Article storage facility and method for operating the facility

• US 20060285948A1
• Filed: 05/25/2006
• Published: 12/21/2006
• Est. Priority Date: 05/27/2005
• Status: Active Grant

• Current Assignee: Daifuku Company Limited
• Original Assignee: Daifuku Company Limited
• Inventors: Tsukamoto, Kunihiro, Ueda, Yuichi, Tsujimoto, Kazushi
• Granted Patent: US 7,787,985 B2
• Time in Patent Office: Days
• US Class Current: 414/279
• CPC Class Codes: B65G 1/0407 using stacker cranes constructional features of stacker cranes B66F9/06
• CPC Class Codes: B65G 1/06 with means for presenting articles for removal at predetermined position or level B65G1/12 takes precedence

Abstract

In response to a storing command to store a plurality of articles to different storage units of the rack, the control device of article storage facility performs a multiple storing operation wherein the control device controls horizontal movements of the plurality of moving members, vertical movements of the plurality of transfer device provided to each of the plurality of moving members, and transfer operations of the plurality of transfer device in order to cause the plurality of the transfer device: to be at respective storage/retrieval positions; to receive articles from respective article supports; and to move to rack side article transfer positions corresponding to the storage units in which the articles are to be stored and d) to transfer the received articles to the storage units.

Claims

1. Article storage facility comprising:

an article storage rack having a plurality of storage units arranged in horizontal rows and vertical columns;

article supports arranged in a horizontal direction for use in storing articles into and retrieving articles from the article storage rack;

a plurality of moving members movable in a horizontal direction on a single predetermined path for transporting articles between the storage units and the article supports, wherein the plurality of moving members are adapted to be able to be at positions corresponding to the article supports such that the plurality of moving members can transfer articles from or to the corresponding article supports simultaneously;

transfer means provided to each of the plurality of moving members for transferring an article between the storage unit or the article support and the moving member;

control means for controlling operations of the moving members and the transfer means, wherein the control means controls horizontal movement of the moving members and the vertical movements of the transfer means in order to move the transfer means to rack side article transfer positions which correspond to each of the plurality of storage unit or to storage/retrieval transfer positions that correspond to the article supports, wherein the control means further controls transfer operations of the transfer means so that the transfer means can transfer articles from and to the storage units and the article supports at the rack side article transfer positions and storage/retrieval transfer positions respectively,

and further wherein, in response to a storing command to store a plurality of articles to different storage units of the rack, the control means performs a multiple storing operation wherein the control means controls horizontal movements of the plurality of moving members, vertical movements of the plurality of transfer means provided to each of the plurality of moving members, and transfer operations of the plurality of transfer means in order to cause the plurality of the transfer means;

a) to be at respective storage/retrieval positions;

b) to receive articles from respective article supports;

c) to move to rack side article transfer positions corresponding to the storage units in which the articles are to be stored and d) to transfer the received articles to the storage units.

3. Article storage facility as defined in claim 1, wherein

two moving members are provided in the facility,

and wherein, in response to a storing command to store one article to one storage unit of the rack, the control means performs a single storing operation of one of the two moving members wherein the control means controls horizontal movement of the moving member, vertical movement of the transfer means, and transfer operation of the transfer means in order to cause transfer means of the one of the moving members:

a) to be at a storage/retrieval position corresponding to an article support;

b) to receive the one article from the article support;

c) to move to a rack side article transfer position corresponding to the storage unit in which the article is to be stored, and d) to transfer the received article to the storage unit.

5. Article storage facility as defined in claim 3, wherein

in response to a storing command to store a plurality of articles to different storage units of the rack, the control means performs selected one of the multiple storage operation and a series of the single storage operations depending on current positions of the two moving members in a horizontal direction.

7. Article storage facility as defined in claim 1, wherein

two moving members are provided in the facility,

and wherein, in response to a storing command to store one article to one storage unit of the rack and a retrieval command to retrieve another article from another storage unit, the control means performs:

I) a single storing operation of one of the two moving members that is closer to the rack wherein the control means controls horizontal movement of the moving member, vertical movement of the transfer means, and transfer operation of the transfer means in order to cause transfer means of the one of the moving members;

a) to be at a storage/retrieval position corresponding to an article support;

b) to receive the one article from the article support;

c) to move to a rack side article transfer position corresponding to the storage unit in which the article is to be stored, and d) to transfer the received article to the storage unit and

and followed by a single retrieval operation of the one moving member that is closer to the rack wherein the control means controls horizontal movement of the moving member, vertical movement of the transfer means, and transfer operation of the transfer means in order to cause the transfer means of the one of the moving members;

a) to be at a rack side article transfer position corresponding to the another storage unit from which the another article is to be retrieved;

b) to receive the another article from the another article unit;

c) to move to a storage/retrieval position corresponding to an article support, and d) to transfer the retrieved article to the article support.

9. Article storage facility as defined in claim 1, wherein

each of the plurality of moving members has a plurality of transfer means arranged at different vertical positions and

wherein when a plurality of articles need to be stored in or retrieved from a plurality of storage units that have different heights, the control means controls vertical movements and transfer operations of the plurality of transfer means of each of the plurality of moving members to cause the plurality of transfer means to be at rack side article transfer positions corresponding to the storage units and to transfer articles to or from the plurality of storage units.

2. Article storage facility comprising:

an article storage rack having a plurality of storage units arranged in horizontal rows and vertical columns;

article supports arranged in a horizontal direction for use in storing articles into and retrieving articles from the article storage rack;

a plurality of moving members movable in a horizontal direction on a single predetermined path for transporting articles between the storage units and the article supports, wherein the plurality of moving members are adapted to be able to be at positions corresponding to the article supports such that the plurality of moving members can transfer articles from or to the corresponding article supports simultaneously;

transfer means provided to each of the plurality of moving members for transferring an article between the storage unit or the article support and the moving member;

control means for controlling operations of the moving members and the transfer means, wherein the control means controls horizontal movement of the moving members and the vertical movements of the transfer means in order to move the transfer means to rack side article transfer positions which correspond to each of the plurality of storage unit or to storage/retrieval transfer positions that correspond to the article supports, wherein the control means further controls transfer operations of the transfer means so that the transfer means can transfer articles from and to the storage units and the article supports at the rack side article transfer positions and storage/retrieval transfer positions respectively,

and further wherein, in response to a retrieving command to retrieve a plurality of articles from different storage units of the rack, the control means performs a multiple retrieval operation wherein the control means controls horizontal movements of the plurality of moving members, vertical movements of the plurality of transfer means provided to each of the plurality of moving members, and transfer operations of the plurality of transfer means in order to cause the plurality of the transfer means;

a) to be at the rack side article transfer positions corresponding to the storage units from which the articles are to be retrieved;

b) to transfer articles from respective article units;

c) to move to corresponding article supports, and d) to transfer the retrieved articles to the article supports.

4. Article storage facility as defined in claim 2, wherein

two moving members are provided in the facility,

and wherein, in response to a retrieval command to retrieve one article from one storage unit of the rack, the control means performs a single retrieval operation of one of the two moving members wherein the control means controls horizontal movement of the moving member, vertical movement of the transfer means, and transfer operation of the transfer means in order to cause transfer means of the one of the moving members:

a) to be at a rack side article transfer position corresponding to a storage unit from which the article is to be retrieved;

b) to receive the one article from the article unit;

c) to move to a storage/retrieval position corresponding to an article support, and d) to transfer the retrieved article to the article support.

6. Article storage facility as defined in claim 4, wherein

in response to a retrieving command to retrieve a plurality of articles from different storage units of the rack, the control means performs selected one of the multiple retrieval operation and a series of the single retrieval operations depending on current positions of the two moving members in a horizontal direction.

8. Article storage facility as defined in claim 2, wherein

two moving members are provided in the facility,

and wherein, in response to a storing command to store one article to one storage unit of the rack and a retrieval command to retrieve another article from another storage unit, the control means performs:

I) a single storing operation of one of the two moving members that is closer to the rack wherein the control means controls horizontal movement of the moving member, vertical movement of the transfer means, and transfer operation of the transfer means in order to cause transfer means of the one of the moving members;

a) to be at a storage/retrieval position corresponding to an article support;

b) to receive the one article from the article support;

c) to move to a rack side article transfer position corresponding to the storage unit in which the article is to be stored, and d) to transfer the received article to the storage unit and

and followed by a single retrieval operation of the one moving member that is closer to the rack wherein the control means controls horizontal movement of the moving member, vertical movement of the transfer means, and transfer operation of the transfer means in order to cause the transfer means of the one of the moving members;

a) to be at a rack side article transfer position corresponding to the another storage unit from which the another article is to be retrieved;

b) to receive the another article from the another article unit;

c) to move to a storage/retrieval position corresponding to an article support, and d) to transfer the retrieved article to the article support.

10. Article storage facility comprising:

an article storage rack having a plurality of storage units arranged in horizontal rows and vertical columns;

article supports arranged in a horizontal direction for use in storing articles into and retrieving articles from the article storage rack;

a first moving member and a second moving member that are capable of moving on a single predetermined path to transport articles between the storage units and the article supports, the first moving member has a first single vertical post provided in a region substantially spaced in a horizontal direction from an end of the first moving member closer to the second moving member, and the second moving member has a second single vertical post provided in a region substantially spaced in a horizontal direction from an end of the second moving member closer to the first moving member;

first transfer means movable along the first vertical post for transferring an article between a storage unit or one of the article supports and the first moving member;

second transfer means movable along the second vertical post for transferring an article between a storage unit or one of the article supports and the second moving member.

11. Article storage facility as defined in claim 10, wherein

the predetermined path is a rail and wherein each of the movable body runs on the rail by means of a front wheel and a rear wheel spaced apart from the front wheel in a direction the rail extends,

a restricting wheel is provided for each of the front and rear wheels wherein the restricting wheel restricts lifting of the corresponding wheel from the rail by contacting the rail.

12. Article storage facility as defined in claim 11, wherein

the restricting wheel contacts the rail with resilient pressure provided by a resilient member.

13. Article storage facility as defined in claim 10, wherein

the first vertical post has a first surface that faces the second vertical post, and a first upper frame provided adjacent to a guide rail extending parallel to and spaced vertically from the predetermined path;

the second vertical post has a second surface that faces the first vertical post, and a second upper frame provided adjacent to the guide rail;

wherein the first upper frame extends toward the second upper frame beyond the first surface, and the second upper frame extends toward the first upper frame beyond the second surface.

14. Article storage facility as defined in claim 10, wherein

the first transfer means has a vertically movable unit movable along the first vertical post, and a lower surface of the first vertical movable unit has a first reflector mounted thereto, and

the first moving member has a first laser range finder, and a first mirror that reflects a laser beam from the first laser range finder perpendicularly and upwardly toward the first reflector, the first laser range finder and the first mirror being located between the end closer to the second moving member and the first vertical post,

the second transfer means has a second vertically movable unit movable along the second vertical post, and a lower surface of the second vertical movable unit has a second reflector mounted thereto, and

the second moving member has a second laser range finder, and a second mirror that reflects a laser beam from the second laser range finder perpendicularly and upwardly toward the second reflector, the second laser range finder and the second mirror being located between the end closer to the first moving member and the second vertical post.

15. a method of operating article storage facility, the article storage facility having an article storage rack having a plurality of storage units arranged in horizontal rows and vertical columns, the rack having a first end and a second end spaced apart from the first end in a first horizontal direction;

a first and second article supports arranged in the first horizontal direction for articles to be stored into and retrieved from the rack, both of the first and the second article supports being closer to the first end than the second end, and the second article support being closer to the second end than the first article support;

first and second vehicles movable along a single predetermined path extending substantially in the first horizontal direction and each having at least one vertical post;

a vertically moving unit provided to each of the first and second vehicles and movable along the respective vertical post; and

a transfer apparatus provided to each of the vertically moving units for transferring articles between a storage unit or either one of the first and second article supports and the corresponding vehicle, the method comprising;

placing a first article, to be stored in a first storage unit in a first column closer to the first end, on the first article support;

placing a second article, to be stored in a second storage unit in a second column closer to the second end, on the second article support;

locating the first vehicle at a position corresponding to the first article support;

locating the second vehicle at a position corresponding to the second article support;

operating the transfer apparatus of the first vehicle to have the first article supported on the first vehicle;

operating the transfer apparatus of the second vehicle to have the second article supported on the second vehicle;

causing the second vehicle to move to the second column;

causing the first vehicle to move to the first column;

causing the vertically moving unit of the second vehicle to move to a position corresponding to the second storage unit before, during, or after the step of causing the second vehicle to move to the second column;

causing the vertically moving unit of the first vehicle to move to a position corresponding to the first storage unit before, during, or after the step of causing the first vehicle to move to the first column;

operating the transfer apparatus of the second vehicle to transfer the second article to the second storage unit;

operating the transfer apparatus of the first vehicle to transfer the first article to the first storage unit.

16. a method of operating article storage facility, the article storage facility having an article storage rack having a plurality of storage units arranged in horizontal rows and vertical columns, the rack having a first end and a second end spaced apart from the first end in a first horizontal direction;

a first and second article supports arranged in the first horizontal direction for articles to be stored into and retrieved from the rack, both of the first and the second article supports being closer to the first end than the second end, and the second article support being closer to the second end than the first article support;

first and second vehicles movable along a single predetermined path extending substantially in the first horizontal direction and each having at least one vertical post;

a vertically moving unit provided to each of the first and second vehicles and movable along the respective vertical post; and

a transfer apparatus provided to each of the vertically moving units for transferring articles between a storage unit or either one of the first and second article supports and the corresponding vehicle, the method comprising;

causing the second vehicle to move to a second column, that is closer to the second end than a first column is to the second end, in which a target second storage unit belongs;

causing the first vehicle to move to a first column, that is closer to the first end than the second column is to the first end, in which a target first storage unit belongs;

causing the vertically movable unit of the second vehicle to move to a position corresponding to the second storage unit before, during, or after the step of causing the second vehicle to move to the second column;

causing the vertically movable unit of the first vehicle to move to a position corresponding to the first storage unit before, during, or after the step of causing the first vehicle to move to the first column;

operating the transfer apparatus of the second vehicle to transfer a second article in the second storage unit to the second vehicle;

operating the transfer apparatus of the first vehicle to transfer a first article in the first storage unit to the first vehicle;

causing the second vehicle to move to a position corresponding to the second article support;

causing the first vehicle to move to a position corresponding to the first article support;

operating the transfer apparatus of the second vehicle to have the second article supported on the second article support;

operating the transfer apparatus of the first vehicle to have the first article supported on the first article support.