CA2067214C - Automated storage and retrieval system - Google Patents
Automated storage and retrieval system Download PDFInfo
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- CA2067214C CA2067214C CA002067214A CA2067214A CA2067214C CA 2067214 C CA2067214 C CA 2067214C CA 002067214 A CA002067214 A CA 002067214A CA 2067214 A CA2067214 A CA 2067214A CA 2067214 C CA2067214 C CA 2067214C
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- tray
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
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- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Hardware Redundancy (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
- Input Circuits Of Receivers And Coupling Of Receivers And Audio Equipment (AREA)
- Indexing, Searching, Synchronizing, And The Amount Of Synchronization Travel Of Record Carriers (AREA)
Abstract
An automated storage and retrieval system (10) includes two confrontingly opposed, columnar arrays (12, 14) which define a plurality of vertically spaced tray-receiving recesses (20). A platform (28) is vertically displaceable along and between the arrays and carries an extraction device (46) operable for withdrawing a selected tray (80) from an array recess onto the platform, and for inserting a tray supported on the platform into a vacant recess in either array. The extraction device includes a pair of rods (72, 74) carried on and for movement longitudinally along the platform, toward and away from the opposed arrays, about opposed continuous-loop drive belts (48, 50) which lie in substantially vertical planes. The rods are releasably engageable, through rotation of the drive belts, within handles (98) provided at and extending longitudinally outwardly from the opposite ends of each tray to enable withdrawal and insertion of the selected tray.
Description
''O 92/02438 'r, p 6 7 'Z ~ ~ . PCT/US91/05490 AUTOMATED STORAGE AND RETRIEVAL SYSTEM
FIELD OF THE INVENTION
4 The present invention relates to automated article storage and retrieval systems wherein 6 articles are stored in bins or trays located within 7 and along arrays of such trays. The invention is 8 more particularly directed to such a system wherein 9 the trays, which are vertically spaced within recesses defined along a pair of confrontingly 11 opposed columnar arrays separated by an access 12 region within which a platform is vertically 13 displaceable into registration with array-supported 14 trays or tray positions, may be selectively withdrawn from and inserted into the arrays by a 16 novel extraction device carried on the movable 17 platform.
WO 92/02438 PCT/US91/054~
FIELD OF THE INVENTION
4 The present invention relates to automated article storage and retrieval systems wherein 6 articles are stored in bins or trays located within 7 and along arrays of such trays. The invention is 8 more particularly directed to such a system wherein 9 the trays, which are vertically spaced within recesses defined along a pair of confrontingly 11 opposed columnar arrays separated by an access 12 region within which a platform is vertically 13 displaceable into registration with array-supported 14 trays or tray positions, may be selectively withdrawn from and inserted into the arrays by a 16 novel extraction device carried on the movable 17 platform.
WO 92/02438 PCT/US91/054~
3 Automated storage and retrieval systems 4 for providing high density yet readily accessible storage of articles have long been known. Commonly-6 owned U.S. Patent No. 4,690,602, for example, 7 discloses a two-dimensional array of storage bins or 8 locations which are extractable for accessing stored 9 articles. To achieve such access a two-dimensionally displaceable platform is movable to 11 selected storage locations thereof and arm-like 12 extractor elements are extendible into the storage 13 location past the front edge of a bin for engagement 14 with the bin sides to withdraw the bin from the array and, similarly, to reinsert the bin into the 16 same or a different storage location.
17 The prior art teaches a variety of 18 arrangements for effecting extraction and return of 19 an array-supported storage bin or tray. Some require highly specialized or complex structural 21 elements and assemblies that are unnecessarily 22 subject to breakdowns or which typically require 23 regular realignment and/or repair. Others 24 operatively grip or grasp or otherwise engage the bins in a fashion that is somewhat less reliable or 26 stable or secure than desired or that does not 27 permit the apparatus to extract bins containing 28 unusually heavy articles.
~~'"''O 92/02438 PCT/US91/05490 3 The present invention provides an 4 automated storage and retrieval system in which articles are storable in outwardly slidable trays 6 that are supported in vertically-stacked relation 7 along a pair of confrontingly-opposed, columnar 8 arrays. A platform carries an extraction device for 9 withdrawing and reinserting trays in the arrays and which is single-dimensionally displaceable 11 vertically along and between the opposed arrays into 12 registration with selected trays or tray-receiving 13 array locations. The extraction device is formed of 14 a pair of continuous loop drive chains spaced from each other widthwise across the platform and lying 16 in substantially vertical planes. The chains carry 17 spanningly therebetween a first and a second rod 18 spaced along and jointly moveable with the chains 19 into releasable engagement within the interior channels of handles that extend longitudinally at or 21 from the tray ends to thereby grasp the tray and 22 enable selected tray withdrawal from and reinsertion 23 into a location in either of the opposed arrays.
24 Other features of the present invention will become apparent from the following detailed 26 description considered in conjunction with the 27 accompanying drawings. It is to be understood, 28 however, that the drawings are designed solely for 29 purposes of illustration and not as a definition of the limits of the invention, for which reference 31 should be made to the appended claims.
- 3a -Therefore, in accordance with the present invention there is provided a storage and retrieval system, comprising:
(a) an extraction means, carried on a platform means, for withdrawing a selected tray selected from at least one tray, from one of a plurality of tray locations and for inserting said selected tray on said platform means into said tray location;
(b) each said selected tray having a length with two opposed ends along said tray length, and including, at each opposed end, a handle means engageable by said extraction means for longitudinally withdrawing said selected tray from said tray location and for longitudinally inserting said selected tray into said tray location, said handle means including a vertically-oriented opening through which said handle means is engageable by said extraction means;
(c) said extraction means comprising:
(1) a first member and a second member concurrently movable along said platform means at a predetermined spaced apart relation to each other toward and away from said tray location, each said - 3b -member being elongated in a direction substantially perpendicular to said direction of member movement;
(2) a drive means operable for concurrently moving said first member and said second member so that, with said platform means in registration with said selected tray location containing said selected tray, said first member is moved initially toward said selected tray location and vertically into said handle means at said one end of said selected tray and is then moved away from said selected tray location with said first member in engagement with said handle means to thereby longitudinally withdraw said selected tray from said selected tray location onto said platform means until said selected tray is fully withdrawn whereupon said second member is moved vertically into said handle means opening at said opposite end of said selected tray and is then moved away from said selected tray location until said selected tray is fully supported on said platform means with both said first 3c member and said second member engaged with said handle means; and (d) a sensing means for determining each tray location, comprising:
(1) a plurality of sensible members, each of said sensible members being located adjacent a respective one of said tray locations;
(2) a sensor responsive to each of said sensible members, said sensor being mounted on said extraction means and producing a sensor output signal indicating registration of the platform with said tray location;
(3) a linear displacement encoder for determining linear displacement of said extraction means, said encoder producing an encoder output signal;
(4) a control means for receiving said encoder output signal and said sensor output signal and determining said linear displacement of said extraction means in relationship to said at least one tray.
Also in accordance with the present invention there is provided a storage and retrieval system, comprising:
- 3d -._ (a) a first plurality of trays arranged in vertically-stacked relation to define a first column of said trays in corresponding tray locations, each of said plurality of trays of said first column being individually movable in a substantially horizontal first direction for extracting a selected one of said plurality of trays from said first column of said trays;
(b) a second plurality of trays arranged in vertically-stacked relation to define a second column of said trays in corresponding tray locations, each of said plurality of trays of said second column being individually movable in a substantially horizontal second direction for extracting said selected one of said plurality of trays from said second column of said trays;
(c) said first and second columns being predeterminately spaced apart in opposed relation and defining an access region between said opposed columns;
(d) an extraction means operable for releasably engaging said selected one of said plurality of trays, withdrawing said selected one of said plurality of trays and inserting said withdrawn tray into one of said columns;
_ 3e _ (e) a platform means for carrying said extraction means movable by a motor and disposed in said access region for substantially vertical movement along said first and said second columns; and (f) a sensing means for determining each tray location, comprising:
(1) a plurality of sensible members, each of said sensible members being located adjacent a respective one of said tray locations;
(2) a sensor responsive to each of said sensible members, said sensor being mounted on said extraction means and producing a sensor output signal indicating vertical registration of the platform with said tray location;
(3) a linear displacement encoder for determining linear displacement of said extraction means, said encoder producing an encoder output signal; and (4) a control means for receiving said encoder output signal and said sensor output signal and determining said linear displacement of said extraction means in relationship to said first and second plurality of trays.
E
3f Further in accordance with the present invention there is provided a storage and retrieval system comprising:
a first plurality of storage compartments successively vertically stacked along a height direction to define a first column;
a second plurality of storage compartments successively vertically stacked along said height direction to define a second column;
said first and second columns being spaced apart in opposed relation to define an access region therebetween;
at least one tray for storage in a storage compartment in either of said first or second columns, said tray having a first and second end spaced apart lengthwise along a longitudinal direction, and having opposite sides spaced apart widthwise along a width direction normal to said height and longitudinal directions;
extraction means disposed in said access region for withdrawing a selected tray from its respective storage compartment in the longitudinal direction, and for inserting the selected tray in the longitudinal direction into a storage compartment in either of said first and second columns;
means for vertically displacing said extraction means along said height direction;
said tray having first engagement means at said first end thereof and second engagement means at said second F .:ads.
- 3g -end, said first and second engagement means for engagement with said extraction means; and said extraction means comprising:
(i) platform means for supporting said selected tray after withdrawal from its respective storage compartment, said platform means having opposite ends spaced apart lengthwise along a longitudinal direction;
(ii) first extractor rod means for engaging said engagement means at one of the ends of the selected tray;
(iii) second extractor rod means for engaging said engagement means at an other end of the selected tray;
(iv) first and second chain means spaced apart in the width direction for carrying said first and second extractor rod means, said first and second extractor rod means disposed longitudinally between said first and second chain means, each of said first and second chain means being trained about a respective pair of spaced apart rotatable gear means disposed proximate opposite ends of said platform means; and (v) drive means for simultaneously rotating said first and second chain means and for effecting movement of said first and second ~;
~'. ..
- 3h -extractor rod means towards and away from said selected storage compartment, said rotation of said first and second chain means enabling said first extractor rod means to move vertically along the height direction into said first engagement means for force-transmitting engagement therewith, wherein further rotation of said first and second chain means effects movement of said selected tray longitudinally in a first direction away from its respective storage compartment and onto said platform means, said further rotation effecting concurrent movement of said second extractor rod means longitudinally in a second direction towards said respective storage compartment until said tray is substantially withdrawn from said storage compartment, whereupon continued rotation of said first and second chain means enables said second extractor rod means to move vertically along the height direction into said second engagement means, said second extractor rod means thereby positioned for engagement with said second engagement means, said drive means effecting further rotation of said first and second chain means for moving said selected tray in said first o ~'~::n _ 3i _ direction fully onto said platform means; and further wherein when said selected tray is disposed on said platform means, additional rotation of said first and second chain means enables further movement of said selected tray into registered insertion in any one of the storage compartment selectively located in either of said columns.
Still further in accordance with the present invention there is provided an automated, non-manual method for withdrawing a selected tray from a selected storage compartment, said selected storage compartment being located in either of two confrontingly-opposed columns defining an access region therebetween, each column thereof having a plurality of storage compartments vertically stacked along a height direction for storing trays, wherein each of said trays have a first and second end spaced apart lengthwise along a longitudinal direction, and have opposite sides spaced apart widthwise along a width direction normal to said height and longitudinal directions, and having a first engagement means at said first end of said selected tray said engagement means in proximity with and extending slightly into said access region and a second engagement means at said second end of said selected tray, said method comprising the steps of:
(a) moving an extraction means along the height direction in said access region, said - 3 j - ~ ~ '~ ,~ ~ ' extraction means including a platform and a first and second chain means spaced apart in the width direction for carrying a first and second extractor rod, said first and second extractor rods being longitudinally disposed between said first and second chain means for engaging said respective first and second engagement means of said selected tray, said first and second extractor rods being elongated along said width direction;
(b) registering said platform means adjacent to a storage compartment having said selected tray stored therein;
(c) simultaneously rotating said first and second chain means to concurrently move said first and second extractor rods toward the selected tray location to a position whereby the first extractor rod is located substantially vertically-adjacent said first engagement means then further rotating said first and second chain means to thereby move said first extractor rod vertically along the height direction until said first extractor rod is in force-transmitting engagement with said first engagement means along the width direction;
h - 3k -(d) moving said first extractor rod, in continuous engagement with said first engagement means at said first end of said selected tray, away from the selected storage compartment and onto said platform until said tray is substantially withdrawn from said storage compartment while said second extractor rod is concurrently moved further toward said selected tray location to a position whereby said second extractor rod is located substantially vertically-adjacent said second engagement means at said second end of said selected tray;
(e) moving said second extractor rod substantially vertically along the height direction into said second engagement means while said first extractor rod, in continued engagement with said first engagement means, is moved further away from the storage compartment so that said first extractor rod is in engagement with said first engagement means and said second extractor rod is concurrently disposed in said second engagement means, wherein said selected tray is in supported relation on said platform;
(f) further rotating said first and second chain means to enable further movement of said first and second extractor rods away from the selected storage compartment to a position in which the selected tray is completely withdrawn from said column and is carried on said platform with said first extractor rod disposed in engagement with said first engagement means and said second extractor rod disposed in said second engagement means of said selected tray;
(g) further rotating said first and second chain means to enable further movement of said selected tray toward another storage compartment located in the column opposite to the column from where said selected tray was withdrawn, said selected tray carried on said platform with said first extractor rod disposed in engagement with said first engagement means and said second extractor rod disposed in said second engagement means of said selected tray;
(h) further rotating said first and second chain means until said selected tray is registered for insertion in said another storage compartment;
(i) vertically disengaging said first extractor rod from said first engagement means along the height direction while concurrently ,.
- 3m -;~ ~ °~ ~
positioning said second extractor rod into force-transmitting engagement with said second engagement means along said width direction; and (j) additionally rotating said first and second chain means to continue movement of said selected tray, until said selected tray is substantially inserted into said respective storage compartment.
WO 92/02438 r . . . . PCT/US91/054''.
3 In the drawings, wherein similar reference 4 characters denote similar elements throughout the several views:
6 FIG. 1 is a side view, partly in cross 7 section, of an automated storage and retrieval 8 system constructed in accordance with the present 9 invention;
l0 FIG. 2 is an end view, partly in cross 11 . section, of the automated storage and retrival 12 system shown in Fig. 1;
13 FIG. 3 is a perspective view, partly 14 broken away and exploded, of a portion of the vertically-displaceable platform and of one of the 16 vertical standards along which the platform rides;
17 FIG. 4 is an elevated perspective view, 18 partly broken away, of a portion of the platform and 19 of one of the arrays including several tray-receiving shelves disposed vertically therealong;
21 FIG. 5 is an elevated perspective view of 22 the major operating components of the platform-23 carried extraction device of the present invention;
24 and FIGS. 6 to 8 are diagrammatic side views 26 illustrating, for purposes of explanation, the 27 progressive withdrawal of a tray from an array 28 location by operation of the extraction device of 29 the invention.
"''O 92/02438 PCT/US91/05490 a 3 The present invention relates to an 4 automated article storage and retrieval system and, in a currently preferred form of the invention, to 6 a vertically-oriented, optionally self-contained 7 arrangement in which a platform is vertically 8 displaceable along and between a pair of 9 confrontingly opposed or facing arrays or towers or columns in each of which a plurality of vertically-il spaced tray locat ons are defined. The invention is 12 particularly directed to a novel and advantageously-13 configured extraction device operable for 14 withdrawing any selected tray from its location in one of the arrays, for transporting -- in 16 association with a movable platform -- the withdrawn 17 tray to a selected vacant tray location in either 18 array and for then inserting the tray into the 19 selected vacant location.
With specific reference to the drawings, 21 an overall view of an automated storage and 22 retrieval system constructed in accordance with the 23 invention is shown in Figs. 1 and 2 and there 24 identified by the general reference numeral 10. The system 10 is comprised of first and second 26 vertically-oriented and, if desired, substantially 27 freestanding columnar arrays 12, 14 disposed in 28 opposed or facing relation and spaced apart by a 29 predetermined distance or separation to delineate an access region 16 therebetween. Each array 12, 14 31 may, by way of example, be fabricated as a framework 32 of vertical masts or ::>tandards 18 and generally 33 horizontal crossbars 20, the crossbars defining a 34 plurality of tray-receiving locations or recesses or WO 92/02438 PCT/US91/054°
1 shelves in each array as will hereinafter be 2 described. Top and bottom bracing members 21 may 3 also spanningly connect the opposed arrays 12, 14 4 for enhanced stability. In a preferred form of the system 10 the absolute and relative vertical 6 positions of the crossbars or shelf members 20 are 7 adjustable for selectively varying the locations of 8 and vertical spacing between all or particular ones 9 of the tray-receiving locations. The system 10 may also be suitably enclosed or enveloped by an outer 11 skin or sheeting 22 so as to limit unintended access 12 to articles stored therewithin and to prevent 13 inadvertent worker injury from moving parts. As is 14 typical in automated storage and retrieval systems, an operator workstation or article delivery area 24 16 implemented as an enlarged opening in the rear face 17 of one of the arrays -- e.g. the first array 12 --18 and a corresponding vertical separation between 19 appropriately positioned horizontal crossbars or shelf members 20 at the top and bottom of the 21 workstation may also be provided. A keyboard 26 or 22 the like mounted adjacent the workstation 24 enables 23 direct user input to and control of the operation of 24 the system l0.
The trays 80 which are receivable in the 26 horizontal crossbar-defining locations or shelves of 27 each array 12, 14 may be fabricated as bins for 28 direct receipt of stored parts or articles -- for 29 which purpose the trays may be compartmentalized or otherwise selectively capable of such 31 compartmentalization or segmentation -- or as 32 carriers for replaceable or reconfigurable inserts 33 within which such parts or articles are carried as 34 is well known in the art. In the embodiment of the ~O 92/02438 _7_ 1 invention herein described, by way of example, each 2 tray 80 comprises a generally rectangular, 3 centrally-open frame within which an article bin is 4 supportedly carryable and made up of unitarily formed or otherwise rigidly attached side members 82 6 and end members 84 (Fig. 4). Each of the side and 7 end members 82, 84 is configured, as with an L-8 shaped cross section, to provide a respective bin-9 supporting horizontal base 86, 88 and an upstanding respective sidewall 90 or endwall 92. When a tray 11 80 is disposed within one of the available array 12 locations or recesses, the undersides of its opposed 13 side member bases 86 rest atop the crossbars or 14 shelf members 20 and thereby support the tray within that recess and as the tray is slidably withdrawn or 16 extracted therefrom.
17 Depending longitudinally-outwardly from 18 each endwall 92 of the tray 80 is a ledge 94 and, 19 depending downwardly from the free end of the ledge, is a leg or lip 96. Together, the endwall 92, ledge 21 94 and lip 96 form, at or proximate each 22 longitudinal end of the tray, a handle-like 23 arrangement including a substantially U-shaped 24 interior channel 98 that is open at its bottom or downwardly-oriented side and which extends along the 26 width of the tray 80. Although the channel 98, 27 ledge 94 and lip 96 are illustrated herein as 28 extending for substantially the entire tray width, 29 those skilled in the art will readily appreciate as this description proceeds that the extent of such 31 widthwise extension is generally a matter of design 32 choice, as is the U-shaped cross-sectional contour 33 of the channel 98 and,.too, the exact structure of 34 the tray-carried members) by which the channel is WO 92/02438 PCT/US91/0549~'-.. ,_ _8_ 1 defined. Similarly, a modification in which the 2 channel 98 is open upwardly -- rather than 3 downwardly -- is both contemplated and intended as 4 being within the scope of the invention.
A platform, generally designated 28, is 6 adapted for single-dimensional vertical movement 7 along and between the opposed first and second 8 arrays 12, 14 within the access region 16. For this 9 purpose, a lift cable 30 is secured to the platform 28 and is led, as through top and bottom-mounted 11 pulleys 32, 34, to a feed drum 36 about which the 12 lift cable is selectively wound and unwound for 13 respectively raising and lowering the platform. The 14 feed drum is, in turn, rotated by and under the control of an electric, bidirectionally-operable 16 motor 38 located, in the illustrated embodiment, at 17 or proximate the bottom of the first array 12. The 18 drum 36 may also include or carry an encoder (not 19 shown) of any suitable form for use in sensing the rotation of the feed drum and, thereby, determining 21 the resulting anticipated vertical displacement of 22 the platform 28.
23 The platform 28 may be configured in any 24 appropriate manner such, for example, as the generally open frame construction of the presently-26 disclosed embodiment. The length of the platform --27 i.e. along the opposed tray-extraction and insertion 28 directions extending between the opposed arrays 12, 29 14 as indicated by the double-headed arrow 39 in Figs. 1 and 5 -- substantially conforms to the width 31 of the access region 16 and the platform carries, at 32 each of its longitudinal ends, vertically-oriented 33 pairs of guide rollers or castors 40 in continuous 34 engagement with the interior standards 18 that bound °
""'y0 92/02438 PCT/US91/05490 -g-1 the access region 16. More particularly, V-shaped 2 troughs 42 defined in the circumferential faces of 3 the rollers 40 mate with wedge-like surfaces 44 4 provided on the interior standards 18 (Figs. 3 and 4) along which the guide rollers ride as the 6 platform 28 is vertically displaced and are 7 effective to maintain the engagement of the rollers 8 and vertical standards and prevent unintended 9 horizontal shifting or translation of the platform during, for example, its vertical displacement. The 11 platform frame may be further provided with side-12 mounted, longitudinally extending tray-support 13 shoulders 45 onto which trays 80 extrac~~:ed from the 14 arrays 12, 14 are slidably receivable.
Also carried on the platform 28 is a tray 16 extraction device 46, the main operating components 17 of which are perhaps best seen in Fig. 5. The 18 extraction device 46 is formed of a pair of 19 continuous loop drive belts or chains 48, 50 or the like disposed proximate or along the opposite sides 21 of and extending for generally the full length of 22 the vertically-d. laceable platform. The chains 23 are spaced f~~m ea::h other, across the platform 28, 24 by a distance substantially conforming to the width of the trays 80 and, in the preferred form herein 26 disclosed, by slightly more than the tray width so 27 as to enable supported receipt of a tray, extracted 28 from one of the arrays, on the platform between the 29 opposed chains 48, 50 as will hereinafter become apparent. Each chain is trained about spaced apart 31 first and second rollers or sprocket wheels 52, 54 32 and lies in a substantially vertical plane with the 33 upper run of the continuous chain loop move and the 34 lower run of the loop below the tray-support WO 92/02438 PCT/US91/05~'~
17 The prior art teaches a variety of 18 arrangements for effecting extraction and return of 19 an array-supported storage bin or tray. Some require highly specialized or complex structural 21 elements and assemblies that are unnecessarily 22 subject to breakdowns or which typically require 23 regular realignment and/or repair. Others 24 operatively grip or grasp or otherwise engage the bins in a fashion that is somewhat less reliable or 26 stable or secure than desired or that does not 27 permit the apparatus to extract bins containing 28 unusually heavy articles.
~~'"''O 92/02438 PCT/US91/05490 3 The present invention provides an 4 automated storage and retrieval system in which articles are storable in outwardly slidable trays 6 that are supported in vertically-stacked relation 7 along a pair of confrontingly-opposed, columnar 8 arrays. A platform carries an extraction device for 9 withdrawing and reinserting trays in the arrays and which is single-dimensionally displaceable 11 vertically along and between the opposed arrays into 12 registration with selected trays or tray-receiving 13 array locations. The extraction device is formed of 14 a pair of continuous loop drive chains spaced from each other widthwise across the platform and lying 16 in substantially vertical planes. The chains carry 17 spanningly therebetween a first and a second rod 18 spaced along and jointly moveable with the chains 19 into releasable engagement within the interior channels of handles that extend longitudinally at or 21 from the tray ends to thereby grasp the tray and 22 enable selected tray withdrawal from and reinsertion 23 into a location in either of the opposed arrays.
24 Other features of the present invention will become apparent from the following detailed 26 description considered in conjunction with the 27 accompanying drawings. It is to be understood, 28 however, that the drawings are designed solely for 29 purposes of illustration and not as a definition of the limits of the invention, for which reference 31 should be made to the appended claims.
- 3a -Therefore, in accordance with the present invention there is provided a storage and retrieval system, comprising:
(a) an extraction means, carried on a platform means, for withdrawing a selected tray selected from at least one tray, from one of a plurality of tray locations and for inserting said selected tray on said platform means into said tray location;
(b) each said selected tray having a length with two opposed ends along said tray length, and including, at each opposed end, a handle means engageable by said extraction means for longitudinally withdrawing said selected tray from said tray location and for longitudinally inserting said selected tray into said tray location, said handle means including a vertically-oriented opening through which said handle means is engageable by said extraction means;
(c) said extraction means comprising:
(1) a first member and a second member concurrently movable along said platform means at a predetermined spaced apart relation to each other toward and away from said tray location, each said - 3b -member being elongated in a direction substantially perpendicular to said direction of member movement;
(2) a drive means operable for concurrently moving said first member and said second member so that, with said platform means in registration with said selected tray location containing said selected tray, said first member is moved initially toward said selected tray location and vertically into said handle means at said one end of said selected tray and is then moved away from said selected tray location with said first member in engagement with said handle means to thereby longitudinally withdraw said selected tray from said selected tray location onto said platform means until said selected tray is fully withdrawn whereupon said second member is moved vertically into said handle means opening at said opposite end of said selected tray and is then moved away from said selected tray location until said selected tray is fully supported on said platform means with both said first 3c member and said second member engaged with said handle means; and (d) a sensing means for determining each tray location, comprising:
(1) a plurality of sensible members, each of said sensible members being located adjacent a respective one of said tray locations;
(2) a sensor responsive to each of said sensible members, said sensor being mounted on said extraction means and producing a sensor output signal indicating registration of the platform with said tray location;
(3) a linear displacement encoder for determining linear displacement of said extraction means, said encoder producing an encoder output signal;
(4) a control means for receiving said encoder output signal and said sensor output signal and determining said linear displacement of said extraction means in relationship to said at least one tray.
Also in accordance with the present invention there is provided a storage and retrieval system, comprising:
- 3d -._ (a) a first plurality of trays arranged in vertically-stacked relation to define a first column of said trays in corresponding tray locations, each of said plurality of trays of said first column being individually movable in a substantially horizontal first direction for extracting a selected one of said plurality of trays from said first column of said trays;
(b) a second plurality of trays arranged in vertically-stacked relation to define a second column of said trays in corresponding tray locations, each of said plurality of trays of said second column being individually movable in a substantially horizontal second direction for extracting said selected one of said plurality of trays from said second column of said trays;
(c) said first and second columns being predeterminately spaced apart in opposed relation and defining an access region between said opposed columns;
(d) an extraction means operable for releasably engaging said selected one of said plurality of trays, withdrawing said selected one of said plurality of trays and inserting said withdrawn tray into one of said columns;
_ 3e _ (e) a platform means for carrying said extraction means movable by a motor and disposed in said access region for substantially vertical movement along said first and said second columns; and (f) a sensing means for determining each tray location, comprising:
(1) a plurality of sensible members, each of said sensible members being located adjacent a respective one of said tray locations;
(2) a sensor responsive to each of said sensible members, said sensor being mounted on said extraction means and producing a sensor output signal indicating vertical registration of the platform with said tray location;
(3) a linear displacement encoder for determining linear displacement of said extraction means, said encoder producing an encoder output signal; and (4) a control means for receiving said encoder output signal and said sensor output signal and determining said linear displacement of said extraction means in relationship to said first and second plurality of trays.
E
3f Further in accordance with the present invention there is provided a storage and retrieval system comprising:
a first plurality of storage compartments successively vertically stacked along a height direction to define a first column;
a second plurality of storage compartments successively vertically stacked along said height direction to define a second column;
said first and second columns being spaced apart in opposed relation to define an access region therebetween;
at least one tray for storage in a storage compartment in either of said first or second columns, said tray having a first and second end spaced apart lengthwise along a longitudinal direction, and having opposite sides spaced apart widthwise along a width direction normal to said height and longitudinal directions;
extraction means disposed in said access region for withdrawing a selected tray from its respective storage compartment in the longitudinal direction, and for inserting the selected tray in the longitudinal direction into a storage compartment in either of said first and second columns;
means for vertically displacing said extraction means along said height direction;
said tray having first engagement means at said first end thereof and second engagement means at said second F .:ads.
- 3g -end, said first and second engagement means for engagement with said extraction means; and said extraction means comprising:
(i) platform means for supporting said selected tray after withdrawal from its respective storage compartment, said platform means having opposite ends spaced apart lengthwise along a longitudinal direction;
(ii) first extractor rod means for engaging said engagement means at one of the ends of the selected tray;
(iii) second extractor rod means for engaging said engagement means at an other end of the selected tray;
(iv) first and second chain means spaced apart in the width direction for carrying said first and second extractor rod means, said first and second extractor rod means disposed longitudinally between said first and second chain means, each of said first and second chain means being trained about a respective pair of spaced apart rotatable gear means disposed proximate opposite ends of said platform means; and (v) drive means for simultaneously rotating said first and second chain means and for effecting movement of said first and second ~;
~'. ..
- 3h -extractor rod means towards and away from said selected storage compartment, said rotation of said first and second chain means enabling said first extractor rod means to move vertically along the height direction into said first engagement means for force-transmitting engagement therewith, wherein further rotation of said first and second chain means effects movement of said selected tray longitudinally in a first direction away from its respective storage compartment and onto said platform means, said further rotation effecting concurrent movement of said second extractor rod means longitudinally in a second direction towards said respective storage compartment until said tray is substantially withdrawn from said storage compartment, whereupon continued rotation of said first and second chain means enables said second extractor rod means to move vertically along the height direction into said second engagement means, said second extractor rod means thereby positioned for engagement with said second engagement means, said drive means effecting further rotation of said first and second chain means for moving said selected tray in said first o ~'~::n _ 3i _ direction fully onto said platform means; and further wherein when said selected tray is disposed on said platform means, additional rotation of said first and second chain means enables further movement of said selected tray into registered insertion in any one of the storage compartment selectively located in either of said columns.
Still further in accordance with the present invention there is provided an automated, non-manual method for withdrawing a selected tray from a selected storage compartment, said selected storage compartment being located in either of two confrontingly-opposed columns defining an access region therebetween, each column thereof having a plurality of storage compartments vertically stacked along a height direction for storing trays, wherein each of said trays have a first and second end spaced apart lengthwise along a longitudinal direction, and have opposite sides spaced apart widthwise along a width direction normal to said height and longitudinal directions, and having a first engagement means at said first end of said selected tray said engagement means in proximity with and extending slightly into said access region and a second engagement means at said second end of said selected tray, said method comprising the steps of:
(a) moving an extraction means along the height direction in said access region, said - 3 j - ~ ~ '~ ,~ ~ ' extraction means including a platform and a first and second chain means spaced apart in the width direction for carrying a first and second extractor rod, said first and second extractor rods being longitudinally disposed between said first and second chain means for engaging said respective first and second engagement means of said selected tray, said first and second extractor rods being elongated along said width direction;
(b) registering said platform means adjacent to a storage compartment having said selected tray stored therein;
(c) simultaneously rotating said first and second chain means to concurrently move said first and second extractor rods toward the selected tray location to a position whereby the first extractor rod is located substantially vertically-adjacent said first engagement means then further rotating said first and second chain means to thereby move said first extractor rod vertically along the height direction until said first extractor rod is in force-transmitting engagement with said first engagement means along the width direction;
h - 3k -(d) moving said first extractor rod, in continuous engagement with said first engagement means at said first end of said selected tray, away from the selected storage compartment and onto said platform until said tray is substantially withdrawn from said storage compartment while said second extractor rod is concurrently moved further toward said selected tray location to a position whereby said second extractor rod is located substantially vertically-adjacent said second engagement means at said second end of said selected tray;
(e) moving said second extractor rod substantially vertically along the height direction into said second engagement means while said first extractor rod, in continued engagement with said first engagement means, is moved further away from the storage compartment so that said first extractor rod is in engagement with said first engagement means and said second extractor rod is concurrently disposed in said second engagement means, wherein said selected tray is in supported relation on said platform;
(f) further rotating said first and second chain means to enable further movement of said first and second extractor rods away from the selected storage compartment to a position in which the selected tray is completely withdrawn from said column and is carried on said platform with said first extractor rod disposed in engagement with said first engagement means and said second extractor rod disposed in said second engagement means of said selected tray;
(g) further rotating said first and second chain means to enable further movement of said selected tray toward another storage compartment located in the column opposite to the column from where said selected tray was withdrawn, said selected tray carried on said platform with said first extractor rod disposed in engagement with said first engagement means and said second extractor rod disposed in said second engagement means of said selected tray;
(h) further rotating said first and second chain means until said selected tray is registered for insertion in said another storage compartment;
(i) vertically disengaging said first extractor rod from said first engagement means along the height direction while concurrently ,.
- 3m -;~ ~ °~ ~
positioning said second extractor rod into force-transmitting engagement with said second engagement means along said width direction; and (j) additionally rotating said first and second chain means to continue movement of said selected tray, until said selected tray is substantially inserted into said respective storage compartment.
WO 92/02438 r . . . . PCT/US91/054''.
3 In the drawings, wherein similar reference 4 characters denote similar elements throughout the several views:
6 FIG. 1 is a side view, partly in cross 7 section, of an automated storage and retrieval 8 system constructed in accordance with the present 9 invention;
l0 FIG. 2 is an end view, partly in cross 11 . section, of the automated storage and retrival 12 system shown in Fig. 1;
13 FIG. 3 is a perspective view, partly 14 broken away and exploded, of a portion of the vertically-displaceable platform and of one of the 16 vertical standards along which the platform rides;
17 FIG. 4 is an elevated perspective view, 18 partly broken away, of a portion of the platform and 19 of one of the arrays including several tray-receiving shelves disposed vertically therealong;
21 FIG. 5 is an elevated perspective view of 22 the major operating components of the platform-23 carried extraction device of the present invention;
24 and FIGS. 6 to 8 are diagrammatic side views 26 illustrating, for purposes of explanation, the 27 progressive withdrawal of a tray from an array 28 location by operation of the extraction device of 29 the invention.
"''O 92/02438 PCT/US91/05490 a 3 The present invention relates to an 4 automated article storage and retrieval system and, in a currently preferred form of the invention, to 6 a vertically-oriented, optionally self-contained 7 arrangement in which a platform is vertically 8 displaceable along and between a pair of 9 confrontingly opposed or facing arrays or towers or columns in each of which a plurality of vertically-il spaced tray locat ons are defined. The invention is 12 particularly directed to a novel and advantageously-13 configured extraction device operable for 14 withdrawing any selected tray from its location in one of the arrays, for transporting -- in 16 association with a movable platform -- the withdrawn 17 tray to a selected vacant tray location in either 18 array and for then inserting the tray into the 19 selected vacant location.
With specific reference to the drawings, 21 an overall view of an automated storage and 22 retrieval system constructed in accordance with the 23 invention is shown in Figs. 1 and 2 and there 24 identified by the general reference numeral 10. The system 10 is comprised of first and second 26 vertically-oriented and, if desired, substantially 27 freestanding columnar arrays 12, 14 disposed in 28 opposed or facing relation and spaced apart by a 29 predetermined distance or separation to delineate an access region 16 therebetween. Each array 12, 14 31 may, by way of example, be fabricated as a framework 32 of vertical masts or ::>tandards 18 and generally 33 horizontal crossbars 20, the crossbars defining a 34 plurality of tray-receiving locations or recesses or WO 92/02438 PCT/US91/054°
1 shelves in each array as will hereinafter be 2 described. Top and bottom bracing members 21 may 3 also spanningly connect the opposed arrays 12, 14 4 for enhanced stability. In a preferred form of the system 10 the absolute and relative vertical 6 positions of the crossbars or shelf members 20 are 7 adjustable for selectively varying the locations of 8 and vertical spacing between all or particular ones 9 of the tray-receiving locations. The system 10 may also be suitably enclosed or enveloped by an outer 11 skin or sheeting 22 so as to limit unintended access 12 to articles stored therewithin and to prevent 13 inadvertent worker injury from moving parts. As is 14 typical in automated storage and retrieval systems, an operator workstation or article delivery area 24 16 implemented as an enlarged opening in the rear face 17 of one of the arrays -- e.g. the first array 12 --18 and a corresponding vertical separation between 19 appropriately positioned horizontal crossbars or shelf members 20 at the top and bottom of the 21 workstation may also be provided. A keyboard 26 or 22 the like mounted adjacent the workstation 24 enables 23 direct user input to and control of the operation of 24 the system l0.
The trays 80 which are receivable in the 26 horizontal crossbar-defining locations or shelves of 27 each array 12, 14 may be fabricated as bins for 28 direct receipt of stored parts or articles -- for 29 which purpose the trays may be compartmentalized or otherwise selectively capable of such 31 compartmentalization or segmentation -- or as 32 carriers for replaceable or reconfigurable inserts 33 within which such parts or articles are carried as 34 is well known in the art. In the embodiment of the ~O 92/02438 _7_ 1 invention herein described, by way of example, each 2 tray 80 comprises a generally rectangular, 3 centrally-open frame within which an article bin is 4 supportedly carryable and made up of unitarily formed or otherwise rigidly attached side members 82 6 and end members 84 (Fig. 4). Each of the side and 7 end members 82, 84 is configured, as with an L-8 shaped cross section, to provide a respective bin-9 supporting horizontal base 86, 88 and an upstanding respective sidewall 90 or endwall 92. When a tray 11 80 is disposed within one of the available array 12 locations or recesses, the undersides of its opposed 13 side member bases 86 rest atop the crossbars or 14 shelf members 20 and thereby support the tray within that recess and as the tray is slidably withdrawn or 16 extracted therefrom.
17 Depending longitudinally-outwardly from 18 each endwall 92 of the tray 80 is a ledge 94 and, 19 depending downwardly from the free end of the ledge, is a leg or lip 96. Together, the endwall 92, ledge 21 94 and lip 96 form, at or proximate each 22 longitudinal end of the tray, a handle-like 23 arrangement including a substantially U-shaped 24 interior channel 98 that is open at its bottom or downwardly-oriented side and which extends along the 26 width of the tray 80. Although the channel 98, 27 ledge 94 and lip 96 are illustrated herein as 28 extending for substantially the entire tray width, 29 those skilled in the art will readily appreciate as this description proceeds that the extent of such 31 widthwise extension is generally a matter of design 32 choice, as is the U-shaped cross-sectional contour 33 of the channel 98 and,.too, the exact structure of 34 the tray-carried members) by which the channel is WO 92/02438 PCT/US91/0549~'-.. ,_ _8_ 1 defined. Similarly, a modification in which the 2 channel 98 is open upwardly -- rather than 3 downwardly -- is both contemplated and intended as 4 being within the scope of the invention.
A platform, generally designated 28, is 6 adapted for single-dimensional vertical movement 7 along and between the opposed first and second 8 arrays 12, 14 within the access region 16. For this 9 purpose, a lift cable 30 is secured to the platform 28 and is led, as through top and bottom-mounted 11 pulleys 32, 34, to a feed drum 36 about which the 12 lift cable is selectively wound and unwound for 13 respectively raising and lowering the platform. The 14 feed drum is, in turn, rotated by and under the control of an electric, bidirectionally-operable 16 motor 38 located, in the illustrated embodiment, at 17 or proximate the bottom of the first array 12. The 18 drum 36 may also include or carry an encoder (not 19 shown) of any suitable form for use in sensing the rotation of the feed drum and, thereby, determining 21 the resulting anticipated vertical displacement of 22 the platform 28.
23 The platform 28 may be configured in any 24 appropriate manner such, for example, as the generally open frame construction of the presently-26 disclosed embodiment. The length of the platform --27 i.e. along the opposed tray-extraction and insertion 28 directions extending between the opposed arrays 12, 29 14 as indicated by the double-headed arrow 39 in Figs. 1 and 5 -- substantially conforms to the width 31 of the access region 16 and the platform carries, at 32 each of its longitudinal ends, vertically-oriented 33 pairs of guide rollers or castors 40 in continuous 34 engagement with the interior standards 18 that bound °
""'y0 92/02438 PCT/US91/05490 -g-1 the access region 16. More particularly, V-shaped 2 troughs 42 defined in the circumferential faces of 3 the rollers 40 mate with wedge-like surfaces 44 4 provided on the interior standards 18 (Figs. 3 and 4) along which the guide rollers ride as the 6 platform 28 is vertically displaced and are 7 effective to maintain the engagement of the rollers 8 and vertical standards and prevent unintended 9 horizontal shifting or translation of the platform during, for example, its vertical displacement. The 11 platform frame may be further provided with side-12 mounted, longitudinally extending tray-support 13 shoulders 45 onto which trays 80 extrac~~:ed from the 14 arrays 12, 14 are slidably receivable.
Also carried on the platform 28 is a tray 16 extraction device 46, the main operating components 17 of which are perhaps best seen in Fig. 5. The 18 extraction device 46 is formed of a pair of 19 continuous loop drive belts or chains 48, 50 or the like disposed proximate or along the opposite sides 21 of and extending for generally the full length of 22 the vertically-d. laceable platform. The chains 23 are spaced f~~m ea::h other, across the platform 28, 24 by a distance substantially conforming to the width of the trays 80 and, in the preferred form herein 26 disclosed, by slightly more than the tray width so 27 as to enable supported receipt of a tray, extracted 28 from one of the arrays, on the platform between the 29 opposed chains 48, 50 as will hereinafter become apparent. Each chain is trained about spaced apart 31 first and second rollers or sprocket wheels 52, 54 32 and lies in a substantially vertical plane with the 33 upper run of the continuous chain loop move and the 34 lower run of the loop below the tray-support WO 92/02438 PCT/US91/05~'~
1 shoulders 45. Selectively controlled rotation of 2 the chains 48, 50 about the sprocket wheels 52, 54 3 is effected by operation of a bidirectional electric 4 motor 56. The motor 56 drives the sprocket wheels 52 through the combination of a first belt or chain 6 linkage 58 and associated intermediate sprocket 7 rollers 60, 62 fixedly secured to a rotatable tie 8 shaft 64, a transfer sprocket roller 66 9 concentrically rotatable with the roller 60, and second linkages 68 and associated driven sprocket 11 rollers 70 each concentrically rotatable with a 12 respective one of the sprocket wheels 52.
13 Carried on and spanningly between the 14 drive chains 48, 50 are first and second tray engagement rods 72, 74. The elongated rods extend 16 substantially perpendicular to the tray-extraction 17 direction 39 and are suitably configured for 18 releasable engagement with the handles -- or more 19 particularly for receipt within the channels 98 --that are defined proximate the longitudinal ends of 21 the trays 80. The rods 72, 74 are, moreover, 22 predeterminately spaced from each other 23 longitudinally along the chains 48, 50 by a distance 24 substantially corresponding to the separation of the channels 98 at opposite ends of each tray. This 26 spacing permits each of the rods 72, 74 to be 27 received and concurrently maintained in a respective 28 one of the channels 98 at the opposite ends of any 29 selected tray 80. Where, as herein disclosed, the tray channels 98 have downwardly-directed openings 31 through which the rods 72, 74 are receivable into 32 the channels, the rod locations illustrated in Fig.
33 5 -- i.e. along the lower runs of the drive chains 34 48, 50 -- correspond to a state or condition in ~O 92/02438 ~y ~ ~ ~ , ~ ~ PCT/US91/05490 1 which neither rod 72, 74 is positioned within a tray 2 channel 98 or, put another way, in which no tray 80 3 is either currently disposed supportedly on the 4 platform 28 or is in the process of being extracted from an array shelf.
6 The platform 28 is additionally provided 7 proximate each of its longitudinal ends -- as for 8 example on one of the brackets 100 to which the 9 platform guide rollers 40 are rotatively mounted --to with an upper and a lower sensor 102, 1~4 (Fig. 3) 11 for assuring the achievement and maintenance of 12 proper registration of the platform with a selected 13 tray or with a vacant tray-receiving location in one 14 of the arrays 12 , 14 . Any suitable sensor may be utilized for this purpose; in the presently 16 disclosed embodiment of the invention, a reflective-17 type sensor (such as photomicrosensor EE-SY310 of 18 the Omron Tateisi Electronics Co. of Osaka, Japan) 19 is employed for each of the sensors 102, 104. These sensors cooperate with an extension or finger 106 21 (Fig. 4) that projects outwardly beyond the 22 horizontal standard 18 from one of each pair of the 23 shelf members 20 at its end proximate the access 24 region 16. The finger 106 has a vertical height or size at least equal and preferably closely 26 conforming to the spacing of the upper and lower 27 sensors 102, 104 so that the sensors are capable of 28 simultaneous alignment or opposed adjacency with the 29 surface of the finger. In other words, vertical registration of the platform 28 with a filled or 31 vacant tray-receiving location in one of the 32 columnar arrays 12, 14 is indicated when both 33 sensors 102, 104 simultaneously detect reflective 34 proximity or adjacency with the corresponding shelf WO 92/02438 PCT/US91/054~"' 1 member finger 106, and is contraindicated when at 2 least one of the sensors fails to detect such 3 proximity. This arrangement enables -- in addition 4 to rapid and accurate determination of tray location registration as the platform is vertically displaced 6 -- continued maintenance of registration as a tray 7 is extracted from an array and moved onto the 8 platform, or is inserted into an array recess from 9 the platform; the ability to maintain registration l0 under such circumstances is particularly 11 advantageous where an extracted tray contains an 12 unusually heavy load which causes even minor 13 stretching of the lift cable 30 (and consequent 14 vertical movement of the platform 28) as a tray 80 is moved onto or off of the platform. The 16 construction and details of a control device or 17 circuitry for effecting dynamic realignment or 18 reregistration of the platform and otherwise 19 operating the lift motor 38 in accordance with, for example, the signals from the sensors 102, 104 is 21 considered to be a matter of design choice to the 22 person of ordinary skill.
23 The process by which the extraction device 24 46 operatively withdraws trays from, and correspondingly inserts trays into, locations 26 defined in the columnar arrays 12, 14 will now be 27 described. As previously noted, the Fig. 5 position 28 of the rods 72, 74 corresponds to that condition in 29 which no tray is currently supported on the platform 28 and the extraction device is in readiness for 31 withdrawing a tray from a shelf in one of the 32 arrays. The platform is first moved, if necessary, 33 vertically along and between the arrays 12, 14 into 34 registration with a selected tray 80 situated in a 1 recess or location in, for example, the first array 2 12 by appropriate operation of the lift motor 38;
3 proper vertical registration of the platform with 4 the selected tray is detected by simultaneous reflective coincidence of both the upper sensor 102 6 and the lower sensor 104 with the shelf-carried 7 finger 106 at the tray position. As seen in Fig. 4, 8 the sprocket wheels 52, 54 are predeterminately 9 located on the platform 28 so that, in this position of registration, the longitudinally outermost edge 11 of each wheel 52, 54 is substantially vertically 12 aligned with the elongation of the adjacently-13 disposed (i.e. leading end) tray channel 98. Thus, 14 the innermost longitudinal end of each tray 80 that is properly seated on an opposed pair of shelf 16 members or crossbars 20 projects into the access 17 region by a distance sufficient to vertically align 18 its innermost channel 98 with the longitudinal limit 19 position of each drive chain run or loop 48, 50.
The next sequence of events in the 21 withdrawal of the selected tray 80 is illustrated in 22 pertinent part in Figs. 6 through 8. The extraction 23 motor 56 is operated in the appropriate rotational 24 direction or sense to concurrently rod-ate the chains 48, 50 and jointly carry the rods 72, 74 alc:~g the 26 lower chain runs toward the selected tray -- i.e. to 27 the right in the drawing Figures. As the first rod 28 72 reaches its rightward or forwardmost limit 29 position at the second sprocket wheels 54 and is carried by the drive chains 48, 50 about the wheels 31 54, its direction of movement first shifts from a ''2 substantially horizontal to a substantially 33 upwardly-vertical orientation. In so moving 3C vertically upward the first rod 72 enters the WO 92/02438 PCT/US91/054~
?.~
1 channel 98, through its downwardly-directed access 2 opening, and is thereby carried by the drive chains 3 48, 50 into engagement with the tray handle. The 4 second rod 74, as the first rod moves vertically upward about the sprocket wheels 54, continues its 6 forward or rightward horizontal motion along the 7 lower chain runs.
8 With continued rotation of the drive 9 chains in the same sense, the first rod 72 moves further about the outer circumference of the 11 sprocket wheels 54 and shifts from a substantially 12 vertical to a substantially horizontal direction of 13 movement (Fig. 7), this time in the opposite or 14 rearward direction -- i.e. away from the array 12 bearing the selected tray -- along the upper drive 16 chain runs. As the first rod 72 thus moves 17 horizontally away from the array 12 along the upper 18 chain runs, it remains within the front or leading 19 tray channel 98 and pulls the tray 80, through its abutment with the inner side or face of the tray lip 21 96, slidably along the shelf members 20. The 22 selected tray is thereby withdrawn or extracted from 23 the array shelf (i.e. to the left in Figs. 4 and 7) 24 and onto the support shoulders 45 of the platform 28. During this period of tray extraction, the 26 second rod 74 continues to move horizontally toward 27 the array 12 (from which the selected tray is being 28 extracted) along the lower runs of the drive chains 29 48, 50.
As the selected tray 80 reaches a position 31 of substantially complete withdrawal from support by 32 the array shelf members 20, it attains a position in 33 which the handle channel 98 at the rear or trailing 34 end of the tray becomes vertically aligned with the ~O 92/02438 PCT/US91/05490 1 outward edge of the sprocket wheels 54. This 2 orientation occurs concurrently with the second rod 3 74 being carried by the drive chains 48, 50 along 4 their lower runs, onto and circumferentially about the wheels 54, and thus vertically upwardly into the 6 channel 98 at the trailing end of the tray. At this 7 point, therefore, the rods 72, 74 are simultaneously 8 located within the leading and trailing, 9 respectively, channels 98 defined at the opposite longitudinal ends of the selected tray 80. Further 11 continued rotation of the chains 48, 50 in an amount 12 sufficient to carry both rods 72, 74 leftward (in 13 the Figures) along the upper chain runs -- to 14 positions immediately above, for example, the lower run positions of the rods shown in Fig. 5 -- brings 16 the entirety of the selected tray onto the platform 17 shoulders 45 and clear of the array 11 and its 18 associated structural and functional elements. The 19 rods 72, 74 -- while the selected tray is thus supported on the platform 28 -- remain within the 21 respective handle channels 98 at the tray ends (Fig.
22 8) .
23 With the tray thus fully seated on the 24 platform 28, the lift motor 38 may be operated to vertically displace the platform into registration 26 with a vacant tray-receiving location in either of 27 the columnar arrays 12, 14 or with the workstation 28 24 fir enabling user access to the platform-carried 29 tray. Where the tray is to be returned to a vacant recess or slot or shelf in the same array 12 from 31 which it was extracted, operation of the motor 56 to 32 rotate the drive chains 48, 50 in the opposite sense 33 from that by which the selected tray was extracted 34 will effect insertion of the platform-carried tray WO 92/02438 PCT/US91/054~
°~ ~' ~' 1 onto the array shelf. If, on the other hand, it is 2 desired to insert or transfer the tray into the 3 oppositely disposed array 14, the extraction device 4 motor 56 is operated to rotate the chains 48, 50 in the same sense as that used to withdraw the tray 6 from the first array 12. In either event, the joint 7 movements of the rods 72, 74 and their cooperations 8 with the selected tray end-mounted handles to, in 9 effect, push or drive or so insert the tray into an array location or shelf should by now be apparent to 11 those skilled in the art. What should be recognized 12 and appreciated is that the extraction device of the 13 present invention enables ready and reliable 14 withdrawal and insertion of selected trays, from and into either of the confrontingly opposed columnar 16 arrays, without undue structural complexity.
17 While there have been shown and described 18 and pointed out fundamental novel features of the 19 invention as applied to a preferred embodiment thereof, it will be understood that various 21 omissions and substitutions and changes in the form 22 and details of the device illustrated and in its 23 operation may be made by those skilled in the art 24 without departing from the spirit of the invention.
It is the intention, therefore, to be limited only 26 as indicated by the scope of the claims appended 27 hereto.
33 5 -- i.e. along the lower runs of the drive chains 34 48, 50 -- correspond to a state or condition in ~O 92/02438 ~y ~ ~ ~ , ~ ~ PCT/US91/05490 1 which neither rod 72, 74 is positioned within a tray 2 channel 98 or, put another way, in which no tray 80 3 is either currently disposed supportedly on the 4 platform 28 or is in the process of being extracted from an array shelf.
6 The platform 28 is additionally provided 7 proximate each of its longitudinal ends -- as for 8 example on one of the brackets 100 to which the 9 platform guide rollers 40 are rotatively mounted --to with an upper and a lower sensor 102, 1~4 (Fig. 3) 11 for assuring the achievement and maintenance of 12 proper registration of the platform with a selected 13 tray or with a vacant tray-receiving location in one 14 of the arrays 12 , 14 . Any suitable sensor may be utilized for this purpose; in the presently 16 disclosed embodiment of the invention, a reflective-17 type sensor (such as photomicrosensor EE-SY310 of 18 the Omron Tateisi Electronics Co. of Osaka, Japan) 19 is employed for each of the sensors 102, 104. These sensors cooperate with an extension or finger 106 21 (Fig. 4) that projects outwardly beyond the 22 horizontal standard 18 from one of each pair of the 23 shelf members 20 at its end proximate the access 24 region 16. The finger 106 has a vertical height or size at least equal and preferably closely 26 conforming to the spacing of the upper and lower 27 sensors 102, 104 so that the sensors are capable of 28 simultaneous alignment or opposed adjacency with the 29 surface of the finger. In other words, vertical registration of the platform 28 with a filled or 31 vacant tray-receiving location in one of the 32 columnar arrays 12, 14 is indicated when both 33 sensors 102, 104 simultaneously detect reflective 34 proximity or adjacency with the corresponding shelf WO 92/02438 PCT/US91/054~"' 1 member finger 106, and is contraindicated when at 2 least one of the sensors fails to detect such 3 proximity. This arrangement enables -- in addition 4 to rapid and accurate determination of tray location registration as the platform is vertically displaced 6 -- continued maintenance of registration as a tray 7 is extracted from an array and moved onto the 8 platform, or is inserted into an array recess from 9 the platform; the ability to maintain registration l0 under such circumstances is particularly 11 advantageous where an extracted tray contains an 12 unusually heavy load which causes even minor 13 stretching of the lift cable 30 (and consequent 14 vertical movement of the platform 28) as a tray 80 is moved onto or off of the platform. The 16 construction and details of a control device or 17 circuitry for effecting dynamic realignment or 18 reregistration of the platform and otherwise 19 operating the lift motor 38 in accordance with, for example, the signals from the sensors 102, 104 is 21 considered to be a matter of design choice to the 22 person of ordinary skill.
23 The process by which the extraction device 24 46 operatively withdraws trays from, and correspondingly inserts trays into, locations 26 defined in the columnar arrays 12, 14 will now be 27 described. As previously noted, the Fig. 5 position 28 of the rods 72, 74 corresponds to that condition in 29 which no tray is currently supported on the platform 28 and the extraction device is in readiness for 31 withdrawing a tray from a shelf in one of the 32 arrays. The platform is first moved, if necessary, 33 vertically along and between the arrays 12, 14 into 34 registration with a selected tray 80 situated in a 1 recess or location in, for example, the first array 2 12 by appropriate operation of the lift motor 38;
3 proper vertical registration of the platform with 4 the selected tray is detected by simultaneous reflective coincidence of both the upper sensor 102 6 and the lower sensor 104 with the shelf-carried 7 finger 106 at the tray position. As seen in Fig. 4, 8 the sprocket wheels 52, 54 are predeterminately 9 located on the platform 28 so that, in this position of registration, the longitudinally outermost edge 11 of each wheel 52, 54 is substantially vertically 12 aligned with the elongation of the adjacently-13 disposed (i.e. leading end) tray channel 98. Thus, 14 the innermost longitudinal end of each tray 80 that is properly seated on an opposed pair of shelf 16 members or crossbars 20 projects into the access 17 region by a distance sufficient to vertically align 18 its innermost channel 98 with the longitudinal limit 19 position of each drive chain run or loop 48, 50.
The next sequence of events in the 21 withdrawal of the selected tray 80 is illustrated in 22 pertinent part in Figs. 6 through 8. The extraction 23 motor 56 is operated in the appropriate rotational 24 direction or sense to concurrently rod-ate the chains 48, 50 and jointly carry the rods 72, 74 alc:~g the 26 lower chain runs toward the selected tray -- i.e. to 27 the right in the drawing Figures. As the first rod 28 72 reaches its rightward or forwardmost limit 29 position at the second sprocket wheels 54 and is carried by the drive chains 48, 50 about the wheels 31 54, its direction of movement first shifts from a ''2 substantially horizontal to a substantially 33 upwardly-vertical orientation. In so moving 3C vertically upward the first rod 72 enters the WO 92/02438 PCT/US91/054~
?.~
1 channel 98, through its downwardly-directed access 2 opening, and is thereby carried by the drive chains 3 48, 50 into engagement with the tray handle. The 4 second rod 74, as the first rod moves vertically upward about the sprocket wheels 54, continues its 6 forward or rightward horizontal motion along the 7 lower chain runs.
8 With continued rotation of the drive 9 chains in the same sense, the first rod 72 moves further about the outer circumference of the 11 sprocket wheels 54 and shifts from a substantially 12 vertical to a substantially horizontal direction of 13 movement (Fig. 7), this time in the opposite or 14 rearward direction -- i.e. away from the array 12 bearing the selected tray -- along the upper drive 16 chain runs. As the first rod 72 thus moves 17 horizontally away from the array 12 along the upper 18 chain runs, it remains within the front or leading 19 tray channel 98 and pulls the tray 80, through its abutment with the inner side or face of the tray lip 21 96, slidably along the shelf members 20. The 22 selected tray is thereby withdrawn or extracted from 23 the array shelf (i.e. to the left in Figs. 4 and 7) 24 and onto the support shoulders 45 of the platform 28. During this period of tray extraction, the 26 second rod 74 continues to move horizontally toward 27 the array 12 (from which the selected tray is being 28 extracted) along the lower runs of the drive chains 29 48, 50.
As the selected tray 80 reaches a position 31 of substantially complete withdrawal from support by 32 the array shelf members 20, it attains a position in 33 which the handle channel 98 at the rear or trailing 34 end of the tray becomes vertically aligned with the ~O 92/02438 PCT/US91/05490 1 outward edge of the sprocket wheels 54. This 2 orientation occurs concurrently with the second rod 3 74 being carried by the drive chains 48, 50 along 4 their lower runs, onto and circumferentially about the wheels 54, and thus vertically upwardly into the 6 channel 98 at the trailing end of the tray. At this 7 point, therefore, the rods 72, 74 are simultaneously 8 located within the leading and trailing, 9 respectively, channels 98 defined at the opposite longitudinal ends of the selected tray 80. Further 11 continued rotation of the chains 48, 50 in an amount 12 sufficient to carry both rods 72, 74 leftward (in 13 the Figures) along the upper chain runs -- to 14 positions immediately above, for example, the lower run positions of the rods shown in Fig. 5 -- brings 16 the entirety of the selected tray onto the platform 17 shoulders 45 and clear of the array 11 and its 18 associated structural and functional elements. The 19 rods 72, 74 -- while the selected tray is thus supported on the platform 28 -- remain within the 21 respective handle channels 98 at the tray ends (Fig.
22 8) .
23 With the tray thus fully seated on the 24 platform 28, the lift motor 38 may be operated to vertically displace the platform into registration 26 with a vacant tray-receiving location in either of 27 the columnar arrays 12, 14 or with the workstation 28 24 fir enabling user access to the platform-carried 29 tray. Where the tray is to be returned to a vacant recess or slot or shelf in the same array 12 from 31 which it was extracted, operation of the motor 56 to 32 rotate the drive chains 48, 50 in the opposite sense 33 from that by which the selected tray was extracted 34 will effect insertion of the platform-carried tray WO 92/02438 PCT/US91/054~
°~ ~' ~' 1 onto the array shelf. If, on the other hand, it is 2 desired to insert or transfer the tray into the 3 oppositely disposed array 14, the extraction device 4 motor 56 is operated to rotate the chains 48, 50 in the same sense as that used to withdraw the tray 6 from the first array 12. In either event, the joint 7 movements of the rods 72, 74 and their cooperations 8 with the selected tray end-mounted handles to, in 9 effect, push or drive or so insert the tray into an array location or shelf should by now be apparent to 11 those skilled in the art. What should be recognized 12 and appreciated is that the extraction device of the 13 present invention enables ready and reliable 14 withdrawal and insertion of selected trays, from and into either of the confrontingly opposed columnar 16 arrays, without undue structural complexity.
17 While there have been shown and described 18 and pointed out fundamental novel features of the 19 invention as applied to a preferred embodiment thereof, it will be understood that various 21 omissions and substitutions and changes in the form 22 and details of the device illustrated and in its 23 operation may be made by those skilled in the art 24 without departing from the spirit of the invention.
It is the intention, therefore, to be limited only 26 as indicated by the scope of the claims appended 27 hereto.
Claims (8)
1. A storage and retrieval system, comprising:
(a) an extraction means, carried on a platform means, for withdrawing a selected tray selected from at least one tray, from one of a plurality of tray locations and for inserting said selected tray on said platform means into said tray location;
(b) each said selected tray having a length with two opposed ends along said tray length, and including, at each opposed end, a handle means engageable by said extraction means for longitudinally withdrawing said selected tray from said tray location and for longitudinally inserting said selected tray into said tray location, said handle means including a vertically-oriented opening through which said handle means is engageable by said extraction means;
(c) said extraction means comprising:
(1) a first member and a second member concurrently movable along said platform means at a predetermined spaced apart relation to each other toward and away from said tray location, each said member being elongated in a direction substantially perpendicular to said direction of member movement;
(2) a drive means operable for concurrently moving said first member and said second member so that, with said platform means in registration with said selected tray location containing said selected tray, said first member is moved initially toward said selected tray location and vertically into said handle means at said one end of said selected tray and is then moved away from said selected tray location with said first member in engagement with said handle means to thereby longitudinally withdraw said selected tray from said selected tray location onto said platform means until said selected tray is fully withdrawn whereupon said second member is moved vertically into said handle means opening at said opposite end of said selected tray and is then moved away from said selected tray location until said selected tray is fully supported on said platform means with both said first member and said second member engaged with said handle means; and (d) a sensing means for determining each tray location, comprising:
(1) a plurality of sensible members, each of said sensible members being located adjacent a respective one of said tray locations;
(2) a sensor responsive to each of said sensible members, said sensor being mounted on said extraction means and producing a sensor output signal indicating registration of the platform with said tray location;
(3) a linear displacement encoder for determining linear displacement of said extraction means, said encoder producing an encoder output signal;
(4) a control means for receiving said encoder output signal and said sensor output signal and determining said linear displacement of said extraction means in relationship to said at least one tray.
(a) an extraction means, carried on a platform means, for withdrawing a selected tray selected from at least one tray, from one of a plurality of tray locations and for inserting said selected tray on said platform means into said tray location;
(b) each said selected tray having a length with two opposed ends along said tray length, and including, at each opposed end, a handle means engageable by said extraction means for longitudinally withdrawing said selected tray from said tray location and for longitudinally inserting said selected tray into said tray location, said handle means including a vertically-oriented opening through which said handle means is engageable by said extraction means;
(c) said extraction means comprising:
(1) a first member and a second member concurrently movable along said platform means at a predetermined spaced apart relation to each other toward and away from said tray location, each said member being elongated in a direction substantially perpendicular to said direction of member movement;
(2) a drive means operable for concurrently moving said first member and said second member so that, with said platform means in registration with said selected tray location containing said selected tray, said first member is moved initially toward said selected tray location and vertically into said handle means at said one end of said selected tray and is then moved away from said selected tray location with said first member in engagement with said handle means to thereby longitudinally withdraw said selected tray from said selected tray location onto said platform means until said selected tray is fully withdrawn whereupon said second member is moved vertically into said handle means opening at said opposite end of said selected tray and is then moved away from said selected tray location until said selected tray is fully supported on said platform means with both said first member and said second member engaged with said handle means; and (d) a sensing means for determining each tray location, comprising:
(1) a plurality of sensible members, each of said sensible members being located adjacent a respective one of said tray locations;
(2) a sensor responsive to each of said sensible members, said sensor being mounted on said extraction means and producing a sensor output signal indicating registration of the platform with said tray location;
(3) a linear displacement encoder for determining linear displacement of said extraction means, said encoder producing an encoder output signal;
(4) a control means for receiving said encoder output signal and said sensor output signal and determining said linear displacement of said extraction means in relationship to said at least one tray.
2. The storage and retrieval system extraction means according to Claim 1, wherein said selected tray is selected from a plurality of trays.
3. A storage and retrieval system, comprising:
(a) a first plurality of trays arranged in vertically-stacked relation to define a first column of said trays in corresponding tray locations, each of said plurality of trays of said first column being individually movable in a substantially horizontal first direction for extracting a selected one of said plurality of trays from said first column of said trays:
(b) a second plurality of trays arranged in vertically-stacked relation to define a second column of said trays in corresponding tray locations, each of said plurality of trays of said second column being individually movable in a substantially horizontal second direction for extracting said selected one of said plurality of trays from said second column of said trays;
(c) said first and second columns being predeterminately spaced apart in opposed relation and defining an access region between said opposed columns;
(d) an extraction means operable for releasably engaging said selected one of said plurality of trays, withdrawing said selected one of said plurality of trays and inserting said withdrawn tray into one of said columns;
(e) a platform means for carrying said extraction means movable by a motor and disposed in said access region for substantially vertical movement along said first and said second columns; and (f) a sensing means for determining each tray location, comprising:
(1) a plurality of sensible members, each of said sensible members being located adjacent a respective one of said tray locations;
(2) a sensor responsive to each of said sensible members, said sensor being mounted on said extraction means and producing a sensor output signal indicating vertical registration of the platform with said tray location;
(3) a linear displacement encoder for determining linear displacement of said extraction means, said encoder producing an encoder output signal; and (4) a control means for receiving said encoder output signal and said sensor output signal and determining said linear displacement of said extraction means in relationship to said first and second plurality of trays.
(a) a first plurality of trays arranged in vertically-stacked relation to define a first column of said trays in corresponding tray locations, each of said plurality of trays of said first column being individually movable in a substantially horizontal first direction for extracting a selected one of said plurality of trays from said first column of said trays:
(b) a second plurality of trays arranged in vertically-stacked relation to define a second column of said trays in corresponding tray locations, each of said plurality of trays of said second column being individually movable in a substantially horizontal second direction for extracting said selected one of said plurality of trays from said second column of said trays;
(c) said first and second columns being predeterminately spaced apart in opposed relation and defining an access region between said opposed columns;
(d) an extraction means operable for releasably engaging said selected one of said plurality of trays, withdrawing said selected one of said plurality of trays and inserting said withdrawn tray into one of said columns;
(e) a platform means for carrying said extraction means movable by a motor and disposed in said access region for substantially vertical movement along said first and said second columns; and (f) a sensing means for determining each tray location, comprising:
(1) a plurality of sensible members, each of said sensible members being located adjacent a respective one of said tray locations;
(2) a sensor responsive to each of said sensible members, said sensor being mounted on said extraction means and producing a sensor output signal indicating vertical registration of the platform with said tray location;
(3) a linear displacement encoder for determining linear displacement of said extraction means, said encoder producing an encoder output signal; and (4) a control means for receiving said encoder output signal and said sensor output signal and determining said linear displacement of said extraction means in relationship to said first and second plurality of trays.
4. The storage and retrieval system according to Claim 3, wherein each of said plurality of trays has a length oriented along said first and said second directions and including, at each opposed end along said tray length, engageable means for releasable engagement with said extraction means, said engageable means comprising a channel extending substantially perpendicular to said tray length and having a vertically-oriented opening through which said extraction means is releasably receivable for engagement with said one of said plurality of trays.
5. The storage and retrieval system according to Claim 3, wherein said extraction means further comprises a pair of members, each said member extending substantially horizontally and being elongated in a direction substantially perpendicular to said first and said second directions at a predetermined spaced apart relation to each other substantially corresponding to said tray length so that, with said platform disposed adjacent to said selected one of said plurality of trays in said first column, one of said members is moved by operation of a drive means through said vertically-oriented opening into said channel so as to releasably engage said selected tray and, with continued movement of said member, said selected tray is thereby withdrawn from said first column in said first direction and supportedly onto said platform and the other of said members is moved through said vertically-oriented opening into said channel at said opposed end of said selected tray when said selected tray reaches a substantially complete withdrawal from said first column and substantially complete support on said platform with each of said members disposed in one of said channels of said selected tray.
6. The storage and retrieval system according to Claim 3, wherein said sensor comprises an optical sensor.
7. The storage and retrieval system according to Claim 3, wherein said sensor comprises a pair of optical sensors.
8. The storage and retrieval system according to Claim 3, wherein the sensor includes a pair of adjacent sensing elements, said sensible members having a size conforming to spacing of the sensing elements so as to permit simultaneous alignment of the sensing elements with one of the sensible members.
Priority Applications (1)
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|---|---|---|---|
| CA002461045A CA2461045C (en) | 1990-08-01 | 1991-08-01 | Automated storage and retrieval system |
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| US07/561,112 US5199840A (en) | 1990-08-01 | 1990-08-01 | Automated storage and retrieval system |
| US561,112 | 1990-08-01 | ||
| PCT/US1991/005490 WO1992002438A1 (en) | 1990-08-01 | 1991-08-01 | Automated storage and retrieval system |
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- 1991-08-01 CA CA002461045A patent/CA2461045C/en not_active Expired - Lifetime
- 1991-08-01 AU AU84155/91A patent/AU8415591A/en not_active Abandoned
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1995
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| CA2067214A1 (en) | 1992-02-02 |
| DK0495077T3 (en) | 1998-09-14 |
| EP0495077A1 (en) | 1992-07-22 |
| CA2461045A1 (en) | 1992-02-20 |
| ATE162151T1 (en) | 1998-01-15 |
| DE69128705T2 (en) | 1998-08-27 |
| WO1992002438A1 (en) | 1992-02-20 |
| US5199840A (en) | 1993-04-06 |
| JPH05503276A (en) | 1993-06-03 |
| AU8415591A (en) | 1992-03-02 |
| DE69128705D1 (en) | 1998-02-19 |
| EP0495077A4 (en) | 1993-01-07 |
| US5544996A (en) | 1996-08-13 |
| CA2461045C (en) | 2005-05-24 |
| EP0495077B1 (en) | 1998-01-14 |
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