Automated storage and retrieval system and methods

• US 10,633,186 B2
• Filed: 02/26/2018
• Issued: 04/28/2020
• Est. Priority Date: 02/24/2017
• Status: Active Grant

• Current Assignee: Opex Corporation
• Original Assignee: Opex Corporation
• Inventors: Valinsky, Joseph, DeWitt, Robert R., Stevens, Alexander, Kumar, Dhruva
• Primary Examiner(s): Logan, Kyle O
• Application Number:
  US15/905,783
• Publication Number:
  US 20180290830A1
• Time in Patent Office: 792 Days
• CPC Class Codes: B65G 1/0421 with control for stacker crane operations
• CPC Class Codes: B65G 1/0435 with pulling or pushing means on either stacking crane or stacking area
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: B65G 1/1375 the orders being assembled on a commissioning stacker-crane or truck
• CPC Class Codes: B65G 2201/0235 Containers

Abstract

A method for operating an automated storage and retrieval system includes transferring a first item storage container from an aisle to a first region of a first storage location, positioning a second item storage container in the aisle proximate the first item storage container, interlocking the second item storage container to the first item storage container by engaging a releasable coupling structure extending there between, and applying, in a first direction transverse to the aisle, a force to the second item storage container sufficient in magnitude and duration to cause the first item storage container to occupy the second region of the first storage location and the second item storage container to occupy the first region of the first storage location, whereby the first and second item storage containers remain interlocked while in the first storage location.

Claims

1. A method for operating an automated storage and retrieval system having a rack structure for defining first and second arrays of storage locations separated by an aisle, each storage location of the first and second arrays being accessible from the aisle and defining a first region proximal to the aisle and a second region distal to the aisle, comprising the steps of:

transferring a first item storage container from the aisle to the first region of the first storage location,

positioning a second item storage container in the aisle proximate the first item storage container;

interlocking the second item storage container to the first item storage container by engaging a releasable coupling structure extending there between;

applying, in a first direction transverse to the aisle, a force to the second item storage container sufficient in magnitude and duration to cause the first item storage container to occupy the second region of the first storage location and the second item storage container to occupy the first region of the first storage location, whereby the first and second item storage containers remain interlocked while in the first storage location;

transferring the second item storage container to a second storage location accessible from the aisle, wherein the step of moving the second container comprises the steps of;

removing the second item storage container from the first storage location, wherein the step of removing the second item storage container displaces the first item storage container into the first region of the first storage location;

releasably coupling the second item storage container with a third item storage container in the second storage location;

displacing the second item storage container into the second storage location, wherein the step of displacing the second item storage container displaces the third item storage location from a first portion of the second storage location to a second portion of the second storage location.

2. The method of claim 1, further comprising selecting the second storage location, from among a plurality of storage locations having at least one vacant storage region, based on shortest distance to the first storage location.

3. The method of claim 1, wherein the step of transferring the first item storage container comprises transporting the first item storage container within the aisle and into a position of alignment with the first storage location.

4. The method of claim 3, wherein the step of transferring the first item storage container further includes the step of applying, in the first direction, a force to the first item storage container sufficient in magnitude and duration to cause the first item storage container to occupy the first region of the first storage location.

5. The method of claim 4, wherein the step of applying forces comprises applying forces to exterior surface portions of the first item storage container during the step of transferring.

6. The method of claim 5, wherein the exterior surface portions are disposed within the aisle during the step of transferring.

7. The method of claim 3, wherein the step of transporting comprises operating a first independently movable vehicle, of a plurality of independently movable vehicles, to move at least one of horizontally or vertically within the aisle and into a position of alignment with the first storage location.

8. The method of claim 7, wherein the step of transferring the first item storage container further includes operating the first independently movable vehicle to apply a force to the first item storage container sufficient in magnitude and duration to cause the first item storage container to occupy the first region of the first storage location.

9. The method of claim 7, wherein the step of positioning is performed by operating a second independently movable vehicle, of the plurality of independently movable vehicles, to move at least one of horizontally or vertically within the aisle and into a position aligning a releasable coupling component of the second item storage container with a releasable coupling component of the first item storage container.

10. The method of claim 9, further comprising the step of operating the first independently movable vehicle to move into a charging area following transfer of the first item storage container to the first storage location and operating the second independently movable vehicle to move into the charging area following transfer of the second item storage container.

11. The method of claim 9, wherein the step of interlocking is performed by operating the second independently movable vehicle to move into a position bringing the releasable coupling component of the second item storage container into interlocking engagement with the releasable coupling component of the first item storage container.

12. The method of claim 11, wherein the step of applying is performed by operating the second independently movable vehicle to apply forces to the second item storage container while the releasable coupling component of the second item storage container is maintained in interlocking engagement with the releasable coupling component of the first item storage container.

13. The method of claim 1, further comprising the step of applying, in a second direction opposite to the first direction, forces to the second item storage container sufficient in magnitude and duration to cause withdrawal of the second item container from the first region of the first storage location and the first item storage container to move from the second region of the first storage location into the first region of the first storage location.

14. The method of claim 13, further comprising the step of decoupling the second item storage container from the first item storage container by disengaging the releasable coupling structure extending there between.

15. The method of claim 14 comprising the step of decoupling the second item storage container from the first item storage container.

16. The method of claim 15 wherein the step of transferring the second item to the first region of the second storage location comprises the steps of:

positioning the second item storage container in the aisle proximate the third item storage container occupying the first region of the second storage location;

interlocking the second item storage container to the third item storage container by engaging a releasable coupling structure extending there between; and

applying, in a direction transverse to the aisle, a force to the second item storage container sufficient in magnitude and duration to cause the third item storage container to occupy the second region of the second storage location and the second item storage container to occupy the first region of the second storage location.

17. A method for operating an automated storage and retrieval system having a rack structure for defining a plurality of arrays of storage locations, wherein each array of storage locations is separated from an adjacent array by a corresponding aisle and wherein each storage location is accessible from at least one aisle, the method comprising the steps of:

transferring a first item storage container from a first aisle to a first region of a first storage location,

positioning a second item storage container in the first aisle proximate the first item storage container;

releasably coupling the second item storage container to the first item storage container;

applying a force to the second item storage container sufficient in magnitude and duration to cause the first item storage container to occupy a second region of the first storage location behind the first region and the second item storage container to occupy the first region of the first storage location; and

transferring the second item storage container to a new destination following decoupling of the second item storage container from the first item storage container;

wherein the new destination is a second storage location accessible from the first aisle and a second aisle.

18. The method of claim 17 wherein the step of transferring the first item storage container includes transporting the first item storage container within the first aisle and into a position of alignment with the first storage location.

19. The method of claim 18 wherein the step of transferring the first item storage container further includes operating a first independently movable vehicle to move the first item storage container into the first region of the first storage location.

20. The method of claim 19 wherein the step of positioning is performed by operating a second independently movable vehicle to align a releasable coupling component of the second item storage container with a releasable coupling component of the first item storage container.

21. The method of claim 20 wherein the step of coupling is performed by operating the second independently movable vehicle to move the releasable coupling component of the second item storage container into interlocking engagement with the releasable coupling component of the first item storage container.

22. The method of claim 21 further comprising the step of operating a third independently movable vehicle within the second aisle to withdraw the first item container from the first region of the first storage location while moving the second item storage container into the second region of the first storage location.

23. The method of claim 22 further comprising the step of decoupling the first item storage container from the second item storage container by disengaging the releasable coupling structure extending there between.

24. A method for storing and retrieving containers from a plurality of storage locations, comprising the steps of:

driving a first vehicle with a first storage container along a transport path among a plurality of storage locations separated from one another horizontally and vertically;

unloading the first storage container from the first vehicle into a first of the storage locations;

releasably connecting the first storage container with a second storage container in the first storage location;

displacing the first vehicle away from the first storage location after the step of unloading; and

loading the first storage container onto a second vehicle after the step of releasably connecting the first storage container and the second storage container, wherein during the step of loading the first storage container pulls the second storage container toward the second vehicle.

25. The method of claim 24 comprising the step of disconnecting the first storage container from the second storage container.

26. The method of claim 24 wherein the step of releasably connecting comprises displacing the first container vertically relative to the second container.

27. The method of claim 24 wherein the step of disconnecting comprises displacing the first container vertically relative to the second container.

28. The method of claim 24 wherein the step of unloading comprises pushing the first storage container against the second storage container to drive the second container deeper into the first storage location.

29. A method for operating an automated storage and retrieval system having a rack structure for defining a first group of storage locations in a first column and a second group of storage locations in a second column so that an aisle is formed between the first column and the second column, wherein the method comprises the steps of:

storing first and second containers in a first storage location in the first column so that the second container is adjacent the aisle and the first and second containers are releasably connected;

removing the second container from the first storage location, wherein the step of removing the second container displaces the first container toward the aisle;

disconnecting the second container from the first container;

conveying the second container within the aisle toward a second storage location in the first or second column after the step of removing the second container;

releasably connecting the second container with a third container in the second storage location; and

displacing the second container into the second storage location thereby displacing the third container in the second storage location away from the aisle.

30. The method of claim 29 wherein the step of disconnecting comprises the step of displacing the second container vertically relative to the first container.

31. The method of claim 29 wherein the step of conveying comprises conveying the second container on a delivery vehicle and wherein the method includes the step of loading the first storage container onto the delivery vehicle after the step of displacing the second container into the second storage location.

32. The method of claim 31 wherein the step of conveying comprises displacing the delivery vehicle vertically within the aisle and wherein the method comprises the step of displacing the delivery vehicle vertically within the aisle from the second storage location to the first storage location prior to the step of loading the first storage container onto the delivery vehicle.