Abstract:
An automated warehouse system may require less space than conventional warehouse systems. The automated warehouse system is configured so that loads are stored in storage areas formed by vertically extending support pillars and horizontally extending beams. The loads are loaded into the storage areas, and the loads are unloaded from storage areas. The automated warehouse system comprises: vertical guide rails disposed on the support pillars; horizontal guide rails disposed on the beams; and a movable platform having a frame body and guide rollers, at least part of the frame body having the same rectangular shape as a shape of at least part of at least one of the storage areas and having vertical frame members and horizontal frame members, the guide rollers being disposed on the vertical frame members and engaging the vertical guide rails or disposed on the horizontal frame members and engaging the horizontal guide rails.

Description:
BACKGROUND 
       [0001]    1. Technical Field 
         [0002]    The present disclosure generally relates to an automated warehouse system, and, in particular, relates to an automated warehouse system that transfers loads stored in storage areas. 
         [0003]    2. Description of the Related Art 
         [0004]    Conventional automated warehouse systems typically use a load elevator-type of stacker cranes as a transfer means. These stacker cranes are driven along travel guide rails, and are structured so as to move up and down along a guide frame portion that is disposed perpendicularly in relation to the travel guide rails. To enable these stacker cranes to move in relation to a plurality of storage areas that are arranged in a line, the travel guide rails are laid, from end to end, along the storage areas that are arranged in a line. An automated storage system that uses such a stacker crane requires a large amount of space. Moreover, often it is possible to provide only a single stacker crane for a single travel guide rail. In automated warehouse systems there is a need to save space and to make the systems more compact, and it is desirable that the size, including the stacker crane and the plurality of storage areas, be small. 
         [0005]    For example, Japanese Unexamined Patent Application Publication 2008-100848 discloses an automatic storage system that attempts to efficiently store and transport items. 
         [0006]    However, when a load elevator-type of stacker crane is used as a transfer means in an automated warehouse system, it is necessary to provide movement rails for the stacker crane, which limits the ability to reduce space in a warehouse. Moreover, when a plurality of stacker cranes is provided due to a high demand for transferring loads, it becomes necessary to provide other movement rails as well, making space reduction difficult. 
       BRIEF SUMMARY 
       [0007]    The present disclosure overcomes one or more of the above-identified problems associated with conventional automated warehouse systems and advantageously provides a space-saving automated warehouse system. 
         [0008]    An automated warehouse system according to a first aspect of the present disclosure stores loads in a plurality of storage areas formed from a plurality of support pillars that extend in the vertical direction and a plurality of beams that extend in the horizontal direction, transfers the loads to the plurality of storage areas, and transfers the loads from the plurality of storage areas. The automated warehouse system is provided with a movable platform having a frame body that has a vertical frame and a horizontal frame, at least part of the frame body having a rectangular shape that is the same as a shape of at least part of at least one of said storage areas, and a guide roller that engages a vertical guide rail that is disposed adjacent the vertical frame or a horizontal guide rail that is disposed adjacent the horizontal frame. Because the movable platform advances along the vertical guide rail and the horizontal guide rail, there is no need to provide travel guide rails for a stacker crane on the floor. Moreover, this also enables a plurality of movable platforms to be provided on the vertical guide rail and the horizontal guide rail. 
         [0009]    In an automated warehouse system according to a second aspect of the present disclosure, the movable platform has a picker configured to slide the loads to transfer the loads from the movable platform into the storage areas, and to slide the load to transfer the loads out of the storage areas into the movable platform. 
         [0010]    In an automated warehouse system according to a third aspect of the present disclosure, the guide roller is disposed at a corner portion of the frame body, and is movable in a direction that is perpendicular to the vertical guide rail and the horizontal guide rail; and when the loads are transferred into or transferred out of the movable platform, the guide roller is moved into contact with the vertical guide rail or the horizontal guide rail. This causes the movable platform to be secured with respect to at least one of the storage areas. 
         [0011]    An automated warehouse system according to a fourth aspect of the present disclosure has a locking device configured to lock the horizontal guide rail and the movable platform together when transferring the loads into or transferring the loads out of the movable platform. This causes the movable platform to be secured with respect to at least one of the storage areas. 
         [0012]    In an automated warehouse system according to a fifth aspect of the present disclosure, the guide roller is movable along an edge of the frame body in the horizontal direction to a corner portion of the frame body; wherein, when the movable platform is moved in the horizontal direction to transfer loads into or out of the movable platform, the guide roller is located at a center region of the edge in the horizontal direction, and when the movable platform is moved in the vertical direction to transfer the loads into or out of the movable platform, the guide roller is located at the corner portion of the frame body. 
         [0013]    In an automated warehouse system according to a sixth aspect of the present disclosure, the guide roller includes a first guide roller and a second guide roller, where a movement distance of the first guide roller from the center region of the edge of the frame body to the corner portion of the frame body and a movement distance of the second guide roller from a center region of another edge of the frame body in the horizontal direction to a corner portion of the frame body are different. 
         [0014]    In an automated warehouse system according to a seventh aspect of the present disclosure, the movable platform is disposed between a first storage shelf that includes a plurality of storage areas, and a second storage shelf that includes a plurality of storage areas and that is disposed so as to face the first storage shelf, and a first guide roller is disposed on a first side of the movable platform that faces the first storage shelf and a second guide roller is disposed on a second side of the movable platform that faces the second storage shelf. 
         [0015]    In an automated warehouse system according to an eighth aspect of the present disclosure, the movable platform is disposed between a third storage shelf that includes a plurality of storage areas, and a fourth storage shelf that includes a plurality of storage areas and that is disposed so as to face the third storage shelf, and the second storage shelf adjoins the third storage shelf. 
         [0016]    In an automated warehouse system according to a ninth aspect of the present disclosure, the frame body of the movable platform corresponds to a plurality of adjoining storage areas. 
         [0017]    An automated warehouse system according to the present disclosure enables transferring of loads into a plurality of storage areas, and transferring of loads from the storage areas, with a small floor space. 
     
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
         [0018]      FIG. 1  is a perspective view diagram of an automated warehouse system  20  according to a first embodiment of the present disclosure.  FIG. 2  (A) is a side view diagram, viewed from the Y direction, a storage shelf  100 . 
           [0019]      FIG. 2  (B) is a side view diagram, viewed from the X direction, of a pair of storage shelves  100 . 
           [0020]      FIG. 3  is an enlarged side view diagram, viewed from the Y direction, of the storage shelf  100  and a movable platform  50 . 
           [0021]      FIG. 4  is a perspective view diagram illustrating a guide roller  52 , a locking pin  58 , and a picker  60 . 
           [0022]      FIG. 5  (A) is a side view diagram, viewed from the Z direction, illustrating relationships among the guide roller  52 , the locking pin  58 , and a guide rail  110  that is formed on a beam  105 . 
           [0023]      FIG. 5  (B) is a side view diagram, viewed from the X direction, illustrating relationships among the guide roller  52 , the locking pin  58 , and the guide rail  110  that is formed on the beam  105 . 
           [0024]      FIG. 5  (C) is a side view diagram, viewed from the Z direction, illustrating relationships among the guide roller  52 , the locking pin  58 , and the guide rail  110  that is formed on the beam  105 . 
           [0025]      FIG. 5  (D) is a side view diagram, viewed from the X direction, illustrating relationships among the guide roller  52 , the locking pin  58 , and the guide rail  110  that is formed on the beam  105 . 
           [0026]      FIG. 6  is a flowchart illustrating a process for transferring loads BG using the automated warehouse system  20 . 
           [0027]      FIG. 7  is an enlarged side view diagram, viewed from the Y direction, of the movable platform  50 . 
           [0028]      FIG. 8  is a perspective view diagram illustrating a guide roller  152  and the picker  60 . 
           [0029]      FIG. 9  is a side view diagram, viewed from the X direction illustrating an automated warehouse system  22  according to a second embodiment of the present disclosure. 
           [0030]      FIG. 10  is a side view diagram, viewed from the X direction, illustrating an automated warehouse system  24  according to a third embodiment of the present disclosure. 
           [0031]      FIG. 11  is a side view diagram, viewed from the Y direction, illustrating an automated warehouse system  26  according to a fourth embodiment of the present disclosure. 
           [0032]      FIG. 12  is a side view diagram, viewed from the Y direction, illustrating an automated warehouse system  28  according to a fifth embodiment of the present disclosure. 
       
    
    
     DETAILED DESCRIPTION 
     First Embodiment 
       [0033]    A first embodiment will be explained below based on the appended drawings. An overall perspective diagram of an automated warehouse system  20  according to the first embodiment is illustrated in  FIG. 1 . To facilitate viewing of the movable platform  50 , the drawing omits a portion of one of the storage shelves  100 . 
         [0034]    Structure of the Automated Warehouse System  20   
         [0035]    As illustrated in  FIG. 1 , the automated warehouse system  20  according to the first embodiment has a pair of storage shelves  100  having a plurality of storage areas RC. The storage shelves  100  have storage areas RC wherein loads BG are stored, and storage areas RC wherein loads BG are not yet stored. The movable platform  50  transfers a load BG from a loading/unloading port  101  (shown in  FIG. 2  (A)) to a specific storage area RC, or transfers a load BG that is stored in a storage area RC to the loading/unloading port  101 , following a movement instruction from a controlling portion MA. 
         [0036]      FIG. 2  (A) is a side view diagram, viewed from the Y direction, of one of the pair of storage shelves  100 , and  FIG. 2  (B) is a side view diagram, viewed from the X direction, of the pair of storage shelves  100 . 
         [0037]    As illustrated in  FIG. 2  (A), the storage shelf  100  is built from a plurality of support pillars  103  that extend in the vertical or Z direction and a plurality of beams  105  that extend in the horizontal or X direction. A plurality of storage areas RC is formed from these support pillars  103  and beams  105 . The number of levels and number of columns of storage areas RC are arbitrary, and may be increased or decreased as appropriate depending on an installation space. Loading/unloading ports  101 , for transferring loads BG to the movable platform  50  or transferring loads BG from the movable platform  50 , are provided on the left and right of the storage shelf  100  at the bottommost level (on the −Z side). 
         [0038]    Guide rails  110  that extend in the vertical and horizontal directions are disposed on the support pillars  103  and beams  105 , respectively. The guide rails  110  have shaft rails  110 A, of a narrow width, that are disposed on the outside of the individual storage areas RC, and roller rails  110 B, of a wide width, that are disposed on the insides of the individual storage areas RC (as shown in  FIG. 3 ). The guide rollers  52  of the movable platform  50  are disposed within the roller rails  110 B. A plurality of locking holes  112  is formed in the guide rails  110  that extend horizontally. As illustrated in  FIG. 2  (A), the locking holes  112  are formed at the top and bottom of each individual storage area RC near the center of the storage area RC in the X direction. 
         [0039]    As illustrated in  FIGS. 2  (A) and  2  (B), the movable platform  50  is of a size that essentially matches the size of the storage area RC (in the XZ plane). The movable platform  50  has a frame body  51 . At least one face of the frame body  51  in the Y direction is open so as to enable the load BG to be transferred in and out of the movable platform  50 . Moreover, eight guide rollers  52  are provided for a single frame body  51 . In order to be supported from the pair of storage shelves  100 , four guide rollers  52  are disposed in the −Y direction from the frame body  51  (where two guide rollers  52  are illustrated in  FIG. 2  (B)), and four guide rollers  52  are disposed in the +Y direction from the frame body  51  (where two guide rollers  52  are illustrated in  FIG. 2  (B)). These eight guide rollers  52  are located within the roller rails  110 B of the guide rails  110 . The diameter of each of the guide rollers  52  is larger than the width of each of the shaft rails  110 A, and thus the guide rollers  52  do not fall out of the guide rails  110  (as shown in  FIG. 3 ). Moreover, because the size of the load BG that is transferred by the movable platform  50  is the same as the size of the load BG that is stored in the storage area RC, the width WY 1  of the storage shelf  100  in the Y direction is essentially the same as the width WY 2  of the movable platform  50  in the Y direction. 
         [0040]    As illustrated in  FIGS. 2  (A) and  2  (B), a plurality of movable platforms  50  is disposed on the storage shelf  100 . In a conventional automated warehouse system, typically only a single stacker crane is provided for a single travel guide rail. Because of this, the only way to increase the efficiency with which the loads BG are transferred is to increase the speed of the stacker crane itself. However, in the present embodiment, a plurality of movable platforms  50  can be provided on the storage shelf  100 . Because of this, the number of movable platforms  50  can be adjusted depending on the frequency with which the loads BG are transferred. 
         [0041]    Configuration of the Guide Rollers  52  and Locking Pins  58   
         [0042]      FIG. 3  is an enlarged side view diagram, viewed from the Y direction, of the storage shelf  100  and the movable platform  50 . Moreover,  FIG. 4  is a diagram illustrating the guide rollers  52  ( 52 C,  52 D, and  52 E), the locking pin  58 , and the picker  60 , and the like, provided on the movable platform  50 . In  FIG. 4 , the frame body  51  of the movable platform  50  is not shown, to facilitate viewing of the guide rollers  52 . 
         [0043]    In  FIG. 3 , the movable platform  50  that is illustrated with dotted lines is shown in a state wherein it is in motion from one storage area RC to another storage area RC, and the movable platform  50  that is illustrated with solid lines is shown in a state wherein it can transfer a load out of or into a single storage area RC. The guide rollers  52  are driven by at least one driving motor  55  (shown in  FIG. 4 ) based on at least one instruction from the controlling portion MA (shown in  FIG. 1 ). 
         [0044]    The movable platform  50  has a location sensor SE at the Z-direction center of the left and right edges of the frame interior  51 . Location indicators PO, which are subject to location detection by the location sensor SE, are disposed on the support pillars  103 . When the location sensor SE and the location indicator PO coincide, the movable platform  50  is at a storage area RC, at a location wherein the load BG can be transferred into or out of the movable platform  50 . 
         [0045]    In the movable platform  50 , a pair of pickers  60  is disposed on the inside of the frame interior  51 . The pair of pickers  60  transfers a load BG from the frame interior  51  into the storage area RC, and transfers the load BG out of the storage area RC to the frame interior  51 . 
         [0046]    As illustrated in  FIG. 4 , the picker  60  has a stationary frame  61  and a movable frame  62 . The movable frame  62  is moved by a picker driving portion  65 , such as a motor that is built into the stationary frame  61 . The picker driving portion  65  moves the movable frame  62  in the ±Y directions. 
         [0047]    Each of a pair of movable frames  62  has respective pawl members  63  ( 63 A and  63 B). In  FIG. 4 , in one of the movable frames  62 , the pawl member  63 A is illustrated in a laid-flat state and the pawl member  63 B is illustrated in an erect state. The pawl members  63  ( 63 A and  63 B) are formed in L shapes, in a plan view, where the pawl members  63  are attached so as to be able to pivot relative to a support shaft (not shown) that is provided on the movable frame  62 . A driving portion, not shown, switches the pawl members  63  between the erect state in the X direction and the laid-flat state. 
         [0048]    In a state wherein a load BG has been placed on the movable platform  50 , a pair of pawl members  63 B on the +Y side are erect in the X direction, and when, in this state, the movable frame  62  is driven in the −Y direction, and the pawl members  63 B push the load BG in the −Y direction. This enables the picker  60  to transfer the load BG from the movable platform  50  to the storage area RC. On the other hand, in a state wherein the movable frame  62  has advanced far in the −Y direction (relative to the storage area RC), the pawl members  63 A are caused to be erect in the X direction, and when, in this state, the movable frame  62  returns in the +Y direction, and the pawl members  63 B pull the load BG from the storage area RC into the movable platform  50 . 
         [0049]    Returning to  FIG. 3 , the movable platform  50  has locking pins  58  in the X-direction centers of the top and bottom edges of the frame interior  51 . Moreover, on the beams  105 , locking holes  112  are formed in a center location for each storage area RC in the guide rails  110  that extend in the horizontal direction. A locking pin  58  can be inserted into a locking hole  112 . 
         [0050]    Moreover, as illustrated in  FIG. 4 , an actuator  59 , such as an electromagnetic solenoid, is attached to the locking pin  58 . The locking pin  58  is moved in the ±Y directions by the actuator  59 . 
         [0051]    Returning again to  FIG. 3 , the guide rollers  52  ( 52 A through  52 D) are disposed at four corners of the frame body  51  in the XZ plane. In the movable platform  50  that is illustrated with the solid lines, the four guide rollers  52 A through  52 D are located at the points of intersection between the guide rails  110  that extend in the vertical direction and the guide rails  110  that extend in the horizontal direction. As illustrated in  FIG. 2  (B), because the movable platform  50  is held between the pair of storage shelves  100 , a total of eight guide rollers  52  are disposed at the corners of the frame body  51 . Because of this, the movable platform  50  can move in both the Z direction and the X direction. When moving in the ±Z directions, the two guide rollers  52 A and  52 C rotate in the clockwise direction, and the two guide rollers  52 B and  52 D rotate in the counterclockwise direction. When moving in the +X direction, the four guide rollers  52 A through  52 D rotate in the clockwise direction. When moving in the −X direction, the four guide rollers  52 A through  52 D rotate in the counterclockwise direction. 
         [0052]    Moreover, as illustrated in  FIG. 4 , the guide rollers  52  are connected to rotating shafts  56  of driving motors  55 . The rotating shafts  56  are supported by thrust bearings  53 . By rotating the driving motors  55 , the guide rollers  52  rotate in the clockwise direction or the counterclockwise direction, as indicated by the rotation arrows. Moreover, each driving motor  55  is mounted on a Y-axis movable table  54 . The Y-axis movable table  54  can be moved in the ±Y directions by driving means, not shown. Because of this, the driving motors  55  can be moved in the ±Y directions and the rotating shafts  56  can also be moved in the ±Y directions by the thrust bearings  53 . That is, the guide rollers  52  can be moved in the ±Y directions. 
         [0053]    Note that the movable platform  50 , as illustrated in  FIG. 2  (B) is held between the pair of storage shelves  100 . Both guide rollers  52 C and  52 E can be moved in the ±Y direction by Y-axis movable tables  54  on both storage shelf  100  sides. Moreover, the controlling portion MA is able to vary the speed of rotation of the driving motors  55  and thus is able to vary the speed of rotation of the guide rollers  52  by varying driving pulses or electric current. Because of this, the controlling portion MA (shown in  FIG. 1 ) is able to vary the movement speed of the movable platform  50 . 
         [0054]    Operation of the Guide Rollers  52  and the Locking Pins  58   
         [0055]      FIG. 5  will be used next to explain the operation of the guide rollers  52  and the locking pins  58 . In  FIG. 3 , when the movable platform  50  that is indicated by the solid line transfers a load into or out of a storage area RC, if no rotational forces are applied to the guide rollers  52 , then there would be a danger that the movable platform  50  would fall in the −Z direction under its own weight. Continuously applying rotational forces to the guide rollers  52  would place a large load on the driving motors  55 . Given this, the movable platform  50  is supported by the guide rollers  52  and the locking pins  58  so that the movable platform  50  will be maintained in the location illustrated by the solid lines, even if the driving motors  55  are stopped. 
         [0056]      FIGS. 5  (A) to  5 (D) illustrate relationships among the guide rollers  52  ( 52 C and  52 D), the locking pins  58 , and the guide rails  110  that are formed on the beams  105 .  FIG. 5  (A) and (B) illustrate a state wherein a side face  52 K on the Y side of the guide roller  52  is in contact with the roller rail  110 B, and the locking pin  58  is inserted in a locking hole  112 . Note that,  FIG. 5  (A) is a view when seen from the Z direction, and  FIG. 5  (B) is a view when seen from the X direction.  FIGS. 5  (C) and  5  (D) show a state wherein the guide rollers  52  are located in the Y-direction center of the roller rails  110 B, and the locking pins  58  have been removed from the locking holes  112 . Note that,  FIG. 5  (C) is a view when seen from the Z direction, and  FIG. 5  (D) is a view when seen from the X direction. 
         [0057]    As illustrated in  FIGS. 5  (A) and  5  (B), when the movable platform  50  is at the location illustrated by the solid lines in  FIG. 3 , the Y-axis movable tables  54  move the guide rollers  52  in the −Y direction. Following this, the side faces  52 K of the guide rollers  52  make contact with the roller rail  110 B. The Y-axis movable tables  54  on the side of the other storage shelf  100 , not shown, move the guide rollers  52  (such as the guide roller  52 E of  FIG. 4 ) in the +Y direction. Because of this, the four guide rollers  52  on the side of one of the storage shelves  100  (where, in  FIG. 5  (A), the guide rollers  52 C and  52 D are illustrated) move in the −Y direction, and the four guide rollers  52  on the side of the other storage shelf  100  move in the +Y direction, to secure the movable platform  50  at the location shown by the solid line. 
         [0058]    Moreover, when the movable platform  50  is at the location indicated by the solid lines in  FIG. 3 , the locking pins  58  are moved in the −Y direction by actuators  59  on the side of one of the storage shelves  100 . The locking pins  58  are moved in the +Y direction by actuators  59  on the side of the other storage shelf  100 . The respective locking pins  58  are inserted into the locking holes  112  in the guide rails  110 . Because of this, the movable platform  50  is locked at the location indicated by the solid lines. 
         [0059]    As illustrated in  FIGS. 5  (C) and  5  (D), when the movable platform  50  is at the location shown by the dotted lines in  FIG. 3  (that is, a location other than the location indicated by the solid lines), the guide rollers  52  are in locations that do not make contact with the roller rails  110 B. The eight guide rollers  52  support the movable platform  50  in the Z direction in the roller rails  110 B that extend in the horizontal direction of the beams  105 . Note that the locking pins  58  are removed from the locking holes  112  of the guide rails  110 . 
         [0060]    Operation of the Automated Warehouse System  20   
         [0061]      FIG. 6  is a flowchart illustrating a process for transferring a load BG into or out of storage by the automated warehouse system  20 . An operation wherein a single movable platform  50  transfers a load BG to a storage area RC and transfers another load BG from a storage area RC will be explained using this flowchart. 
         [0062]    In Step S 11 , the movable platform  50  transfers a load BG from the loading/unloading port  101  (shown in  FIG. 2  (A)) into the frame body  51  of the movable platform  50 . 
         [0063]    In Step S 12 , the guide rollers  52  are rotated in accordance with at least one instruction from the controlling portion MA to move the movable platform  50  to a specific storage area RC. At the time of this movement, the location sensor SE detects the location indicators PO. When the location sensor SE has confirmed the location indicator PO, it sends a signal to the controlling portion MA, and the controlling portion MA confirms the location of the movable platform  50  during movement. 
         [0064]    In Step S 13 , the controlling portion MA is sent a signal from the location sensor SE, and checks whether or not the movable platform  50  is moving correctly to the specific storage area RC. With the location sensor SE and the location indicator PO facing each other, the controlling portion MA confirms that the movable platform  50  is at a location at the storage area RC wherein the load BG can be moved out. 
         [0065]    In Step S 14 , the controlling portion MA instructs the actuators  59  to cause the two locking pins  58  to extend. The locking pins  58  are inserted into the locking holes  112  of the guide rails  110 . Following this, the controlling portion MA moves four guide rollers  52  in the +Y direction and the other four guide rollers  52  in the −Y direction, to cause the side faces  52 K of the guide rollers  52  to make contact with the wall faces within the roller rails  110 B. Doing so causes the movable platform  50  to be in a state wherein it is secured relative to the storage area RC. 
         [0066]    In Step S 15 , the pickers  60  insert the load BG into the storage area RC from the frame body  51  of the movable platform  50 . 
         [0067]    In Step S 16 , the pickers  60  retract back into the movable platform  50  with the load BG still remaining within the storage area RC. 
         [0068]    In Step S 17 , the locking pins  58 , which had been extended, are returned to the frame body  51  side of the movable platform  50 , so that the movable platform  50  can move to the next storage area RC. Similarly, the guide rollers  52  are moved in the Y direction to move the side faces  52 K of the guide rollers  52  away from the roller rail  110 B wall faces. The guide rollers  52  move to essentially the center of the roller rails  110 B in the thickness or Y direction. 
         [0069]    In Step S 18 , the guide rollers  52  are rotated by the driving motors  55  to move the movable platform  50  to the next storage area RC. During movement, the location sensor SE detects the location indicators PO. When the location sensor SE has confirmed a location indicator PO, it sends a signal to the controlling portion MA, and the controlling portion MA monitors the location of the movable platform  50  during movement. 
         [0070]    In Step S 19 , the controlling portion MA checks, using the signal from the location sensor SE, whether or not the movable platform  50  has moved correctly to the next storage area RC. 
         [0071]    In Step S 20 , the locking pins  58  are extended and the locking pins  58  are inserted into the locking holes  112 . The guide rollers  52  are moved in the Y direction so that the side faces  52 K thereof make contact with the wall faces within the roller rails  110 B. 
         [0072]    In Step S 21 , the pickers  60  are moved in the Y direction (or, more precisely, the movable frames  62  of the pickers  60  are moved relative to the stationary frames  61 ), to enter into the storage area RC. After this, the pawl members  63  are erected in the X direction. 
         [0073]    In Step S 22 , the load BG is caught on the pawl members  63  of the pickers  60  and the load BG is transferred into the frame body  51  of the movable platform  50  from the storage area RC. 
         [0074]    In Step S 23 , the locking pins  58  that had been protruding are returned to the frame body  51  side of the movable platform  50  so that the movable platform  50  can return to the loading/unloading port  101 . Similarly, the guide rollers  52  are moved to essentially the center of the roller rails  110 B in the thickness or Y direction. 
         [0075]    In Step S 24 , the guide rollers  52  are rotated in accordance with at least one instruction from the controlling portion MA, and the movable platform  50  moves to the loading/unloading port  101 . 
         [0076]    In Step S 25 , the load BG is transferred out from the movable platform  50  into the loading/unloading port  101 . 
         [0077]    Configuration of Other Guide Rollers  152   
         [0078]    The guide rollers  152 , which will be explained next, are a modified example of the guide rollers  52 . 
         [0079]      FIG. 7  is an enlarged side view diagram, viewed from the Y direction, of the storage shelf  100  and the movable platform  50 . Moreover,  FIG. 8  is a diagram illustrating the guide rollers  152  and the pickers  60 , and the like, that are provided on the movable platform  50 . In  FIG. 8 , the frame body  51  of the movable platform  50  is not illustrated, to facilitate viewing of the guide rollers  152 . Moreover, the structure of the pickers  60  is identical to that which was explained using  FIG. 5 , so explanations thereof will be omitted. 
         [0080]    In  FIG. 7 , the movable platform  50 , indicated by the dotted lines, is drawn in a state wherein it is moving in the horizontal direction from one storage area RC to another storage area RC. The movable platform  50 , indicated by the solid lines, is drawn in a state wherein it is moving in the vertical direction from one storage area RC to another storage area RC. 
         [0081]    When the movable platform  50  is moved in the vertical direction, the guide rollers  152  ( 152 A through  152 D) are disposed at four corner portions of the frame body  51  in an XZ plane. As illustrated in  FIG. 2  (B), the movable platform  50  is held between a pair of storage shelves  100 , and thus a total of eight guide rollers  52  are disposed at the corner portions of the frame body  51 . In this state, the movable platform  50  is able to move in the ±Z directions. 
         [0082]    When the movable platform  50  is moved in the horizontal direction, or when the load BG is being transferred out from the movable platform  50  into a storage area RC, the guide rollers  152  ( 152 A through  152 D) are moved to the center region of the edge, in the horizontal direction, of the XZ plane. As illustrated in  FIG. 7 , the guide roller  152 A moves a distance of LL 1  in the +X direction, and the guide roller  152 B moves a distance of LL 1  in the −X direction. The guide roller  152 C moves a distance of LL 2  in the +X direction, and the guide roller  152 D moves a distance of LL 2  in the −X direction. The distances LL 1  and LL 2  are different. If the distances LL 1  and LL 2  were the same, when the two guide rollers  152 A and  152 C come to an intersection between the guide rails  110  that extend in the vertical direction and the guide rails  110  that extend in the horizontal direction, it would be necessary to support the movable platform  50  in the Z direction by the two guide rollers  152 B and  152 D (for a total of 4, including those on the side of the other storage shelf  100 ). When the distances LL 1  and LL 2  are different, the movable platform  50  can be supported in the Z direction by at least three rollers  152  (a total of six, including those on the side of the other storage shelf  100 ). 
         [0083]    Note that when the load BG is moved out from the movable platform  50  into the storage area RC, the movable platform  50  is supported in the Z direction by eight guide rollers  152 . Because of this, the locking pins  58  are not absolutely necessary. 
         [0084]    As illustrated in  FIG. 8 , the guide rollers  152  are connected to the rotational shafts  56  of the driving motors  55 . The rotational shafts  56  are supported by thrust bearings  53 . The guide rollers  152  are rotated in the clockwise direction or the counterclockwise direction by the rotation of the driving motors  55 . Moreover, the thrust bearings  53  and the driving motors  55  are mounted on X-axis movable tables  154 . The X-axis movable tables  154  can be moved by a distance LL 1  or a distance LL 2  in the ±X directions by driving means, not shown. Because of this, the driving motors  55  are moved in the ±X directions, and the guide rollers  152  can be moved by a distance of LL 1  or LL 2  in the ±X directions. Note that, as illustrated in  FIG. 2  (B), the movable platform  50  is held between the pair of storage shelves  100 . The guide rollers  152  can be moved in the ±X directions, together with  152 C and  152 E, by the X-axis movable tables  154  on both storage shelf  100  sides. 
       Second Embodiment 
       [0085]    An automated warehouse system  22  according to a second embodiment has a plurality of storage shelves  100  ( 100 A through  100 D).  FIG. 9  is a side view diagram, viewed from the X direction, of the automated warehouse system  22 . 
         [0086]    The automated warehouse system  22  according to the second embodiment has four storage shelves  100  ( 100 A through  100 D), each having a plurality of storage areas RC. A plurality of movable platforms  50  is disposed between the storage shelves  100 A and  100 B. Similarly, a plurality of movable platforms  50  is disposed between the storage shelves  100 B and  100 C, and a plurality of movable platforms  50  is disposed between the storage shelves  100 C and  100 D. The Y-direction width WY 1  of the storage shelves  100  and the Y-direction width WY 2  of the movable platforms  50  are essentially identical. 
         [0087]    The storage shelf  100 B and the storage shelf  100 C each have a plurality of movable platforms  50  disposed on both sides of each. Moreover, as illustrated in  FIG. 4  or  FIG. 8 , the pickers  60  (or more precisely, the movable frames  62 ) can be moved in the ±Y directions, relative to the stationary frames  61 , by the picker driving portions  65 . Because of this, the movable platforms  50  on the left side (the −Y direction side) of the storage shelf  100 B are able to transfer loads BG into and out of the storage shelf  100 B. Furthermore, the movable platforms  50  on the right side (the +Y direction side) of the storage shelf  100 B are able to transfer loads BG into and out of the storage shelf  100 B. The same is true for the movable platforms  50  on both sides of the storage shelf  100 C. 
         [0088]    If loads BG that are retrieved often are stored in the storage shelf  100 B or  100 C, then it is possible to retrieve the loads BG using multiple movable platforms  50 . Although not illustrated in  FIG. 9 , the number of storage shelves  100  may be, of course, more than 4. 
       Third Embodiment 
       [0089]    An automated warehouse system  24  according to a third embodiment has a plurality of storage shelves  100  ( 100 A through  100 D).  FIG. 10  is a side view diagram, viewed from the X direction, of the automated warehouse system  24 . 
         [0090]    The automated warehouse system  24  according to the third embodiment has four storage shelves  100  ( 100 A through  100 D), each having a plurality of storage areas RC. A plurality of movable platforms  50  is disposed between the storage shelves  100 A and  100 B. The storage shelf  100 B and the storage shelf  100 C adjoin each other, with no room for a movable platform  50  between the storage shelf  100 B and the storage shelf  100 C. A plurality of movable platforms  50  is disposed between the storage shelves  100 C and  100 D. The Y-direction width WY 1  of the storage shelves  100  and the Y-direction width WY 2  of the movable platforms  50  are essentially identical. 
         [0091]    Even though the storage shelves  100 B and storage shelf  100 C adjoin each other, the movable platforms  50  on the left side (the −Y direction side) of the storage shelf  100 B are able to transfer loads BG into and out of the storage shelf  100 B. Additionally, the movable platforms  50  on the right side (the +Y direction side) of the storage shelf  100 C are able to transfer loads BG into and out of the storage shelf  100 C. Because of this, even though the storage shelves  100 B and storage shelf  100 C adjoin each other, and there are no movable platforms  50  between the storage shelves  100 B and storage shelf  100 C, it is still possible to retrieve loads BG. If there is a large number of storage shelves  100  lined up together, this makes it possible to reduce the width WY 2  in the Y direction of the movable platform  50 , which enables limited space the used efficiently. 
       Fourth Embodiment 
       [0092]    The automated warehouse system  26  according to the fourth embodiment has a storage shelf  130 .  FIG. 11  is a side view diagram, viewed from the Y direction, of the automated warehouse system  26 . Those parts that are identical to those in the first embodiment are assigned identical reference characters. 
         [0093]    As illustrated in  FIG. 11 , a storage shelf  130  is built from a plurality of support pillars  103  that extend in the vertical or Z direction and a plurality of beams  105  that extend in the horizontal or X direction. A plurality of storage areas RC is formed from these support pillars  103  and beams  105 . As with the first embodiment, guide rails  110  and locking holes  112  are formed. The number of levels and number of columns of storage areas RC are arbitrary, and may be increased or decreased as appropriate depending on an installation space. Loading/unloading ports  107 , for transferring loads BG to the movable platform  150  or transferring loads BG from the movable platform  150 , are provided on the left and right of the shelf at the bottommost level (on the −Z side). Each loading/unloading port  107  is provided with a size that is twice that of a storage area RC, so as to match the size of the movable platform  150 . 
         [0094]    The movable platform  150  is of a size that essentially matches the size of two storage areas RC lined up in the horizontal direction (in the XZ plane). The movable platform  150  has a frame body  151 . At least two faces of the frame body  151  in the Y direction are open so as to enable loads BG to be transferred in and out of the frame body  151  of the movable platform  150 . Moreover,  12  guide rollers  52  are provided for a single frame body  151 . When compared to the movable platforms  50  of the first through third embodiments, the movable platform  150  can transfer twice the load BG. While in the fourth embodiment, the movable platform  150  has twice the storage area in the horizontal direction, the storage area may instead be three or more times as much in the horizontal direction. Moreover, the movable platform  150  may also have two or three times the storage area in the vertical direction. 
       Fifth Embodiment 
       [0095]    An automated warehouse system  28  according to a fifth embodiment has a storage shelf  140 .  FIG. 12  is a side view diagram, viewed from the Y direction, of the automated warehouse system  28 . Those parts that are identical to those in the first embodiment are assigned identical reference characters. 
         [0096]    A building that houses the automated warehouse system  28  may have a slanted roof, or may have a plurality of beams. In such cases, conventional storage shelves may be essentially rectangular when viewed from the Y direction. Given this, the space between the ceiling and the storage shelves, or the spaces between the beams and the storage shelves, would not be used effectively. The fifth embodiment is an example wherein the storage shelves  140  use the space between the ceiling and the storage shelves, and the spaces between the beams and the storage shelves, effectively. 
         [0097]    As illustrated in  FIG. 12 , the storage shelf  140  is built from a plurality of support pillars  103  that extend in the vertical or Z direction and a plurality of beams  105  that extend in the horizontal or X direction. A plurality of storage areas RC is formed from these support pillars  103  and beams  105 . As with the first embodiment, guide rails  110  and locking holes  112  are formed. In  FIG. 12 , a ceiling RF is slanted, and there are horizontal beams BM that extend in the Y direction. The support pillars  103  and the beams  105  are assembled in a range wherein they do not conflict with the ceiling RF or the horizontal beams BM. Because of this, storage areas RC are formed even in the space on the left side of the ceiling RF, and storage areas RC are formed also above the horizontal beams BM. With the stacker cranes that move along a travel guide rail, as is conventional, the scope of movement of the stacker crane in the Z direction and in the X direction is limited to the height of the lowest ceiling RF in a range wherein there are no horizontal beams BM. On the other hand, because the movable platforms  50  travel along the guide rails  110  that are disposed on the support pillars  103  and the beams  105 , they are able to move in whatever range the support pillars  103  and beams  105  are assembled together. 
         [0098]    While preferred embodiments of the present disclosure are explained in detail above, as will be understood by those skilled in the art, in view of the present disclosure, a variety of changes and modifications may be made to these embodiments to provide yet further embodiments without departing from the scope of the present disclosure. For example, while in the first embodiment the locking pins and guide rollers may be moved in the ±Y directions so as to not cause a load on the driving motor, either the locking pins or the guide rollers, or both, may be moved in the ±Y directions in other embodiments. Moreover, while the movable platform may be disposed between the storage shelves and supported by eight guide rollers in some embodiments, the movable platform may be supported on only one side by four guide rollers in other embodiments. 
       EXPLANATION OF REFERENCE CHARACTERS 
       [0099]      20 ,  22 ,  24 ,  26 : Automated Warehouse Systems 
         [0100]      50 ,  150 : Movable Platforms 
         [0101]      51 ,  151 : Frame Bodies 
         [0102]      52 ,  152 : Guide Rollers 
         [0103]      53 : Thrust Bearing 
         [0104]      54 : Y-axis Movable Table 
         [0105]      55 : Driving Motor 
         [0106]      56 : Rotational Shaft 
         [0107]      60 : Picker 
         [0108]      61 : Stationary Frame 
         [0109]      62 : Movable Frame 
         [0110]      63 : Pawl Member 
         [0111]      100  ( 110 A through  110 D),  130 : Storage Shelves 
         [0112]      101 ,  107 : Loading/Unloading Ports 
         [0113]      110 : Guide Rail 
         [0114]      112 : Locking Hole 
         [0115]    RC: Storage Area 
         [0116]    BG: Load 
         [0117]    SE: Location Sensor 
         [0118]    PO: Location Indicator