| CPC B65G 1/0421 (2013.01) [B65G 1/0435 (2013.01)] | 8 Claims |
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1. An article storage facility comprising:
a first rack unit comprising a plurality of first storage sections aligned in a first direction along a horizontal plane;
a second rack unit compromising a plurality of second storage sections aligned in the first direction, the second rack unit facing the first rack unit in a second direction orthogonal to the first direction in a vertical view along an up-down direction;
a mobile body configured to move in the first direction at a position between the first rack unit and the second rack unit in the second direction;
at least one transfer device mounted to the mobile body and comprising a holding section configured to hold a transfer target article, the at least one transfer device configured to transfer the transfer target article between the holding section and the first storage sections and between the holding section and the second storage sections; and
a controller configured to control operations of the mobile body and the at least one transfer device,
wherein:
each of the first storage sections and each of the second storage sections is configured to store two articles side by side in the second direction,
the holding section is configured to hold two articles side by side in the second direction,
the at least one transfer device comprises a pair of arms configured to extend and withdraw in the second direction, the at least one transfer device further configured to change a distance between the pair of arms in the first direction,
the at least one transfer device performs a transfer operation of transferring the transfer target article between the holding section and one of the first storage sections or one of the second storage sections by extending and withdrawing the pair of arms in the second direction while the transfer target article is located between the pair of arms in the first direction,
the transfer operation includes: (i) an unloading operation, in which the at least one transfer device delivers the transfer target article from the holding section to one of the first storage sections or one of the second storage sections, and (ii) a scooping operation, in which the transfer device transfers the transfer target article from one of the first storage sections or one of the second storage sections to the holding section,
a first article is an article on one side in the second direction and a second article is an article on another side in the second direction while the first article and the second article are held side by side in the second direction by the holding section,
in the unloading operation performed on two articles while the two articles are held by the holding section, the controller first performs the unloading operation on a large article, which is an article having a larger dimension in the first direction out of the first article and the second article, and then performs the unloading operation on a small article, which is an article having a smaller dimension in the first direction out of the first article and the second article, and
in the scooping operation performed on two articles that become the first article and the second article while no article is held by the holding section, the controller first performs the scooping operation on a small article, which is an article having a smaller dimension in the first direction out of the two articles, and then performs the scooping operation on a large article, which is an article having a larger dimension in the first direction out of the two articles.
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