JP2013237542A - Vibration control device and rack type automatic warehouse provided with the device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vibration control device which can be detachably and easily attached to a structure such as an existing rack type automatic warehouse, and a rack type automatic warehouse provided with the vibration control device.SOLUTION: A vibration control device includes: a frame base detachably attached to a structure; and a horizontally movable block supported on the frame base. The frame base includes: a frame laid each between columns of the structure; a guide provided between the frames to movably support the block, a damper rotatably attached to the guide at a first end and to the block at a second end respectively; a restoring member attached to the guide at a first end and to the block at a second end respectively; and an expansible fixing member provided outside the vicinity of each joint portion between the frame and the guide to grasp the column of the structure.

Description

  The present invention relates to a structure damping device and a rack-type automatic warehouse in which the device is arranged.

  The enormous damage caused by the Great East Japan Earthquake that occurred on March 11, 2011 is a new memory. The destructive power of earthquakes and tsunamis, and the enormous energy, were clearly shown, and the painful damage was out of language. By the way, the damage from earthquakes and tsunamis appears in various ways other than the Tohoku region. One of these is the impact on rack-type automated warehouses that play an important role in the current distribution network. For example, even if there is no damage to the rack-type automatic warehouse building itself, there have been reports of damage that the stored items (loads) stored in the rack fall from the rack.

  Rack-type automatic warehouses are widely used as one of the means to further promote the efficiency and smoothness of physical distribution. Various storage items are placed on the standardized pallet PL, and stacker cranes are installed. The stored items are stored in a rack vertically and horizontally. Recently, various types of devices have been installed, ranging from large-sized ones to storing dangerous materials.

  With respect to such a rack type automatic warehouse, a new one can be constructed as an earthquake resistant structure or a seismic isolation structure, and several means have been proposed. For example, a structure has been proposed in which a rack structure in a warehouse is constructed on a seismic isolation floor, and an isolator is provided between the warehouse building floor and an isolator. However, this means is difficult to apply to existing warehouses, and it cannot be technically and cost-effective.

  Therefore, some means for providing a vibration control device in an existing rack type automatic warehouse have been proposed. For example, in Patent Document 1, as shown in FIG. 7, as an earthquake resistant structure and method of a rack warehouse that can be easily modified even in an existing rack warehouse, a rack row is provided at the top of the rack structure 2. The fixing beam member 6 that fixes the rack structures 2 in the arrangement direction is provided with fixing means to which the upper fixing member 12a and the lower fixing member 12b are attached from above and below, and the arm 10a is installed between them and suspended downward from the arm 10a. A portion 10b is provided, and the vibration control means 9 is fixed to the portion 10b. The vibration control means 9 is composed of a tuned mass damper having a mass movable in at least the rack row arrangement direction, and is configured to be accommodated in the rack uppermost stage 7. Technology is disclosed. In addition, the code | symbol attached | subjected to each matter of this paragraph is a thing only for the said paragraph.

  Further, as shown in FIG. 8, Patent Document 2 discloses a three-dimensional automatic warehouse capable of effectively exhibiting a vibration control action when subjected to an earthquake and a three-dimensional automatic warehouse as a multi-row / multi-stage as a vibration control method thereof. A rack 1 having a plurality of rack shelves 2 configured as described above, and a rack that runs on rails arranged along the rack, lifts and lowers the loading platform along the main pillar, and loads the load a on the loading platform to the rack. A stacker crane for storing in the shelf or taking out the load in the rack shelf, and a damping device 10 is installed in a predetermined rack shelf among the uppermost rack shelves. A mounting frame that is attached to the mounting frame, a bar that is swingably connected to the mounting frame at a base end, a mass that is attached to the tip of the bar, and a damper and a spring that are inserted between the mass and the mounting frame And the damping device is a stacker crane Use, techniques that can go to any of the rack shelves in accordance with the load storage conditions have been disclosed. In addition, the code | symbol attached | subjected to each matter of this paragraph is a thing only for the said paragraph.

JP 2002-293314 A JP 2008-290432 A

  However, the means described in Patent Documents 1 and 2 both arrange the vibration damping device at the uppermost stage of the rack type automatic warehouse. This is because, in addition to the space for storing the stored items in the uppermost stage of the rack, a plus-alpha space is often provided due to the configuration of the rack and the stacker crane. A vibration damping device such as a mass damper is used. The means for disposing the vibration damping device at the uppermost stage is useful for suppressing vibration in the first mode, that is, shaking of the top, but is less effective in suppressing the vibration in the middle due to the higher mode. There was a problem. In addition, there is a problem that the vibration control device can be easily attached to and detached from an existing rack type automatic warehouse, and it is difficult to freely arrange the vibration control device in a cargo room where protection is intensively required according to the storage situation of the stored items.

  The present invention has been made in view of the above problems, and provides a vibration damping device that can be easily attached to and detached from a structure such as an existing rack-type automatic warehouse. It is an object of the present invention to provide a rack type automatic warehouse that is freely arranged in a horizontal direction and / or a vertical direction in a desired cargo room regardless of the presence or absence of stored items therein.

  The present invention provides the following means in order to solve the above problems.

(1) A frame that is detachably attached to the structure, and a mass that is supported on the frame and that can move in the horizontal direction. The frame is provided between the columns of the structure and between the frames. A guide that movably supports the mass, a damper that is rotatably attached to the mass at the first end, and a guide that is pivotally attached to the mass at the second end, and a guide that is second at the first end, A damping device, comprising: a restoring member attached to each of the masses at an end of the frame; and a deployable fixing member that is provided outside the vicinity of the joint between the frame and the guide and that holds the pillar of the structure. provide. According to the vibration damping device of the above (1), since the gantry is provided with the deployable fixing member, the gantry can be detachably attached to the structure.

(2) The fixing member includes at least one arm having a first end portion rotatably attached to a predetermined position on a side surface of the guide, and a clamp formed over the second end portion of the arm, The vibration damping device according to (1) above, wherein the arm and the clamp are deployed to grip a pillar of the structure. According to the vibration damping device of the above (2), since the fixing member includes at least one arm and a clamp formed at the end thereof, the structure pillar can be gripped without being processed. .

(3) The rack type automatic warehouse according to the above (1) or (2), wherein the vibration damping device is attached to a dead space generated in a cargo compartment in which a stored item is stored. According to the rack type automatic warehouse of (3) above, since the vibration damping device is attached to the cargo room in which the stored items are stored, the vibration damping device is installed not only in the upper part of the rack but also in the middle part and the lower part. By arranging the, the vibration damping effect can be exhibited also in the intermediate portion or the like.

(4) The vibration control device according to any one of (1) to (3), wherein the gantry further includes a lock mechanism that prevents the mass from moving against an external force exceeding a predetermined range. I will provide a. According to the vibration damping device of (4) above, since the lock mechanism suppresses the movement of the mass exceeding the predetermined range, it is possible to prevent the mass itself from falling or colliding with the structure.

(5) The vibration control according to any one of (1) to (4), wherein the mass is at least one selected from the group consisting of metal, concrete, a liquid enclosure, and a containment. Providing equipment. According to the vibration damping device of the above (5), in addition to dedicated metal or concrete, for example, a liquid enclosure containing emergency water or a stored item stored in the structure can be used as a mass. it can.

(6) A rack having a plurality of multi-row and multi-stage cargo compartments, a stacker crane for transporting stored items to the cargo compartment, and any one of the above (1) to (5) attached to the interior of the cargo compartment A rack type automatic warehouse comprising the vibration damping device described above. According to the rack type automatic warehouse of (6) above, the detachable vibration producing device is arranged in the interior regardless of the position of the cargo compartment, so that the vibration damping device can be installed freely according to the storage situation of the cargo compartment. The location can be changed, and the existing rack type automatic warehouse can be easily improved.

(7) The rack type automatic warehouse according to (6) above, wherein the vibration damping device is lifted by a stacker crane and has a pedestal that is the same as or smaller than the pallet on which the stored items are placed. To do. According to the rack type automatic warehouse of (7) above, since the vibration damping device is lifted by using the stacker crane for containment, there is no special equipment for arranging the vibration damping device, and the existing Can be easily installed in a rack type automatic warehouse.

(8) The rack type automatic warehouse according to the above (6) or (7), further comprising a horizontal brace in a cargo compartment to which no vibration damping device is attached. According to the rack type automatic warehouse of (8) above, by combining braces as other damping means, the number of damping devices can be reduced and a damping effect can be obtained.

(9) The vibration damping device is mounted by selecting the luggage compartment in the horizontal direction and / or the vertical direction so that the vibration damping effect is optimized with respect to the natural period that changes according to the storage situation of the stored item. The rack type automatic warehouse according to any one of (6) to (8), wherein the rack type automatic warehouse is capable of dealing with vibrations in a higher mode in addition to the primary mode. According to the rack type automatic warehouse of the above (9), it is possible to obtain a high protection effect by arranging the vibration damping device in the vicinity of the storage item that needs to be protected.

  The present invention provides a vibration damping device that is detachable and easily attachable to a structure such as an existing rack type automatic warehouse, and further, the vibration damping device is desired regardless of the presence or absence of storage items in a cargo compartment. Provided is a rack type automatic warehouse that is freely arranged in a horizontal direction and / or a vertical direction in a luggage room.

It is the schematic which shows an example of the arrangement | positioning state in the cargo compartment of the damping device which concerns on the 1st Embodiment of this invention, (a) is a perspective view, (b) shows a front view. It is the schematic which shows the mount frame of the damping device which concerns on the 1st Embodiment of this invention, Comprising: (a) is a top view before expansion | deployment of a fixing member, (b) shows the top view after expansion | deployment of a fixing member. . It is the schematic which shows the other example of the arrangement | positioning state in the cargo compartment of the damping device which concerns on the 1st Embodiment of this invention, (a) is a perspective view, (b) shows a front view. It is a perspective view which shows typically the rack type automatic warehouse which concerns on the 2nd Embodiment of this invention. It is the schematic which shows an example of the arrangement | positioning state of the damping device to the rack type automatic warehouse which concerns on the 2nd Embodiment of this invention, Comprising: (a) is the top view by which the damping device was arrange | positioned in the horizontal direction, b) is a plan view in which the vibration control device and the brace are arranged in the horizontal direction. It is the schematic which shows the other example of the arrangement | positioning state of the damping device to the rack type automatic warehouse which concerns on the 2nd Embodiment of this invention, Comprising: It is the side view by which the damping device was arrange | positioned to the perpendicular direction. It is the schematic which shows an example of the rack type automatic warehouse which has arrange | positioned the conventional damping device. It is the schematic which shows the other example of the rack type automatic warehouse which has arrange | positioned the conventional damping device.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In FIGS. 1 to 6, the same reference numerals indicate the same or corresponding parts. Further, as is apparent from the following description, the present invention is not limited to this embodiment within the scope of the gist of the invention, and various modifications can be made by those skilled in the art.

(First embodiment)
FIG. 1 is a schematic view showing a vibration damping device 20 according to a first embodiment of the present invention, where (a) is a perspective view and (b) is a front view. The front side is a passage of the stacker crane 12, and shows a state in which the vibration control device 20 is arranged in the luggage compartment formed by the rack 11. FIG. 1 illustrates an example in which the stored item C is not stored in the cargo compartment and only the vibration damping device 20 is disposed. The vibration damping device 20 includes a gantry 1 that is detachably attached to the structure S, and a mass 2 that is supported on the gantry 1 and is movable in the horizontal direction. The gantry 1 is provided between the pillars P of the structure S. A frame 3 to be bridged and a guide 4 provided between the frames 3 and supporting the mass 2 in a movable manner are provided. The mass 2 is supported by the guide 4 so as to be slidable within a predetermined range of the front surface and the back surface with the passage of the stacker crane 12 as the front surface.

  FIG. 2 shows the configuration of the gantry 1 of the vibration damping device 20 according to the first embodiment. FIG. 2A shows a state in which the fixing member 7 provided on the outside in the vicinity of the joint between the frame 3 and the guide 4 is developed. (B) shows a state where the fixing member 7 is unfolded and the pillar P of the structure S is gripped by the clamp 8. Here, the damper 5 is a member for dampening the movement of the mass 2 and is rotatably attached to the guide 4 at the first end and to the mass 2 at the second end. The restoring member 6 is a member for restoring the mass 2 to the original position, and is attached to the guide 4 at the first end and to the mass 2 at the second end. The restoring member 6 is constituted by, for example, a spring.

  In this embodiment, as shown in FIG. 2, a mounting plate 10 for mounting the damper 5 and the restoring member 6 together on the mass 2 is provided at the central portion of the gantry 1. Here, the damper 5 is provided with a total of four on the diagonal line, and the restoring member 6 is provided with a total of two on the left and right. Of course, the mounting position and the number of mounting are not limited to this. For example, considering the weight and size of the mass 2 and the performance of the damper 5, for example, only one damper 5 may be attached to one end of the guide 2 in the moving direction of the mass 2, and in that case, restoration is performed. The member 6 may be attached to the other end in the moving direction of the mass 2 of the guide 4 instead of the center.

  The gantry 1 further includes a lock mechanism 9 that forcibly stops the movement of the mass 2 when an external force more than expected acts on the mass 2 and the movement of the mass 1 exceeds an allowable range. This is to prevent the mass 2 itself from being detached from the gantry 1 and falling downward from the luggage compartment or colliding with the adjacent structure S or storage object C due to an external force more than expected.

  In FIG. 2, the case where the fixing member 7 has two arms is illustrated. The vibration damping device 20 conveyed to the desired cargo compartment by the stacker crane 12 turns on the unfolding function of the fixing member 7 based on the control provided in the operation unit (not shown) of the stacker crane 12. The first arm 7 a and the second arm 7 b protrude outward from the guide 4 and the frame 3, and the clamp 8 formed over the ends of the first arm and the second arm hits the pillar P of the structure S. Then, it is gripped so as to surround the pillar P. As shown in FIG. 2, the pillar P is held by the clamps 8 formed over the two arms 7 a and 7 b and the end portions where the arms 7 a and 7 b meet, but the type of the structure S and the shape of the pillar P are shown. In consideration of various conditions such as the weight, the material, and the weight of the mass 2, the number of arms may be one, or three or more.

  Here, the gantry 1 is configured to have the same size as or slightly less than the pallet PL on which the stored item C is placed. The outermost broken line surrounding the gantry 1 shown in FIG. 2A represents the size of the pallet PL when it is larger than the gantry 1. The operator of the stacker crane 12 performs the same operation on the mount 1 of the vibration control device 20 as when storing the stored item C in the cargo compartment, and then deploys the fixing member 7 easily by hand or remotely. Therefore, the vibration damping device 20 can be safely and efficiently attached to a desired luggage compartment. For example, it is not necessary for a person to go up to the vicinity of the luggage compartment to which the vibration damping device 20 is attached to perform the work for gripping the gantry 1 by the pillar P. Of course, in order to further secure safety and certainty, a camera may be installed at the tip of the stacker crane 12 that transports the stored item C, and the operator may work while viewing the projected image.

  FIG. 3 is a schematic view showing an example in which the vibration damping device 20 according to the present invention is arranged in the dead space of the luggage compartment in a state where the stored item C is stored in the luggage compartment, wherein (a) is a perspective view, b) is a front view. As shown in FIG. 3, the vibration damping device 20 has a height of the luggage compartment and the stored article C even when the stored article C is stored in the luggage compartment and the entire space of the cargo compartment cannot be occupied. It can be arranged in a dead space formed by the difference in dimensions. Since the gantry 1 includes the deployable fixing member 7, the vibration damping device 20 can be inserted and attached easily even in a limited narrow space. In this case, the height dimension of the vibration damping device 20 is set smaller than the height dimension of the stored article C in order to secure the height dimension occupied by the stored article C.

  In this way, since the vibration damping device 20 according to the present invention can attach the vibration damping device 20 in the same cargo room together with the containment C, the protection effect due to the vibration damping in consideration of the importance of the containment C. It becomes possible to arrange the vibration damping device 20 at a position where it is most likely to be obtained. That is, without being limited to the uppermost stage of the rack 11 and without depending on the presence / absence of the containment C in the cargo compartment, the horizontal direction and the high-order mode can be dealt with in addition to the primary mode. The vibration damping device 20 can be arranged at a desired position in the vertical direction. It is possible to always exhibit the optimum vibration damping effect according to the change in the storage status of the stored item C in the rack 11.

  The mass 2 can select at least one from the group consisting of metal, concrete, liquid enclosure, and containment in consideration of various conditions. Of course, they can be combined. In order to make the mass 2 have a desired weight, for example, if it is metal or concrete, it may be a single block, or a certain lump of a certain lump may be as much as necessary so that it becomes a desired weight. It is good also as mounting on the mount frame 1. In the case of a liquid enclosure, it goes without saying that the amount of liquid injected can be freely adjusted. When the liquid is water, the injection amount can be adjusted in consideration of, for example, use as emergency water after the earthquake has stopped. Further, when the stored item C is used as the mass 2, the stored item C having a weight suitable for the mass 2 may be selected based on the data when the stored item C is carried in. The vibration damping device 20 according to the present invention is a kind of tuned mass damper (TMD). However, when the stored item C is used as the mass 2, for example, the self-mass that uses the weight of the floor as a mass is used as the mass. It is also compatible with the damper (SMD) concept.

  1-3, the method of supporting the mass 2 with the rail-shaped guide 4 so as to be slidable is illustrated, but the support structure of the mass 2 is not limited to this, and other structures are adopted. May be. For example, a roller system in which a roller is provided under the mass 2 or a rubber support system in which rubber is laminated may be used. Furthermore, it is not necessary to be limited to the passive type damping device shown in the figure, and it may be a semi-active type or an active type. However, as a precaution for the semi-active type or active type, it is necessary to secure a power source for inputting energy from the outside, and the power source is not required to ensure operation even during a power failure. A power failure power supply is desirable, power cable wiring is prepared so that the vibration damping device 20 can be attached to a desired luggage compartment of the rack 11, and a mass 2 of the vibration damping device 20 is prevented from malfunctioning when unnecessary. To do.

(Second Embodiment)
FIG. 4 is a perspective view schematically showing a rack type automatic warehouse according to the second embodiment of the present invention. That is, it is a rack type automatic warehouse 30 in which the above-described vibration damping device 20 is arranged in a desired luggage compartment. In the figure, the hatched portion indicates the cargo compartment with the damping device 20 attached, the dotted portion indicates the cargo compartment in which the containment is stored, and the blank portion indicates the damping device 20 and the containment C. It represents an empty luggage room. The hatched cargo room includes a cargo room in a state where the damping device 20 is arranged in a dead space generated by storing the contents C.

  The stacker crane 12 is equipped with a fork or the like that moves up and down along an upright guide frame 12a, and the stored item C is formed in the rack 11 by forking into or out of the pallet PL on which the stored item C is placed. Used to get in and out of individual cargo rooms. Examples of the stacker crane 12 include a man-lift-type normal stacker crane in which a driver's cab or a driver's cab moves up and down as the containment moves up and down, a method in which the driver's cab does not move up and down, and a load-lifting stacker crane that does not have a driver's cab. There are overhead crane type, suspension type, and floor type in the maneuvering type and the lifting type, and the overhead crane type is provided with a trolley on the girder on the runway, and the trolley has a guide frame for raising and lowering the loading platform. . The suspension type travels while being suspended by a traveling rail provided on the upper part of the rack or the like, and the floor type travels on the traveling rail on the floor.

  In the rack type automatic warehouse 30 according to the second embodiment, the above-described various stacker cranes 12 can be employed, but the weight and dimensions of the vibration damping device 20 are set so that the stacker crane 12 can lift the weight. The stacker crane 12 transports the vibration control device 20 such as attaching and detaching the vibration control device 20 and moving from one cargo compartment to another. Therefore, the vibration damping device 20 does not require special equipment for carrying it.

  5A is a plan view showing an example of a state in which only the vibration damping device 20 is arranged in the horizontal direction in the rack type automatic warehouse according to the second embodiment of the present invention, and FIG. An example of a plane in which the brace 13 is arranged in the horizontal direction in addition to the device 20 is shown. Similarly, FIG. 6 shows an example of a side surface on which the vibration damping device 20 is arranged in the vertical direction. In these cases, it goes without saying that the number of installed damping devices 20 and the horizontal and / or vertical arrangement intervals can be set as appropriate according to the storage status of the stored items C in the entire rack 11.

  For example, when an external force due to an earthquake is applied, the entire rack 11 vibrates, and the mass 2 of the vibration damping device 20 installed in the uppermost cargo room where the vibration of the primary mode is the largest vibrates in conjunction with the rack 11. Thus, the vibration of the rack 11 is suppressed and damped. Then, the mass 2 of the vibration damping device 20 in the intermediate portion is suppressed from the vibration of the rack 11 in response to the vibration of the higher order mode. As a result, the stored items C stored in the respective cargo compartments of the rack 11 are protected from shaking regardless of whether they are stored in any of the horizontal and / or vertical cargo compartments, so that damage such as dropping can be avoided. .

  When (a) and (b) in FIG. 5 are compared, in the example shown in (a) where only the vibration damping device 20 is provided, 14 vibration damping devices 20 are arranged in the horizontal direction. On the other hand, in the example shown in (b) in which the braces 13 are combined in the horizontal direction, the number of damping devices 20 can be suppressed to ten. By combining the two in this way, the cost required for the vibration damping device 20 can be gradually reduced, and the storage situation predicted to a certain extent according to the type of the stored item C stored in the rack type automatic warehouse 30 and the frequency of its entry / exit Accordingly, the rack 11 can be previously adapted to the characteristics of the containment C.

  In the description so far, the description has been made assuming that the external force applied to the rack type automatic warehouse 30 is an earthquake, but the present invention is not limited to the case of an earthquake. For example, in addition to vibrations caused by wind power such as typhoons, various vibrations caused by automobiles, railways, factories, production equipment, etc., which are called environmental vibrations, can be dealt with. In this regard, unlike the conventional technique in which a relatively large vibration damping device is disposed only in the uppermost stage of the rack 11, in the present invention, the vibration damping devices 20 that can be disposed in the cargo compartment are distributed in various places. Therefore, it is possible to cope with various vibrations and obtain a detailed vibration control effect.

  The vibration damping device according to the present invention can be easily detachably attached to an existing structure, in particular, a skeleton type structure such as a rack type automatic warehouse, and a rack in which such a vibration damping device is arranged. The automatic warehouse can obtain a vibration control effect corresponding to the storage situation of stored items.

DESCRIPTION OF SYMBOLS 1 Stand 2 Mass 3 Frame 4 Guide 5 Damper 6 Restoring member 7 Fixing member 7a First arm 7b Second arm 8 Clamp 9 Locking mechanism 10 Mounting plate 11 Rack 12 Stacker crane 13 Brace 20 Damping device 30 Rack type automatic warehouse S Structure P Pillar C Containment (load)
PL palette

Claims (9)

A mount that is detachably attached to the structure;
A mass supported on the frame and movable in the horizontal direction;
The mount is
A frame bridged between pillars of the structure;
A guide provided between the frames and movably supporting the mass;
A damper rotatably attached to the guide at a first end and to the mass at a second end;
A restoring member attached to the guide at a first end and to the mass at a second end;
A vibration damping device, comprising: a deployable fixing member that is provided outside the frame and the guide in the vicinity of a joint portion and grips a pillar of the structure. The fixing member is
At least one arm having a first end rotatably attached to a predetermined position on a side surface of the guide;
A clamp formed over the second end of the arm,
The vibration control device according to claim 1, wherein the arm and the clamp are deployed to grip a pillar of the structure.   The rack type automatic warehouse according to claim 1 or 2, wherein the vibration control device is attached to a dead space generated in the cargo compartment in which the stored items are stored.   The vibration control device according to any one of claims 1 to 3, wherein the gantry further includes a lock mechanism that prevents the mass from moving against an external force exceeding a predetermined range.   5. The vibration damping device according to claim 1, wherein the mass is at least one selected from the group consisting of metal, concrete, a liquid enclosure, and a stored item. A rack having a plurality of multi-row and multi-stage luggage compartments;
A stacker crane for transporting stored items to the cargo compartment;
A rack type automatic warehouse comprising the vibration damping device according to any one of claims 1 to 5, which is attached to the inside of the cargo compartment.   The rack type automatic warehouse according to claim 6, wherein the vibration damping device is lifted by the stacker crane and has a pedestal that is about the same as or smaller than a pallet on which the stored items are placed.   The rack-type automatic warehouse according to claim 6 or 7, further comprising a horizontal brace in the luggage compartment to which the vibration damping device is not attached.   The damping device is mounted by selecting the luggage compartment in the horizontal direction and / or the vertical direction so that the damping effect is optimized with respect to the natural period that changes according to the storage situation of the stored matter, The rack type automatic warehouse according to any one of claims 6 to 8, wherein the rack type automatic warehouse corresponds to vibrations of a higher mode in addition to the primary mode.

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