 is defined parallel to the long side 13a of the floor panel 13. Also, as shown in Figure 5, in this example, the rotation axis X2 is defined adjacent to the lower surface of the second mounting member 105. Bracket 112 is attached to the lower surface of the second plate-shaped member 103, while bracket 113 is attached to the side surface of the second mounting member 105. Thus, the second plate-shaped member 103 is configured to pivot freely around the rotation axis X2.

[0052] The retraction mechanism 100 includes one or more locking mechanisms 114 located on the lower surface of the second plate-shaped member 103. In this example, one locking mechanism 114 is located at each of the longitudinal ends of the second plate-shaped member 103. Each locking mechanism 114 includes an actuator 115 attached to the lower surface of the second plate-shaped member 103 and a plate piece 116 attached to the side surface of the second mounting member 105. The plate piece 116 is a plate that extends from the side surface of the second mounting member 105 along the yz plane. The plate piece 116 has, for example, a circular through hole 117 that penetrates the plate piece 116 in the x-axis direction (see Figure 6).

[0053] On the other hand, the actuator 115 is, for example, an electric linear actuator. This actuator 115 comprises an actuator body 118 and, for example, a cylindrical rod 119 configured to move back and forth in the x-axis direction relative to the actuator body 118. The actuator 115 can convert the rotational motion of an electric motor (not shown) located inside the actuator body 118 into the linear motion of the rod 119. In this example, the rod 119 moves linearly in the x-axis direction. Thus, the rod 119 can be displaced between a first position in which a part of the rod 119 is positioned inside the through hole 117 of the plate piece 116 and a second position in which the rod 119 is retracted outward from the through hole 117.

[0054] When the rod 119 is positioned in the first position, the rod 119 is positioned within the through hole 117 and supported by the plate piece 116, so that the second plate-shaped member 103 establishes a horizontal position, i.e., a locked configuration. In this locked configuration, the second plate-shaped member 103 defines a surface that is substantially flush with the surface of the floor panel 13. The first plate-shaped member 102 is supported on its lower surface by the upper surface of the second plate-shaped member 103. As a result, the gap G is closed by the first plate-shaped member 102 and the second plate-shaped member 103. Thus, as shown in Figures 1 to 6, the retraction mechanism 100 establishes its first configuration. The transport robot 24 can travel on the retraction mechanism 100 between the first section 10A and the second section 10B.

[0055] On the other hand, when the rod 119 is positioned in the second position, the rod 119 retracts outward from the through hole 117. The rod 119 is released from support by the plate piece 116. The second plate-shaped member 103 swings downward around the rotation axis X2 due to its own weight. As a result, as shown in Figure 7, the second plate-shaped member 103 retracts from the gap G and moves to a vertical position, i.e., the unlocked position, where its surface spreads along the xz plane. With the support from the second plate-shaped member 103 gone, the first plate-shaped member 102 swings downward around the rotation axis X1 due to its own weight. The first plate-shaped member 102 retracts from the gap G and moves to a vertical position where its surface spreads along the xz plane. The retraction mechanism 100 establishes the second configuration. Thus, the gap G is opened.

[0056] Figure 8 is a functional block diagram showing the control system of the automated warehouse system 1. The automated warehouse system 1 includes a management server 30 for managing a series of operations within the automated warehouse system 1. This management by the management server 30 is achieved by the execution of a program 32 stored in the storage unit 31 by the control unit 33. In this embodiment, the program 32 includes a program that, for example, activates the evacuation mechanism 100 in the event of a fire, causing a shielding wall such as a fire shutter to be lowered into the gap G of the rack 10. This management server 30 may be implemented on a physical server installed in a building, for example, but may also be implemented on a cloud server, for example.

[0057] One or more sensors 34 are connected to the management server 30. The sensors 34 are, for example, sensors that can detect the occurrence of a disaster, that is, temperature sensors that can detect the heat of a fire or photoelectric sensors that can detect smoke generated by a fire. The sensors 34 are mounted on the ceiling of the building, the support columns 12, the underside of some floor panels 13, etc. When the sensors 34 detect heat or smoke generated by a fire, they can send a notification to the management server 30 indicating that detection has occurred. The sensors 34 are connected to the management server 30 via wireless communication such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0058] One or more transport robots 24 are further connected to the management server 30. The control unit 33 manages and controls the status and operation of the transport robots 24. For example, the control unit 33 generates a command for the transport robot 24 for each order processed by the automated warehouse system 1. The command includes, for example, information about a storage bin 20 for storing the items specified in the order, and a transport robot 24 to be assigned to transport the storage bin 20. The command also includes information about the transport robot 24's travel route to the section where the storage bin 20 is stored, and the transport robot 24's travel route from that section to the destination picking station.

[0059] The control server 30 is connected to the actuator 115 of the retraction mechanism 100. The control server 30 can perform control to supply drive current from a power source (not shown) to the electric motor of the actuator 115. The control server 30 is also connected to the shielding wall 35. The shielding wall 35 is, for example, a fire shutter installed on the ceiling of a building. The control server 30 can send a command to the opening / closing device (not shown) of the shielding wall 35 to open the opening / closing device and lower the shielding wall 35. In the automated warehouse system 1, the shielding wall 35 is positioned so that it can be lowered into the gap G between the first section 10A and the second section 10B of the rack 10.

[0060] In the automated warehouse system 1 described above, the transport robot 24 transports storage bins 20, which are placed in designated sections of floor panels 13, to the target picking station under the management of the management server 30. The first configuration of the retraction mechanism 100 is established. That is, the second plate-shaped member 103 is positioned in the locked position. Now, let's assume, for example, that a fire occurs in the automated warehouse system 1. First, the sensor 34 sends a notification to the management server 30 that a fire has occurred due to the occurrence of the fire. In response to receiving the notification, the control unit 33 sends a command to the transport robot 24, which is operating on the rack 10, to move from the retraction mechanism 100 to the first section A or the second section 10B.

[0061] In this example, we assume that a notification of a fire has occurred is sent from a sensor 34 located in the first section 10A of rack 10. The control unit 33 sends a command to the transport robot 24 that is moving on the evacuation mechanism 100 to move to the second section 10B where there is no fire. At the same time, the control unit 33 sends a command to the transport robot 24 that is operating in the first section 10A to move from the first section 10A to the second section 10B. This movement includes the movement of transport robots 24 that are transporting storage bins 20, but also the movement of transport robots 24 that are not transporting storage bins 20. Furthermore, a command may be sent to transport robots 24 that are not transporting storage bins 20 to move the storage bins 20 located in the first section 10A to the second section 10B.

[0062] When the control unit 33 receives notification from each transport robot 24 that it has completed moving to the second section 10B, it simultaneously supplies drive current from the power supply to all retraction mechanisms 100. The supply of drive current causes the actuator 115 to retract the rod 119 outward from the through hole 117 in the plate piece 116. The rod 119 is displaced from the first position to the second position. The second plate-shaped member 103 swings around the rotation axis X2 and retracts from the gap G. The second plate-shaped member 103 moves to the unlocked position. Similarly, the first plate-shaped member 102 swings around the rotation axis X1 and retracts from the gap G. As a result, the second configuration is established synchronously in all retraction mechanisms 100. The gap G is opened.

[0063] Figure 9 is a schematic side view showing the structure of an automated warehouse system 1 according to one embodiment of the present invention. As shown in Figure 9, once the second configuration is established in all the retraction mechanisms 100, the gap G is opened. The gap G separates the rack 10 into a first section 10A and a second section 10B. The control unit 33 sends an open command to the opening / closing mechanism 36 of the shielding wall 35. When the opening / closing mechanism 36 is opened, the shielding wall 35 descends into the gap G from above in the z-axis direction. Since a closing member 200 is placed in the gap G of the floor 11 corresponding to the first floor, when the shielding wall 35 descends to its maximum extent, the bottom plate 37 at the lower end of the shielding wall 35 is caught by the closing member 200. In this way, the shielding wall 35 shields the space between the first section 10A and the second section 10B. This ensures that a fire that occurs in the first section 10A can be reliably prevented from spreading to the second section 10B. Damage to the items in the storage bins 20 that have moved to the second section 10B can be prevented.

[0064] In the automated warehouse system 1 described above, each floor 11 of the rack 10 is composed of multiple adjacent floor panels 13, and the multiple floors 11 are supported by columns 12. The gap G between the first section 10A and the second section 10B is closed by the evacuation mechanism 100 of the first configuration. The transport robot 24 is allowed to travel along the surface of the floor 11. On the other hand, in the event of a fire or the like, the evacuation mechanism 100 of the second configuration opens the gap G. A shielding wall 35 can enter the gap G. For the gap G to form, it is only necessary for the evacuation mechanism 100, which allows the transport robot 24 to travel over it, to move out of the gap G. The deployment of the shielding wall 35 can be realized with a simple configuration.

[0065] Furthermore, the retraction mechanism 100 is established by the overlapping of a first plate-shaped member 102 attached to one floor panel 13 and a second plate-shaped member 103 attached to the other floor panel 13. When the second plate-shaped member 103 swings around the rotation axis X2, the first plate-shaped member 102 similarly swings around the rotation axis X1. In this way, by actively displacing only the second plate-shaped member 103, the first plate-shaped member 102 can be passively displaced. To realize this configuration, a locking mechanism 114 for positioning the second plate-shaped member 103 in a locked position and an unlocked position should be incorporated. The automated warehouse system 1 can open the gap G with a simple configuration.

[0066] In the automated warehouse system 1 described above, the scenario of a fire was assumed, but the evacuation mechanism 100 may also be configured to operate in the event of an earthquake. That is, the sensor 34 may further include, for example, an acceleration sensor that can detect shaking in the event of an earthquake. When the sensor 34 detects shaking from an earthquake, it can send a notification to the control unit 33 including the magnitude of the shaking. If the magnitude of the shaking from the earthquake exceeds a threshold, the control unit 33 sends a command to the transport robot 24 to move from the evacuation mechanism 100 to either the first section A or the second section 10B. Unlike in the case of a fire, in the case of an earthquake, the transport robot 24 only needs to move to either the first section A or the second section 10B. After that, the control unit 33 displaces the evacuation mechanism 100 to the second configuration and then lowers the shielding wall 35 into the gap G. In this way, the deployment of the shielding wall 35 can be realized with a simple configuration, as described above.

[0067] Furthermore, the lengths L1 and L2 of the first plate-like member 102 and the second plate-like member 103 are smaller than the distance d of the gap G. That is, gaps are formed between the outer edge of the first plate-like member 102 and the other floor panel 13, and between the outer edge of the second plate-like member 103 and the one floor panel 13. For example, in the initial stages of an earthquake, when the rack 10 shakes due to the earthquake, the first section 10A and the second section 10B shake, respectively. This shaking is absorbed by the gap between the first plate-like member 102 on the first section 10A side and the second section 10B, and by the gap between the second plate-like member 103 on the second section 10B side and the first section 10A. Mutual interference between the first plate-like member 102 and the second plate-like member 103 and the floor 11 is avoided.

[0068] Figure 10 is a schematic perspective view showing the structure of the retraction mechanism 100A according to the second specific example. Figure 11 is a schematic plan view showing the structure of the retraction mechanism 100A according to the second specific example. In the drawings from Figure 10 onward, components similar to those of the retraction mechanism 100 according to the first specific example are given the same reference numerals, and redundant explanations are omitted. Also, the support column 12 is not shown in the drawings from Figure 10 onward. As shown in Figures 10 and 11, the retraction mechanism 100A according to the second specific example is equipped with a locking mechanism 120 instead of the aforementioned locking mechanism 114. In this example, the retraction mechanism 100A is equipped with a pair of locking mechanisms 120 arranged at both ends of the second plate-shaped member 103 in the x-axis direction.

[0069] As shown in Figure 11, contrary to the configuration of the retraction mechanism 100 in the first specific example, the second width W2 of the second plate-like member 103 is larger than the first width W1 of the first plate-like member 102. Also, the second width W2 is defined to be approximately the same size as the width of the second mounting member 105. Returning to Figure 10, the second plate-like member 103 comprises an upper plate 103a that extends along the xy plane, and a pair of side plates 103b that bend downward from both x-axis edges of the upper plate 103a. In this example, the side edges of the upper plate 103a are defined along the y-axis. The side plates 103b extend flat along, for example, the yz plane. A pair of locking mechanisms 120 are arranged adjacent to both x-axis edges of the upper plate 103a.

[0070] Figure 12 is an enlarged side view schematically showing the structure of the retraction mechanism 100A according to the second specific example. Figure 13 is an enlarged perspective view schematically showing the structure of the retraction mechanism 100A according to the second specific example. Note that the pair of locking mechanisms 120 have a structure that is symmetrical with respect to the yz plane defined at an intermediate point between them, so here only one of the locking mechanisms 120 will be described. As shown in Figures 12 and 13, the locking mechanism 120 includes, for example, a bracket 121 attached to the second mounting member 105, a swinging member 122 that is swingably attached to the bracket 121 between a first position and a second position around the swing axis S, and an engaging member 123 attached to the side plate 103b of the second plate-shaped member 103.

[0071] In Figures 12 and 13, the oscillating member 122 is positioned in the first position. When the oscillating member 122 is positioned in the first position, the second plate-shaped member 103 is positioned in the locked position. That is, the first configuration of the retraction mechanism 100A is established. The first plate-shaped member 102 is supported on the upper surface of the second plate-shaped member 103. In this way, the gap G is closed by the first plate-shaped member 102 and the second plate-shaped member 103. On the other hand, as will be described later, when the oscillating member 122 oscillates around the oscillation axis S and is positioned in the second position, the second plate-shaped member 103 is positioned in the unlocked position. The second configuration of the retraction mechanism 100A is established. The gap G is opened.

[0072] The bracket 121 comprises, for example, a first portion 121a attached to a second mounting member 105, and a second portion 121b attached to the first portion 121a. In this example, the first portion 121a and the second portion 121b are each formed in an L-shape in a plan view, for example, from above in the z-axis direction. The first portion 121a is fixed, for example, to a protruding piece 105a of the second mounting member 105 by, for example, a screw (not shown). The second portion 121b defines a portion that spreads out in a flat shape along the yz plane. As shown by the dotted line in Figure 12, the flat portion of the second portion 121b is defined in a generally trapezoidal shape in a side view taken from the y-axis direction.

[0073] The oscillating member 122 is supported on the second portion 121b of the bracket 121 so as to be able to swing about the oscillating axis S. The oscillating axis S is defined parallel to the rotation axes X1 and X2 of the first plate-shaped member 102 and the second plate-shaped member 103. In this example, the oscillating axis S is defined at a lower position in the z-axis direction than the rotation axes X1 and X2. The oscillating member 122 extends in a flat plate shape, for example, along the yz plane. The oscillating member 122 comprises, for example, a base portion 122a that defines the oscillating axis S, and a tip portion 122b that extends from the base portion 122a. The base portion 122a is defined in a substantially triangular shape, for example, in a side view taken from the y-axis direction. The tip portion 122b extends elongated from, for example, one vertex of the triangle of the base portion 122a.

[0074] As is clear from Figure 13, a first protruding portion 124 is attached to the base end portion 122a of the oscillating member 122, protruding in the x-axis direction from the inner surface of the base end portion 122a parallel to the oscillating axis S. The first protruding portion 124 is a cylindrical part that defines a cylindrical outer surface centered on a central axis perpendicular to the inner surface of the base end portion 122a. This first protruding portion 124 engages with an engaging member 123 attached to the side plate 103b of the second plate-like member 103. The engaging member 123 defines an engaging groove 123a that partially defines a cylindrical inner surface centered on a central axis perpendicular to the outer surface of the side plate 103b. The first protruding portion 124 engages with the engaging groove 123a. By establishing this engagement, the retraction mechanism 100A establishes its first configuration.

[0075] A pair of second protruding portions 125 are attached to the tip portion 122b of the oscillating member 122, projecting in the x-axis direction from the inner surface of the tip portion 122b parallel to the oscillating axis S. Each second protruding portion 125 is a cylindrical part that defines a cylindrical outer surface around a central axis perpendicular to the inner surface of the tip portion 122b. This pair of second protruding portions 125 are spaced apart from each other at a predetermined interval in a generally horizontal direction. When the first protruding portion 124 is engaged with the engagement groove 123a, as is clear from Figure 12, a part of the tip portion 122b is positioned higher in the z-axis direction than the upper surfaces of the first plate-like member 102 and the second plate-like member 103. In this example, the second protruding portion 125 further from the base portion 122a is positioned higher in the z-axis direction than the second protruding portion 125 closer to the base portion 122a.

[0076] Figure 14 is an enlarged side view schematically showing the structure of the retraction mechanism 100A according to the second specific example. As shown in Figure 14, the swinging member 122 can be displaced from a first position to a second position around the swing axis S. When the swinging member 122 swings to the second position, the first protruding portion 124 of the base end portion 122a disengages outward from the engagement groove 123a of the engagement member 123. The engagement between the first protruding portion 124 and the engagement groove 123a is released. The swinging of the second plate-shaped member 103 around the rotation axis X2 is permitted. As a result, the second plate-shaped member 103 swings around the rotation axis X2 and retracts from the gap G. The second plate-shaped member 103 moves to the unlocked position. Similarly, the first plate-shaped member 102 swings around the rotation axis X1 and retracts from the gap G. In this way, the retraction mechanism 100A establishes the second configuration.

[0077] Figure 15 is an enlarged view of the locking mechanism 120 as seen from the y-axis direction when the rocking member 122 is positioned in the first position. Referring to Figures 12 to 15 together, the locking mechanism 120 comprises a recess 126 (see Figure 14) formed on the outer surface of the second portion 121b of the bracket 121, and a ball 127 held by the base end portion 122a of the rocking member 122 and biased toward the recess 126. The ball 127 is biased toward the recess 126 by the elastic force of, for example, a spring (not shown). When the ball 127 is received within the recess 126 when the rocking member 122 is positioned in the first position, the rocking member 122 is held in the first position.

[0078] On the other hand, when the oscillating member 122 oscillates from the first position to the second position against the elastic force of the spring, the ball 127 disengages from the recess 126. The elastic force of the spring causes the ball 127 to slide along the outer surface of the second portion 121b. When the oscillating member 122 is positioned in the second position, the ball 127 is positioned outside the second portion 121b (see, for example, Figure 14). The ball 127 is held in place by a retaining member 128 attached to the second portion 121b. The spring is located inside the retaining member 128. The retaining member 128 prevents the ball 127 from falling out of the retaining member 128 despite the elastic force of the spring.

[0079] In the automated warehouse system 1 incorporating the evacuation mechanism 100A described above, if a disaster such as a fire or earthquake occurs, the control unit 33, as described above, sends a command to the transport robots 24 moving on the evacuation mechanism 100 to move to either the first section 10A or the second section 10B. Upon receiving notification from each transport robot 24 that they have completed moving to either the first section 10A or the second section 10B, the control unit 33 sends an open command to the opening / closing mechanism 36 of the shielding wall 35. Upon receiving the open command, the opening / closing mechanism 36 is opened. The shielding wall 35 descends into the gap G from above in the z-axis direction.

[0080] Figures 16 to 18 are enlarged side views of the retraction mechanism 100A showing the stages in which the shielding wall 35 descends relative to the retraction mechanism 100A. As shown in Figure 16, the retraction mechanism 100A has established its first configuration. That is, the oscillating member 122 is positioned in the first position, and the first plate-shaped member 102 and the second plate-shaped member 103 close the gap G in the locked position. At this time, as the shielding wall 35 descends from above in the z-axis direction, the lower surface of the seat plate 37 of the shielding wall 35 comes into contact with the second protruding portion 125 of the oscillating member 122. As the shielding wall 35 descends further, the seat plate 37 pushes down the second protruding portion 125. This push causes the oscillating member 122 to oscillate around the oscillation axis S from the first position to the second position.

[0081] As a result, as shown in Figure 17, the first protruding portion 124 disengages from the engagement groove 123a. The second plate-shaped member 103 is released from support by the first protruding portion 124 of the swinging member 122. The second plate-shaped member 103 swings around the rotation axis X2 and retracts from the gap G. The second plate-shaped member 103 is displaced to the unlocked position. Similarly, the first plate-shaped member 102 swings around the rotation axis X1 and retracts from the gap G. In this way, as the shielding wall 35 descends, the shielding wall 35 opens the gap G. As shown in Figure 18, as the shielding wall 35 descends further, it causes the swinging member 122 to rotate further around the swing axis S. The swinging member 122 is pushed outward from the descent path of the shielding wall 35. In this way, the base plate 37 of the shielding wall 35 is received by the closing member 200 on the floor 11 corresponding to the first floor, as described above.

[0082] According to the retraction mechanism 100A of the second specific example described above, the locking mechanism 120 displaces the second plate-shaped member 103 from the locked position to the unlocked position based on contact between the shielding wall 35 and the seat plate 37. In other words, the retraction mechanism 100A does not require the actuator 115, etc., of the aforementioned retraction mechanism 100. There is no need to send a command from the control unit 33 to the retraction mechanism 100A to operate the retraction mechanism 100A. Therefore, according to the retraction mechanism 100A of the second specific example, the configuration of the automated warehouse system 1 can be simplified compared to the case of the retraction mechanism 100 of the first specific example described above.

[0083] In the automated warehouse system 1 described above, as an example, a configuration was described in which the rack 10 is separated into a first section 10A and a second section 10B by a gap G of one width. However, depending on the position of the shielding wall 35, the rack 10 may have gaps G at multiple positions. Also, in the above-described embodiment, one retraction mechanism 100 was placed between a pair of opposing floor panels 13, but one retraction mechanism 100 may be placed between two or more pairs of opposing floor panels 13. In this case, for example, the first plate-like member 102 and the second plate-like member 103 may have a width corresponding to the length 13a of the two floor panels 13. Also, for example, the first plate-like member 102 may be omitted. That is, the second plate-like member 103 may have a length L2 corresponding to the distance d of the gap G.

[0084] This specification discloses several embodiments of the subject matter of the present invention and uses examples to enable a person skilled in the art to carry out embodiments of the subject matter of the present invention, including manufacturing and using any device or system and performing any incorporated method. The patentable scope of the subject matter of the present invention is defined by the claims and may include other examples that may arise for a person skilled in the art. Such other examples are intended to be within the scope of the claims if they have components that are not different from the language of the claims, or if they include equivalent components that have no substantial differences from the language of the claims.

Claims

1. A rack having multiple floors, each floor being formed by multiple adjacent floor panels, wherein each floor allows a transport robot to travel along its surface, and the multiple floors are separated into a first section and a second section arranged spaced apart from each other by gaps, and A retraction mechanism comprising: a first member positioned adjacent to the floor of the first section so as to be pivotable about a first axis parallel to the surface of the floor; and a second member positioned adjacent to the floor of the second section so as to be pivotable about a second axis parallel to the surface of the floor, wherein the retraction mechanism establishes a first configuration positioned in the gap to allow the transport robot to travel between the first section and the second section, and a second configuration that retracts from the gap to open the gap. Once the retraction mechanism establishes the first configuration, the second member supports the first member with its upper surface. An automated warehouse system in which, once the retraction mechanism establishes the second configuration, the gap is capable of accepting the entry of a shielding wall that shields the space between the first compartment and the second compartment.

2. The retraction mechanism further includes a locking mechanism that displaces the second member between a locked position in which the second member supports the first member on its upper surface to establish the first configuration and an unlocked position in which the second member swings around the second axis to retract from the gap and establish the second configuration. The automated warehouse system according to claim 1, wherein when the unlocked position is established, the first member is released from the support of the second member and swings around the first axis to retract from the gap.

3. The automated warehouse system according to claim 2, wherein the locking mechanism displaces the second member to the unlocked position based on contact with the shielding wall.

4. The automated warehouse system according to claim 1, wherein the retraction mechanism is positioned between a pair of adjacent floor panels that are arranged facing each other with respect to the gap between them.

5. The automated warehouse system according to claim 3, wherein the transition of a plurality of the retraction mechanisms from the first configuration to the second configuration is synchronized.

6. The automated warehouse system according to claim 1, wherein the length from the inner edge to the outer edge of the first member is smaller than the size of the gap.

7. The automated warehouse system according to claim 1, wherein the length from the inner edge to the outer edge of the second member is smaller than the size of the gap.

8. The automated warehouse system according to claim 2, wherein the second member is displaced from the locked position to the unlocked position in response to a warning indicating the occurrence of a disaster.

9. The automated warehouse system according to claim 2, wherein the second member is displaced from the locked position to the unlocked position after the transport robot has moved from the surface of the retraction mechanism to the floor.

10. The automated warehouse system according to claim 1, further comprising a closing member positioned in the gap defined on the first floor of the rack.

11. The rack comprises a plurality of support columns that support the floor, The automated warehouse system according to claim 1, wherein the retraction mechanism is arranged between a pair of support columns in the first section and the second section, respectively.

12. A rack having multiple floors, each floor being formed by multiple adjacent floor panels, wherein the multiple floors are separated into a first section and a second section arranged spaced apart from each other by gaps, and a retraction mechanism incorporated into an automated warehouse system comprising a rack, The aforementioned retraction mechanism is A first member is positioned adjacent to the floor of the first section so as to be able to swing around a first axis parallel to the surface of the floor, The second member is positioned adjacent to the floor in the second section so as to be able to swing about a second axis parallel to the surface of the floor, The retraction mechanism has a first configuration that is positioned in the gap and allows the transport robot to travel between the first section and the second section, and a second configuration that retracts from the gap and opens the gap. Once the retraction mechanism establishes the first configuration, the second member supports the first member with its upper surface. Once the retraction mechanism establishes the second configuration, the gap is capable of accepting the entry of a shielding wall that shields the space between the first section and the second section.

13. The retraction mechanism further includes a locking mechanism that displaces the second member between a locked position in which the second member supports the first member on its upper surface to establish the first configuration and an unlocked position in which the second member swings around the second axis to retract from the gap and establish the second configuration. The retraction mechanism according to claim 12, wherein when the unlocked position is established, the first member is released from the support of the second member and swings around the first axis to retract from the gap.

14. The retraction mechanism according to claim 13, wherein the locking mechanism displaces the second member to the unlocked position based on contact with the shielding wall.

15. The retraction mechanism according to claim 12, wherein the retraction mechanism is positioned between a pair of adjacent floor panels that are arranged facing each other with respect to the gap between them.

16. The retraction mechanism according to claim 12, wherein the length from the inner edge to the outer edge of the first member is smaller than the size of the gap.

17. The retraction mechanism according to claim 12, wherein the length from the inner edge to the outer edge of the second member is smaller than the size of the gap.

18. The retraction mechanism according to claim 13, wherein the second member is displaced from the locked position to the unlocked position in response to a warning indicating the occurrence of a disaster.

19. The retraction mechanism according to claim 13, wherein the second member is displaced from the locked position to the unlocked position after the transport robot has moved from the surface of the retraction mechanism to the floor.

20. The rack comprises a plurality of support columns that support the floor, The retraction mechanism according to claim 12, wherein the retraction mechanism is arranged between a pair of support columns in the first section and the second section, respectively.

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