JP6185619B2 - 3D automatic warehouse - Google Patents

Description

  The present invention relates to a three-dimensional automatic warehouse, for example, a three-dimensional automatic warehouse composed of a plurality of storage racks stacked in multiple stages in the vertical and horizontal directions.

For a three-dimensional automatic warehouse, for example, a system as described in Patent Document 1 is known. In Patent Document 1 increases the storage efficiency by providing a storage shelf of a plurality of rows in the depth direction of the storage rack, and move horizontally along the storage shelf surfaces across stacker crane movable in the vertical direction, and the stacker crane An example of a three-dimensional automatic warehouse is disclosed in which a traversing carriage that is mounted on the vehicle and can move independently in the depth direction operates effectively even if a plurality of rows of storage shelves are provided. Here, the high order storage efficiency in a stereoscopic automated warehouse, for the purpose of shortening the overall goods movements cycle time, although the transverse carriage is obtained by allowing another operation is independent from the stacker crane, the stacker crane In order to move and operate without colliding with other moving objects, only one stacker crane is required. When providing multiple rows of storage shelves in the depth direction, storing the same items side by side is effective for putting in and out, but when arranging different items, operations such as temporarily avoiding the front items A complicated process such as that is required is also conceivable.

Furthermore, in the three-dimensional automatic warehouse in Patent Document 2, it is possible to share two adjacent storage shelves in order to increase the operation rate of the storage shelves and the effective utilization rate of the building using the same stacker crane. An example of a three-dimensional automated warehouse is disclosed. However, here the storage shelves when the size of the articles are mixed must be matched to the large articles, so the efficiency reduction for the storage of small articles is shared by sharing the space in the depth direction of adjacent storage shelves, for example In this configuration, two to three small articles can be arranged.

  In Patent Document 1 and Patent Document 2 described above, it is also disclosed that any stacker crane adjacent to each other with respect to a plurality of rows or two adjacent storage shelves can be operated on an item on the storage shelf. Yes.

JP-A-8-324712 JP 2000-318812 A

  Here, in Patent Document 1 and Patent Document 2, the fact that both are specified as problems is nothing other than improving storage efficiency and shortening the loading / unloading cycle time. However, increasing the storage efficiency means that the number of articles to be moved increases, that is, the structure may be complicated and the movement may be complicated. Here, it is to increase the storage efficiency in the three-dimensional automatic warehouse system and reduce the dead time in a series of operations.

  The transport means in the three-dimensional automatic warehouse is generally a means for moving in the horizontal direction (x direction) by a conveyor or a traveling moving body, a means for moving in the vertical direction (y direction) such as a lift, and the like. Combined with a means that moves in the width direction (z direction) of a three-dimensional automatic warehouse with a conveyor, etc., the load to be moved is combined from a predetermined place when necessary by combining these three-axis linear one-dimensional movements. Had moved to a predetermined place. In addition, there is an example of a stacker crane that moves in a two-dimensional plane combining the xy directions as shown in Patent Document 1 and Patent Document 2 when moving them. A method for economically obtaining a method for freely moving in the three-axis directions of xyz is not established.

  In particular, as the size and size of a three-dimensional automated warehouse increases, the types and quantities of articles placed in the warehouse will increase, so it is expected that the movement for transportation will become complicated, and it will be efficient in a short time. Therefore, it is more desirable than ever to carry out load movement processing.

  The invention of the present application solves the above-mentioned problems, and by smoothly moving the article, the dead time in the entire operation system of the three-dimensional automatic warehouse is reduced, and at the same time, the space occupation rate of the article in the three-dimensional automatic warehouse is improved, The purpose is to provide a three-dimensional automatic warehouse that can provide a total economic effect. Incidentally, here, “reducing dead time” means operating by bypassing the transport route without forcibly stopping the device when performing maintenance such as a lift or a transport mechanism for moving articles. Is also included.

  In order to solve the above-described problems, in the present application, in particular, as a structure provided with a moving area in a three-dimensional automatic warehouse, in addition to moving and storing articles between the storage / removal unit and the storage rack, the storage rack and storage rack A structure that enables movement between storage racks adjacent to each other without a passage between them is realized, and the storage racks adjacent to each other in a three-dimensional automatic warehouse are on the same floor in the height direction and have a depth. The article is moved by a transport mechanism that operates in a state where the article can be moved between storage spaces located in the same row in the direction. In one aspect of the present application, the storage rack provided with multi-stage shelves is a three-dimensional warehouse composed of a plurality of rows, and storage surfaces of articles are provided on both sides of the shelves, and the articles are placed behind the storage surfaces. A single storage rack that can store one or a plurality of storage racks, and a transport mechanism that travels along a path provided on the side of the storage surface of the single storage rack, and can be stored in the single storage rack by the transport mechanism By making it possible to store or take out all articles, the articles can effectively move between the single storage racks. For example, the transport mechanism that moves in the single storage rack by either pushing or pulling the load has a length substantially corresponding to the width of the single storage rack portion sandwiched between the adjacent transport mechanisms. Has a mechanism that can be expanded and contracted, and when the two transport mechanisms are located on both sides of the single storage rack when the article is moved by the telescopic mechanism of the transport mechanism, Any one that travels on both sides of the single storage rack located in the intermediate portion excluding the storage rack located outside the three-dimensional automatic warehouse can be handled by the transport mechanism and only the transport mechanism. A direction perpendicular to the direction in which the transport mechanism travels with respect to the single storage rack located at the intermediate portion on the same floor in the height direction in the three-dimensional automatic warehouse. At least two rows of movements, in which only a single article to be moved is arranged and can be moved in both directions up to the maximum width in the depth direction of the single storage rack, which is perpendicular to the traveling direction of the transport mechanism By securing the area, it is possible to efficiently move the article between the storage rack and the single storage rack when the article needs to be moved.

  Here, in the storage rack, the length in the depth direction is L ′, and when the maximum dimension in the depth direction of the article to be transported is D, the relationship is D <L ′ <2D. In the storage rack, the length in the depth direction is L, and the relation of D <L <n × D is satisfied with respect to the D dimension. That is, in other words, the single storage rack is a storage rack having an integrated structure having a region in which a plurality of articles can be stored in the depth direction, and it is possible to reduce overlapping constituent mechanism members. .

Furthermore, in another aspect of the present application, the transport mechanism is, for example, a stacker crane type transport structure that can move in the horizontal and vertical directions in the passage, or a transport mechanism by a traveling carriage that can move only in the horizontal direction. This makes it possible to travel effectively in the passage.

  In yet another aspect, a specific storage shelf that moves a target article in a storage space that may have a single or a plurality of single storage racks includes the only one article to be transported at the same time. On the other hand, since only one of the transport mechanisms is operated, stable travel and operation can be performed without contacting or colliding with a transport mechanism in a different place or an expansion / contraction mechanism included in the transport mechanism. Here, the storage space indicates an area in which articles conveyed in the structure of the storage rack are stored or moved.

  In another aspect, the specific storage shelf penetrates through an area performed in a single storage space facing the passage where the transport mechanism travels, or a plurality of storage spaces positioned in the depth direction. Therefore, it is possible to provide a specific storage shelf that increases the degree of freedom in the entire three-dimensional automatic warehouse.

  In still another aspect, the single storage rack includes a plurality of the specific storage shelves corresponding to the plurality of articles, so that the necessary number of specific storage shelves at a necessary place when necessary in the entire three-dimensional automatic warehouse. The degree of freedom is further increased.

  On the other hand, in another aspect, the bottom surface of the storage space is a flat plate or a shaft member arranged along the moving direction of the article, and the flat plate or the shaft member is the single single storage rack. Or in the region penetrating a plurality of single storage racks, and the flat plate or the shaft member is configured in the region of the single single storage rack. Since the surface height position of the flat plate or the shaft member is substantially the same as long as there is no hindrance to movement, the movement in the specific storage shelf provided in the three-dimensional automatic warehouse becomes smoother.

  In another aspect, the position of the one specific storage shelf and the transport direction can be set at any position of the single storage rack in any direction, and the indicated article Therefore, it is not limited by the specific storage shelf. Therefore, it is possible to construct an optimal specific storage shelf based on the information of the articles stored in the warehouse.

  Here, in another aspect, a specific location or specific storage of another single storage rack using one or a plurality of the transport mechanisms for the article stored in the specific storage shelf or specific location of the single storage rack. Since it is possible to move to the shelf, the degree of freedom of movement in the three-dimensional automatic warehouse is increased, so that effective movement can be performed in a timely manner. Incidentally, the specific storage shelf described here means a shelf that can be stored or taken out in all areas within the storage area by a single transport mechanism, and the specific location is the storage that has received a movement instruction. Means a specific storage location in the rack.

  Furthermore, in yet another aspect, the article stored in a specific storage shelf or a specific location of the single storage rack can be moved to a specific location or a specific storage shelf of the same single storage rack using the transport mechanism. Therefore, it is possible to increase the freedom of movement within the same storage rack. Incidentally, the specific storage shelf and the specific location described here mean the contents defined in the previous section.

  Here, with respect to these movements, as another aspect, the conveyance mechanism is configured with an expansion / contraction mechanism for storing or taking out the article as a multi-stage arm, ball screw, rack and pinion, or multiple nodes. By using the link, the operation in the depth direction of the specific storage shelf is facilitated.

  In yet another aspect, the bottom of the expansion / contraction mechanism configured in the transport mechanism includes a rotating body that is in contact with the shelf surface of the storage rack at least at one position, preferably at the bottom of the expansion / contraction mechanism. By having a friction guide mechanism, the mechanism that expands and contracts to a sufficient length substantially corresponding to the width of the storage rack part is not deformed by its own weight, so that the extension mechanism part can be reduced in weight and can transmit stable axial force. Can be configured.

  Providing specific storage shelves as described above increases storage efficiency in a three-dimensional automatic warehouse system, and at the same time performs a series of operations while appropriately selecting the optimal route for movement in real time, thereby reducing wasted time It becomes. Here, “reducing dead time” means that the operation is continued by bypassing the transfer route without forcibly stopping the device when performing maintenance such as a lift or a transfer mechanism for moving articles. It is also included. That is, if a lift is to be inspected, according to the technology so far, the conveyance itself in the range covered by the lift must be stopped, whereas in the present invention, the scope of the lift 1 and the lift 2 are controlled. In order to be able to overlap with the scope of control, the scope of control of the non-operating lift 1 is controlled by the lift 2 that is in operation, so that the entire transport system is not stopped and the transport operation continues. can do.

It is a perspective view of the storage rack which concerns on one Embodiment of this application. It is a conceptual diagram of the three-dimensional automatic warehouse by the some storage rack which concerns on one Embodiment of this application, and a storage / conveyor part. It is the example of the conventional structure by the some storage rack which concerns on one Embodiment of this application. 2 is a configuration example of a plurality of storage racks and a single storage rack according to an embodiment of the present application. It is a conceptual diagram of the three-dimensional automatic warehouse in the conventional structure which concerns on one Embodiment of this application. It is a figure which shows the example of the specific storage shelf which concerns on one Embodiment of this application. It is a figure which shows a part of specific storage shelf shown in FIG. 6A. It is a figure which shows the bottom face shape example (the 1) of the specific storage shelf which concerns on one Embodiment of this application. It is a figure which shows the bottom face shape example (the 2) of the specific storage shelf which concerns on one Embodiment of this application. It is a figure which shows the bottom face shape example (the 3) of the specific storage shelf which concerns on one Embodiment of this application. It is a figure which shows the bottom face shape example (the 4) of the specific storage shelf which concerns on one Embodiment of this application. It is a figure which shows the bottom face shape example (the 5) of the specific storage shelf which concerns on one Embodiment of this application. It is a figure which shows the bottom face shape example (the 6) of the specific storage shelf which concerns on one Embodiment of this application. It is an example of the image which passes the specific storage shelf which concerns on one Embodiment of this application. It is another example of the image which passes the specific storage shelf which concerns on one Embodiment of this application. It is a figure which shows the example of the operation area | region of the specific storage shelf and conveyance mechanism which concern on one Embodiment of this application. It is a figure which shows the other example of the operation area | region of the specific storage shelf and conveyance mechanism which concern on one Embodiment of this application. It is a figure which shows the example of the expansion-contraction mechanism of the conveyance mechanism which concerns on one Embodiment of this application. It is a figure which shows an example of the expansion-contraction mechanism which concerns on one Embodiment of this application. It is a figure which shows the other example of the expansion-contraction mechanism which concerns on one Embodiment of this application.

FIG. 1 shows a storage rack 21 having storage spaces 22 in a plurality of stages and a plurality of rows, and here, an example of three stages and five rows is simply shown.

  FIG. 2 is a conceptual diagram of the three-dimensional automatic warehouse 1 showing a part of the storage rack 21 in parallel and a part of the loading / unloading unit 4 composed of, for example, a conveyor and a lift, and the article 5 expressed in the following figure. Are indicated as xyz directions with respect to the “passage direction”, “height direction”, and “storage rack direction”.

  FIG. 3 shows a configuration example in the case where a plurality of the storage racks 211 are arranged in the conventional structure example, and includes a combination of the rear surfaces in the depth direction (z direction in FIG. 2) from the storage surface of the storage rack 211. The length (L ′) is common, and when the maximum dimension of the article 5 in the depth direction is D, D <L ′ <2D.

Figure 4 is an example of the configuration of the merits structure, the storage rack 211 on the outside of the entire warehouse to have a length of L 'in the depth direction from the storage surface, located in the middle of otherwise, for instance in the example of FIG. A case is shown in which a single storage rack 212 having a length (L) approximately twice as long as the storage rack 211 located on the outer side is shown. When the maximum dimension in the depth direction of the article 5 is D, D <L <n × D.

  FIG. 5 shows an example of a three-dimensional automatic warehouse having a conventional structure, which is composed of a storage warehouse unit 2 and a storage / removal unit 4. The transport mechanism 3 travels in a passage 23 between the storage racks 211, and It is transported from the position to a predetermined position. For example, the arrow A indicates an example of the flow of entry to storage, and the article 5 sent from the third conveyor 43 is located on the storage rack 211 to be stored, the second conveyor 42 to the lift 44 to different floors. Via the second conveyor 42 to the first conveyor 41, it is mounted on the transport mechanism 3 and stored in a predetermined position. Moreover, the arrow B shows the example of the flow of storage-delivery, and it is mounted in the conveyance mechanism 3 in the reverse direction to the above, and the first conveyor 41 to the second conveyor 42 to the lift 44 to the third conveyor 43. It moves to the subsequent process via the second conveyor 42 to the third conveyor 43 located at the height.

  FIG. 6A is a diagram showing an example of the specific storage rack 6 in the storage warehouse section 2 of the present plan. For example, the two storage racks 211 located outside and / or the single storage rack 212 are located between them. The articles 5 are placed in the z-direction in the two storage racks 211 and / or the single storage rack 212 installed in a state where the transport mechanism 3 travels in the three passages 23 sandwiching each of the passages 23. The example which has the said specific storage shelf 6 used as the space | gap space state so that crossing to a normal / reverse two directions is possible is shown.

  Here, the first article 51 stored in the second row of the individual storage racks 212 is drawn by the expansion / contraction mechanism 31 of the second transport mechanism 3b, and further moved to the third row of the individual storage racks 212. The second article 52 stored in the single storage rack 212 in the third row is shown in the third transport mechanism in the reverse direction parallel to the specific storage shelf 6 in a state of moving to the position indicated by the broken line. 3c shows a state in which it is pulled in by the expansion / contraction mechanism 31 of 3c, and further moves to the storage rack 212 in the second row and moves to the position indicated by the broken line.

  FIG. 6B is a part of the specific storage shelf shown in FIG. 6A, and examples of the shape of the bottom surface portion 7 in the region indicated by the arrow E are shown in FIGS. 6C to 6F below.

  FIG. 6C shows an example of the bottom shape of the specific storage shelf in a top view and a side view, and shows the space of the single storage rack 212 having a length approximately twice that of the single storage rack 211 having the width of L ′. The state of the flat plate 71 arranged in a penetrating state is shown. Here, an example of a beam structure in which the reinforcing portion 75 is supported from the bottom of the flat plate 71 is shown, but the shape shown in the drawing is not limited as long as it is a structure that controls the amount of bending of the flat plate 71.

FIG. 6D is another example of the bottom shape of the specific storage shelf, which is arranged in two stages in the space of the single storage rack 212 having a length approximately twice that of the storage rack 211 having the width of L ′. The state of the flat plate 72 is shown.

  FIG. 6E is still another example of the bottom shape of the specific storage shelf, in a state of passing through the space of the single storage rack 212 having a length approximately three times that of the storage rack 211 having the width of L ′. The state of the flat plate 71 to be arranged is shown.

  FIG. 6F is still another example of the shape of the bottom surface of the specific storage shelf in a state of penetrating through the space of the single storage rack 212 having a length approximately twice as long as the storage rack 211 having the width of L ′. The state of the shaft member 73 to be arranged is shown. Here, although the reinforcement part 75 has shown the example of the bracing structure supported from the bottom of the shaft material 73, if it is a structure which controls the deflection amount of the shaft material 73, it will not be related to the shape to show in figure.

  FIG. 6G is still another example of the bottom shape of the specific storage shelf, and is arranged in two stages in the space of the single storage rack 212 having a length approximately twice that of the storage rack 211 having the width of L ′. The state of the shaft member 74 is shown.

  FIG. 6H is still another example of the bottom shape of the specific storage shelf, in a state of penetrating the space of the single storage rack 212 having a length approximately three times that of the storage rack 211 having the width of L ′. The state of the shaft member 73 to be arranged is shown.

  FIG. 7 shows an example of an image passing through the specific storage shelf 6, and the articles 5 stored in the storage racks 211 in the first row move the articles in the fourth row in which a third transport mechanism 3 c travels. The route in the case of moving to the position of the storage rack 211 is shown, and is arranged on the specific storage shelf 6 of the storage rack 212 in the second row by the first transport mechanism 3a, and the extension mechanism 31 of the second transport mechanism 3b. A thick arrow indicates an example where the operation is stored in the storage rack 211 in the fourth row by the third transport mechanism 3c via the specific storage shelf 6 of the single storage rack 212 in the third row by operation.

  FIG. 8 shows an example of another image passing through the specific storage shelf 6, and the second row in which the second transport mechanism 3b travels the articles 5 stored in the storage rack 211 in the fourth row. The route when moving to the position of the single storage rack 212 is shown, and is arranged on the specific storage shelf 6 of the single storage rack 212 in the third row by the third transport mechanism 3c. An example of storing in the second row of single storage racks 212 by the second transport mechanism 3b via the specific storage shelf 6 of the third row of single storage racks 212 by operating the telescopic mechanism 31 Shown with arrows.

  FIG. 9 is a diagram showing an example of the operation area of the specific storage shelf 6 and the transport mechanism 3, and is a case where the specific storage shelf 6 is provided on the entry / exit side as illustrated in FIGS. 5 and FIG. 6 also partially overlap.

  FIG. 10 is a diagram showing another example of the operation area of the specific storage shelf 6 and the transport mechanism 3, where the specific storage shelf 6 is located substantially at the center of the storage rack 212, and is further provided at one specific location. Since the case where the storage shelf 6 moves in both directions is shown and the number of storage areas is also increased, the storage rack 211 and / or the single storage rack 212 may be connected in the flow of the entire article 5. This is effective when the frequency of movement in the z direction is low.

  Although two examples are shown in FIGS. 9 and 10, they are only examples, and it is effective even if the position and number of the specific storage shelves 6 and the moving direction are changed for each row of the single storage rack 212. It can be arbitrarily selected according to the arrangement of the articles 5 in the entire automatic warehouse 1 and the frequency of movement between the storage racks in the z direction.

FIG. 11 is a diagram showing an example of the expansion / contraction mechanism 31 of the transport mechanism 3, and a plurality of sliding plate-like structures attached to the transport mechanism 3 that travels along the guide rail 25 by the rotation of the travel wheel 34 . The example of the sliding expansion-contraction mechanism 32 by the combination of these is shown.

  FIG. 12 is a diagram showing a specific example of the expansion / contraction mechanism. Even if the sliding expansion / contraction mechanism 32 extends sufficiently long, the expansion / contraction mechanism prevents the combined structure from always deforming in the expansion / contraction direction. It is effective to provide a rotating body 35 at the tip of 31.

  FIG. 13 shows another specific example of the expansion / contraction mechanism, and shows an example of the bellows-type expansion / contraction mechanism 33 in which beam-shaped ends that retain rigidity are alternately combined. As described above, by providing the rotating body 35 at the tip, smooth expansion and contraction is possible.

DESCRIPTION OF SYMBOLS 1 Three-dimensional automatic warehouse 2 Storage warehouse part 21 Storage rack 211 Storage rack 212 Single storage rack 22 Storage place 23 Passage 24 Storage rack floor 25 Guide rail 3 Conveyance mechanism 3a 1st conveyance mechanism 3b 2nd conveyance mechanism 3c 3rd 3rd Conveying mechanism 31 Telescopic arm 32 Sliding telescopic mechanism 33 Bellows telescopic mechanism 34 Traveling wheel 35 Rotating body 4 Entry / exit section 41 First conveyor 42 Second conveyor 43 Third conveyor 44 Lift 5 Article 51 First article 52 Second article 6 Specific storage shelf 7 Bottom surface of specific storage shelf 71 Plane that penetrates a plurality of storage spaces 72 Plane located in a single storage space 73 Shaft member that penetrates a plurality of storage spaces 74 Single storage Shaft material located in space 75 Reinforcement part D Maximum dimension of article in the depth direction L Single storage rack (212) Go length (storage space)
L 'Depth length of storage rack (211) (storage space)

Claims (11)

An outer storage rack in which shelves for storing articles are provided in multiple stages, and a storage surface for the articles is provided on one side of the shelves;
A single storage rack in which shelves for storing articles are provided in multiple stages, and storage surfaces of the articles are provided on both sides of the shelf, and the articles can be stored singly or plurally from the storage surface toward the back,
Traveling alone between passages - alone between passages, or between adjacent two of the single storage rack each other alone - outside between the single storage rack is a storage rack which is adjacent to the outer storage rack and outer storage rack A transport mechanism;
The article is mounted on the transport mechanism, and the article is drawn in over the entire length in the forward depth direction of the storage surface of the article, and the drawn article is moved over the entire length in the depth reverse direction of the storage surface of the article. A telescopic mechanism capable of
A shelf that constitutes the single storage rack, and is a specific storage shelf in which the article provides a space that can be traversed in the depth normal and reverse two directions, and on the specific storage shelf , the outer-single passage or Articles drawn by the first telescopic mechanism of the first transport mechanism that travels in any one of the single-single paths are traveled in a path adjacent to the one path. A specific storage shelf that can be moved to the single storage rack or the outer storage rack located on the opposite side of the one passage by the second telescopic mechanism of the transport mechanism ;
Wherein for a particular receiving the articles to be only transport which is instructed at the same time in the shelves, that only one of the only one of the first conveying mechanism or the second conveyor mechanism so as to operate A three-dimensional automatic warehouse comprising means for preventing the first transport mechanism and the second transport mechanism from contacting or colliding with each other.   The three-dimensional automatic warehouse according to claim 1, wherein the transport mechanism is a stacker crane system that can move in the horizontal and vertical directions in the passage.   2. The three-dimensional automatic warehouse according to claim 1, wherein the transport mechanism is a traveling cart system that can move only in a horizontal direction in the passage.   The specific storage shelf is an area performed in a single storage space facing the passage where the transport mechanism travels, or an area formed through a plurality of storage spaces positioned in the depth direction. The three-dimensional warehouse according to claim 1.   The three-dimensional automatic warehouse according to any one of claims 1 to 4, wherein the single storage rack includes a plurality of the specific storage shelves corresponding to a plurality of the articles. The bottom surface of the storage space is comprise a shaft member disposed along the moving direction of the flat plate or the article, the flat plate or the shaft member has a plurality a plurality of storage spaces constituting the single storage rack wherein either each of the flat plate or a plurality a plurality of the shaft member is the arrangement are arranged in the flat plate or a plurality of the shaft member is configured by connecting through the tether of, or constituting the single storage rack the flat or said shaft member in a region extending through the plurality of storage space is configured by disposing a single member, and said single plurality of the flat plates into a plurality of storage spaces constituting the storage rack or more of said shaft member the articulation of the case but consists each of a plurality of said flat plate or a plurality of the shaft member is disposed is the arrangement is connected via the connecting member Stereo automated warehouse according to claim 4, wherein said flat plate between or surface height position between the shaft member of Rusorezore is approximately the same height in the range not interfering with the movement.   2. The three-dimensional automatic warehouse according to claim 1, wherein the position and the transport direction of one specific storage shelf can be installed in any position in any position of the single storage rack.   The article stored in the specific storage rack of the single storage rack can be moved to the specific location or the specific storage rack of another single storage rack by using one or a plurality of transport mechanisms. The three-dimensional automatic warehouse according to claim 1.   2. The article stored in the specific storage rack of the single storage rack can be moved to the specific location or the specific storage rack of the same single storage rack using the transport mechanism. 3D automatic warehouse.   2. The three-dimensional automatic warehouse according to claim 1, wherein at least one of a multistage arm, a ball screw, a rack and pinion, or a multi-node link is used as the expansion and contraction mechanism. The bottom of the telescopic mechanism configured in the transport mechanism has a low friction guide mechanism including a rotating body in contact with the shelf surface of the storage rack at the bottom of the distal end of the telescopic mechanism at least at one place. The three-dimensional automatic warehouse according to claim 1.

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