Warehousing system and warehouse-in and warehouse-out method

Abstract

The embodiment of the invention provides a warehousing system and a warehouse-in and warehouse-out method. The warehousing system comprises a goods shelf, a first robot, a second robot and a work station. The first robot is used for taking and placing the material box between the material box storage layer and the material box temporary storage layer of the goods shelf; the second robot can carry material boxes between the work station and the material box temporary storage layer of the goods shelf and comprises a shifting rod mechanism used for shifting the material boxes on the material box temporary storage layer to the goods carrying platform or shifting the material boxes on the goods carrying platform to the material box temporary storage layer when the second robot moves to the position, corresponding to the material box temporary storage layer, in the containing space. And moreover, the material boxes are taken and placed through shifting of the shifting rod mechanism, so that the material box temporary storage layer can be set to be low, the distance between the material box temporary storage layer and the material box storage layer is reduced, the space of the storage area is increased, and the storage capacity of the goods shelf is improved. Through mutual relay cooperation of the two robots, warehouse-in and warehouse-out of the workbins in the warehousing system are achieved, and therefore the goods taking and placing efficiency of the warehousing system is improved.

Description

Technical Field

[0001] The present application relates to the field of logistics warehousing technology, and in particular to a warehousing system and a warehousing-in and -out method. Background Art

[0002] In the related art, the warehousing system includes multiple shelves and handling robots. The handling robots can climb on the shelves and walk on the ground, so as to move the boxes to be shipped out of the shelves to the workstation for shipment, or move the goods to be stored into the warehouse onto the shelves.

[0003] In this method of picking and placing goods, the storage system only includes one type of transport robot, which needs to both carry goods on the ground and climb the shelves to pick and place goods, resulting in low efficiency of picking and placing goods in the storage system. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a warehousing system and a warehousing and warehousing method to improve the efficiency of picking up and releasing goods in the warehousing system. The specific technical solution is as follows:

[0005] The embodiment of the present application provides a warehousing system, including: a shelf, a first robot, a second robot and a workstation; the shelf includes: a storage area and a buffer area; the storage area is provided with a material box storage layer for storing material boxes; the buffer area is located at the bottom of the storage area; there is a preset height between the top of the buffer area and the ground to form a storage space, and a material box buffer layer is provided in the storage space for caching material boxes; the first robot is arranged on one side of the shelf, and is used to take and place material boxes between the material box storage layer and the material box buffer layer; the second robot is capable of carrying material boxes between the workstation and the material box buffer layer of the shelf; the second robot includes: a moving chassis, a cargo platform and a lever mechanism; the cargo platform is installed on the top of the moving chassis; the lever mechanism is fixed on the cargo platform, and is used to move the material boxes on the material box buffer layer to the cargo platform, or to move the material boxes on the cargo platform to the material box buffer layer when the second robot moves to a position corresponding to the material box buffer layer in the storage space.

[0006] An embodiment of the present application also provides a warehousing method, which is applied to a control device, and the control device is communicatively connected with a first robot and a second robot of the warehousing system described in any of the above embodiments; the number of the material box storage layers is multiple, and each of the material box storage layers is divided into multiple material box storage positions; a plurality of through slots are arranged at intervals on the material box cache layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the layer plates on both sides thereof form a material box cache position; the method includes: obtaining the position information of the target free material box storage position and the target free material box cache position of each material box to be stored; instructing the second robot to move the material box to be stored from the workstation to the target free material box cache position, so that when the second robot moves to the position corresponding to the target free material box cache position in the accommodation space of the shelf, the lever mechanism will shift the material box to be stored on the loading platform to the target free material box cache position; instructing the first robot to move the material box to be stored to the target free material box storage position.

[0007] An embodiment of the present application also provides a warehouse dispatching method, characterized in that it is applied to a control device, and the control device is communicatively connected with a first robot and a second robot of the warehousing system described in any of the above embodiments; the number of the material box storage layers is multiple, and each of the material box storage layers is divided into multiple material box storage positions; a plurality of through slots are arranged at intervals on the material box cache layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the layer plates on both sides thereof form a material box cache position; the method includes: obtaining the position information of the target free material box cache position of each material box to be dispatched in the storage area; instructing the first robot to move the material box to be dispatched in the storage area to the target free material box cache position; instructing the second robot to move the material box to be dispatched from the material box cache position to the workstation, so that when the second robot moves to the position corresponding to the material box cache position in the accommodation space of the shelf, the lever mechanism shifts the material box to be dispatched to the cargo platform.

[0008] An embodiment of the present application also provides a control device, including: a memory for storing computer programs; a processor for implementing the warehousing method described in any of the above embodiments, or implementing the warehousing-out method described in any of the above embodiments when executing the program stored in the memory.

[0009] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, it implements the warehousing method described in any of the above embodiments, or implements the warehousing-out method described in any of the above embodiments.

[0010] The storage system and the warehousing access method provided by the embodiment of the present application are provided with a first robot for picking up and placing the material boxes between the material box storage layer and the material box cache layer, and a second robot for carrying the material boxes between the workstation and the material box cache layer of the shelf. The material boxes in and out of the storage system are realized by the first robot and the second robot relaying and cooperating with each other, thereby improving the efficiency of picking up and placing goods in the storage system. In addition, the second robot realizes picking up and placing the material boxes by moving the lever mechanism, so that the height from the material box cache layer to the ground can be set to be slightly higher than the height of the cargo platform, that is, the material box cache layer can be set lower, which increases the storage area space, and more material box storage layers can be set, thereby improving the storage capacity of the shelf. Moreover, by moving the lever mechanism to pick up and place the material boxes, there is no need to lift the material boxes upward from the material box cache layer, which can reduce the distance between the material box cache layer and the material box storage layer, further increasing the storage area space and improving the storage capacity of the shelf.

[0011] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0013] Figure 1a A three-dimensional structural diagram of a storage system provided in the first embodiment of the present application;

[0014] Figure 1b for Figure 1a A schematic diagram of the main view of the storage system shown;

[0015] Figure 1c for Figure 1a A schematic side view of the storage system shown;

[0016] Figure 1d for Figure 1a A schematic top view of the storage system shown;

[0017] Figure 2 for Figure 1a A three-dimensional structural diagram of a first robot in the warehousing system shown;

[0018] Figure 3a for Figure 1a A three-dimensional structural diagram of a first embodiment of a second robot in a warehousing system;

[0019] Figure 3b for Figure 3aThe three-dimensional structure diagram of the second robot in which the first fork and the second fork are in a raised state;

[0020] Figure 3c for Figure 1a A three-dimensional structural diagram of a second embodiment of the second robot shown;

[0021] Figure 4 A side view schematic diagram of a warehousing system (the first robot is not shown) provided in a second embodiment of the present application;

[0022] Figure 5 A side schematic diagram of a warehousing system (the first robot is not shown) provided in a third embodiment of the present application;

[0023] Figure 6 for Figure 1d A three-dimensional structural diagram of a workstation in the storage system shown;

[0024] Figure 7 The process of the first embodiment of the warehousing method provided in the embodiment of the present application;

[0025] Figure 8 for Figure 7 The flowchart of the first specific implementation method of step S710 is shown;

[0026] Fig. 9 for Figure 7 A flowchart of a second specific implementation method of step S710 is shown;

[0027] Fig.10 The process of the second embodiment of the warehousing method provided in the embodiment of the present application;

[0028] Fig.11 The process of the third embodiment of the warehousing method provided in the embodiment of the present application;

[0029] Fig.12 The process of the fourth embodiment of the warehousing method provided in the embodiment of the present application;

[0030] Fig.13 The process of the fifth embodiment of the warehousing method provided in the embodiment of the present application;

[0031] Fig.14 The process of the first embodiment of the method for outbound storage provided by the embodiment of the present application;

[0032] Fig.15 for Fig.14 The flowchart of the first specific implementation method of step S1420 is shown;

[0033] Fig.16 for Fig.14 A flowchart of a second specific implementation method of step S1420 is shown;

[0034] Fig.17 The process of the second embodiment of the method for outbound storage provided in the embodiment of the present application;

[0035] Fig.18 The process of the third embodiment of the outbound method provided in the embodiment of the present application;

[0036] Fig.19 for Fig.18 A flowchart of a specific implementation method of step S1427 is shown;

[0037] Fig. 20 for Fig.18 A flowchart of a specific implementation method of step S1428 is shown;

[0038] Fig.21 The process of the fourth embodiment of the method for outbound storage provided in the embodiment of the present application;

[0039] Fig. 22 A schematic diagram of the structure of a control device provided in an embodiment of the present application.

[0040] Reference numerals:

[0041] Shelf 100; storage area 110; material box storage layer 111; material box storage position 1111; buffer area 120; accommodating space 121; material box buffer layer 122; material box buffer position 1221; through slot 123; crossbeam 130;

[0042] The first robot 200; the mounting frame 210; the picking and placing assembly 220; the lifting assembly 230;

[0043] The second robot 300; the moving chassis 310; the cargo platform 320; the lever mechanism 330; the first fork assembly 331; the first fork 3311; the second fork assembly 332; the second fork 3321; the telescopic mechanism 340;

[0044] Workstation 400; sorting platform 410; docking port 411 for material boxes to be shipped out; docking port 412 for material boxes to be shipped in; conveying mechanism 413; first lifting channel 414; second lifting channel 415;

[0045] Material box 500; lane 600; first channel 710; second channel 720; third channel 730; fourth channel 740; fifth channel 750; sixth channel 760. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0047] As mentioned in the background technology, in the related technology, the warehousing system includes multiple shelves and handling robots. The handling robots can climb on the shelves and walk on the ground, so as to move the boxes to be shipped out of the shelves to the workstation for shipping, or move the goods to be shipped into the warehouse to the shelves.

[0048] In this method of picking and placing goods, the storage system only includes one type of transport robot, which needs to both carry goods on the ground and climb the shelves to pick and place goods, resulting in low efficiency of picking and placing goods in the storage system.

[0049] In order to improve the efficiency of picking and releasing goods in a warehousing system, an embodiment of the present application provides a warehousing system, a warehousing method and a warehousing out method. First, the warehousing system provided in the embodiment of the present application is described in detail.

[0050] See also Figure 1a to Figure 1d , Figure 1a A three-dimensional structural diagram of a storage system provided in the first embodiment of the present application; Figure 1b for Figure 1a A schematic diagram of the main view of the storage system shown; Figure 1c for Figure 1a A schematic side view of the storage system shown; Figure 1d for Figure 1a The schematic diagram of the storage system is shown in the top view. Figure 1a to Figure 1d As shown, the warehousing system provided in the embodiment of the present application includes: a shelf 100, a first robot 200, a second robot 300 and a workstation 400.

[0051] The shelf 100 includes: a storage area 110 and a cache area 120; the storage area 110 is provided with a material box storage layer 111 for storing material boxes 500; the cache area 120 is located at the bottom of the storage area 110; there is a preset height between the top of the cache area 120 and the ground, forming a storage space 121, and a material box cache layer 122 is provided in the storage space 121 for caching material boxes 500.

[0052] The first robot 200 is disposed on one side of the shelf 100 and is used to take and place the material box 500 between the material box storage layer 111 and the material box buffer layer 122 .

[0053] The second robot 300 is capable of transporting the container 500 between the workstation 400 and the container buffer layer 122 of the shelf 100 .

[0054] The second robot 300 includes: a moving chassis 310, a cargo platform 320 and a lever mechanism 330. The cargo platform 320 is installed on the top of the moving chassis 310; the lever mechanism 330 is fixed on the cargo platform 320, and is used to move the material box 500 on the material box cache layer 122 to the cargo platform 320, or to move the material box 500 on the cargo platform 320 to the material box cache layer 122 when the second robot 300 moves to a position corresponding to the material box cache layer 122 in the accommodation space 121.

[0055] The warehousing system provided by the embodiment of the present application is provided with a first robot 200 for picking up and placing the material box 500 between the material box storage layer 111 and the material box cache layer 122, and a second robot 300 for carrying the material box 500 between the workstation 400 and the material box cache layer 122 of the shelf 100. The material box 500 in and out of the warehousing system is realized by the first robot 200 and the second robot 300 relaying and cooperating with each other, thereby improving the efficiency of picking up and placing goods in the warehousing system. In addition, the second robot 300 picks up and places the material box 500 by moving the lever mechanism 330, so that the height from the material box cache layer 122 to the ground can be set to be slightly higher than the height of the cargo platform 320, that is, the material box cache layer 122 can be set lower, which increases the space of the storage area 110, and more material box storage layers 111 can be set, thereby improving the storage capacity of the shelf 100. Furthermore, by moving the lever mechanism 330 to take and place the material box 500, there is no need to lift the material box 500 upward from the material box cache layer 122, which can reduce the distance between the material box cache layer 122 and the material box storage layer 111, further increase the space of the storage area 110, and improve the storage capacity of the shelf 100.

[0056] In some embodiments of the present application, Figure 1a to Figure 1c As shown, there are multiple material box storage layers 111, each material box storage layer 111 is divided into multiple material box storage positions 1111, and each material box storage position 1111 is used to store a material box 500; the material box cache layer 122 is divided into multiple material box cache positions 1221, and each material box cache position 1221 is used to cache a material box 500.

[0057] By using the embodiment of the present application, the material boxes 500 on the shelf 100 can be neatly arranged, which is convenient for the first robot 200 and the second robot 300 to pick up and place. The first robot 200 can pick up and place the material boxes 500 between each material box storage position 1111 and the material box cache position 1221, and the second robot 300 can pick up and place the material boxes 500 between each material box cache position 1221 and the workstation 400.

[0058] In some embodiments of the present application, Figure 1dAs shown, there are multiple shelves 100, and the multiple shelves 100 are arranged at intervals, and the interval areas between the shelves 100 form lanes 600.

[0059] The first robot 200 is disposed on any shelf 100 on both sides of the lane 600 , and can pick up and place the material boxes 500 on the shelves 100 on both sides of the lane 600 .

[0060] Specifically, Figure 1d As shown, each shelf 100 may be composed of a plurality of sub-shelves arranged along the length direction of the shelf 100, wherein the length direction of the shelf 100 is Figure 1d A first robot 200 is arranged on each sub-shelf, and a plurality of sub-shelves may be taken and placed by a first robot 200. The present application does not limit the number of sub-shelves and the number of first robots 200, and it is only necessary to satisfy that there is at least one first robot 200 on each lane 600.

[0061] like Figure 1d As shown, the storage system in this embodiment includes five shelves 100 arranged at intervals, and each shelf 100 includes two sub-shelves arranged along the length direction of the shelf 100. In order to improve the utilization rate of the first robot 200, the three middle shelves 100 are double-deep shelves, and the two shelves 100 located on both sides of the storage system are single-deep shelves.

[0062] By applying the embodiments of the present application, the first robot 200 is arranged in the alley 600, which can improve the space utilization rate of the storage system; by the first robot 200 taking and placing the material boxes on the shelves 100 on both sides of the alley 600, the width of the alley 600 can be shortened and the utilization rate of the first robot 200 can be improved; the first robot 200 is arranged on the shelf 100, which can avoid the situation where multiple robots in the alley 600 need to avoid.

[0063] In some embodiments of the present application, see Figure 2 , Figure 2 for Figure 1a The three-dimensional structure diagram of the first robot is shown in FIG. Figure 1a , Figure 1b and Figure 2 As shown, the first robot 200 is installed on the outside of the shelf 100 through the beams 130 arranged at intervals along the vertical direction, and the first robot 200 is movably connected to the beams 130 along the direction of the lane 600.

[0064] The first robot 200 can move in the lane 600 based on the beam 130 to pick up and place different boxes 500 of the shelf 100 along the direction of the lane 600 .

[0065] Specifically, Figure 1a , Figure 1b and Figure 2 As shown, the first robot 200 in this embodiment is installed on the shelf 100 through two beams 130, and the beams 130 are fixedly connected to the outer side surface of the shelf 100 in the length direction.

[0066] In the embodiment of the present application, the first robot 200 can move horizontally along the lane 600 of the shelf 100, that is, in the length direction of the shelf 100, to pick up and place each material box 500 in the length direction. In addition, the picking and placing component 220 of the first robot 200 can move up and down along the height direction of the shelf 100 to pick up and place material boxes 500 at different heights of the shelf 100. The specific method of picking up and placing material boxes is described in detail in the subsequent description.

[0067] In some embodiments of the present application, Figure 1a , Figure 1b and Figure 2 As shown, the first robot 200 includes: a mounting frame 210 and a picking and placing component 220 .

[0068] The mounting frame 210 is movably connected to the crossbeam 130 along the direction of the alley 600. The cargo picking and placing assembly 220 arranged on the mounting frame 210 can move horizontally together with the mounting frame 210 based on the crossbeam 130 to pick up and place different material boxes 500 from the shelves 100 on both sides of the alley 600 along the direction of the alley 600.

[0069] The cargo picking and placing assembly 220 is movably connected to the mounting frame 210 in the vertical direction. The cargo picking and placing assembly 220 can be raised and lowered along the mounting frame 210 to pick up and place different material boxes 500 in the height direction of the shelves 100 on both sides of the lane 600 .

[0070] Specifically, the mounting frame 210 may be a single column, or may be a plurality of columns. Figure 2 The figure shows a column gantry composed of two oppositely arranged door columns 210a. In this embodiment, the mounting frame 210 is a column gantry. The picking and placing assembly 220 is arranged between the two door columns 210a of the column gantry, and the two sides of the picking and placing assembly 220 are slidably connected with the door columns 210a in the vertical direction. The form of the picking and placing assembly 220 includes but is not limited to a fork arm type, a suction cup type, a roller type, a hook arm, etc. The picking and placing assembly 220 can extend out of the column gantry to pick up and place the material boxes 500 on the shelves 100 on both sides of the lane 600.

[0071] The first robot 200 further includes a lifting assembly 230, which is disposed on the column gantry, and the pick-up and placement assembly 220 is mounted on the lifting assembly 230. The lifting assembly 230 can drive the pick-up assembly 222 to move in the vertical direction to pick up and place the material boxes 500 at different heights of the shelves 100 on both sides of the lane 600. The lifting assembly 230 may include a lifting motor and a pulley transmission mechanism, and the lifting motor drives the pulley transmission mechanism to drive the pick-up and placement assembly 220 to rise and fall.

[0072] By applying the embodiments of the present application, the picking and placing component 220 of the first robot 200 can, based on the crossbeam 130, realize picking and placing the material box 500 in the storage area 110 or the cache area 120 in the horizontal direction; and can realize picking and placing the material box 500 in the storage area 110 or the cache area 120 in the vertical direction based on the mounting frame 210 and the lifting component 230.

[0073] In some embodiments of the present application, see Figure 3a and Figure 3b , Figure 3a for Figure 1a A three-dimensional structural diagram of a first embodiment of the second robot shown; Figure 3b for Figure 3a The first fork and the second fork are shown in a three-dimensional structural diagram of the second robot in a raised state. Figure 1a , Figure 1b , Figure 3a and Figure 3b As shown, a plurality of through slots 123 are arranged at intervals on the material box cache layer 122 , and the through slots 123 are perpendicular to the length direction of the shelf 100 ; each through slot 123 and the layer plates on both sides thereof form a material box cache position 1221 for carrying a material box 500 .

[0074] The cargo platform 320 of the second robot 300 is used to cooperate with the through slot 123 , and can move to the bottom of the through slot 123 , or move out of the bottom of the through slot 123 .

[0075] The lever mechanism 330 includes: a first fork assembly 331 arranged on the front end face of the cargo platform 320 and / or a second fork assembly 332 arranged on the rear end face of the cargo platform 320; when the second robot 300 moves to a position corresponding to the material box cache layer 122 in the accommodating space 121, the material box 500 on the material box cache layer 122 is shifted to the cargo platform 320 by the first fork assembly 331 or the second fork assembly 332; or, the material box 500 on the cargo platform 320 is shifted to the material box cache layer 122 by the first fork assembly 331 or the second fork assembly 332.

[0076] like Figure 3a and Figure 3b As shown, in this embodiment, the lever mechanism 330 includes a first fork assembly 331 disposed on the front end surface of the cargo platform 320 and a second fork assembly 332 disposed on the rear end surface of the cargo platform 320 .

[0077] Specifically, when the cargo platform 320 is moved to the bottom of the through slot 123 , the second robot 300 is in a forward state; when the cargo platform 320 is moved out of the bottom of the through slot 123 , the second robot 300 is in a backward state.

[0078] The layer plates on both sides of each through slot 123 are provided with a slope at one end away from the lane 600, and the slope gradually increases from the inside to the outside along the width direction of the shelf, and the lowest point of the slope is consistent with the height of the bottom of the material box 500 carried by the cargo platform 320, so that when entering the warehouse, the cargo platform 320 is moved to the bottom of the through slot 123, the second robot 300 moves forward, and the material box 500 can be moved along the slope to the material box cache position 1221 under the push of the second fork assembly 332 on the rear end face of the cargo platform 320; and when leaving the warehouse, the cargo platform 320 is moved out of the bottom of the through slot 123, the second robot 300 moves backward, and the material box 500 can be moved along the slope to the cargo platform 320 under the push of the first fork assembly 331 on the front end face of the cargo platform 320.

[0079] If the lever mechanism 330 includes only one set of fork assemblies, for example, the first fork assembly 331 disposed on the front end of the cargo platform 320, its outbound process is the same as the outbound process of the embodiment in which the lever mechanism 330 has two sets of fork assemblies. However, when entering the warehouse, before the cargo platform 320 is moved to the bottom of the through slot 123, the second robot 300 needs to turn the direction so that the rear end of the cargo platform 320 is located at the end close to the through slot 123, and then move toward the through slot 123 to move the cargo platform 320 to the bottom of the through slot 123. At this time, the first fork assembly 331 located at the end of the second robot 300 away from the through slot 123 pushes the material box 500 to move along the slope to the material box cache position 1221.

[0080] By applying the embodiments of the present application, a first fork assembly 331 is set on the front end face of the cargo platform 320 and / or a second fork assembly 332 is set on the rear end face of the cargo platform 320, so that in the process of the cargo platform 320 being moved to the bottom of the through groove 123 and moving out of the bottom of the through groove 123, the material box 500 can be pushed to the cargo platform 320 by the first fork assembly 331 or the second fork assembly 332, and pushed to the material box cache layer 122 by the first fork assembly 331 or the second fork assembly 332 to complete the entry and exit of the warehouse. There is no need to lift the material box 500 upward from the material box cache layer 122, and the material box 500 to be stored can be pushed to the material box cache layer 122, thereby improving the docking and picking efficiency of the second robot 300, and can also reduce the distance between the material box cache layer 122 and the material box storage layer 111, thereby increasing the space of the storage area 110 and improving the storage capacity of the shelf 100.

[0081] In some embodiments of the present application, Figure 1a , Figure 3a and Figure 3bAs shown, taking the lever mechanism 330 including two sets of fork assemblies as an example, the first fork assembly 331 includes: a first fork drive motor and a first fork 3311; the first fork 3311 is arranged on the front end surface of the cargo platform 320, and can be rotated, lifted or lowered under the drive of the first fork drive motor.

[0082] The second fork assembly 332 includes: a second fork driving motor and a second fork 3321 ; the second fork 3321 is disposed on the rear end surface of the cargo platform 320 , and can be rotated, lifted or lowered under the drive of the second fork driving motor.

[0083] When entering the warehouse, the first fork 3311 is in the lowered state, and the second fork 3321 is lifted upward under the drive of the second fork driving motor, following the cargo platform 320 to move toward the through slot 123, and the material box 500 on the cargo platform 320 is moved to the material box cache layer 122.

[0084] When leaving the warehouse, the second fork 3321 is in the lowered state, and the first fork 3311 follows the cargo platform 320 to be moved to the bottom of the through slot 123, and then is lifted up by the drive of the first fork drive motor; thereafter, it follows the cargo platform 320 to move out of the bottom of the through slot 123 and moves the material box 500 to the cargo platform 320.

[0085] Specifically, the number of the first fork 3311 and the second fork 3321 is at least one, and the specific number is determined according to the width of the cargo platform 320. Figure 3a and Figure 3b As shown, in this embodiment, the number of the first fork 3311 and the number of the second fork 3321 are both two.

[0086] During storage, when the cargo platform 320 is moved to the bottom of the through slot 123 , the second fork 3321 presses against the material box 500 from the rear, so that the material box 500 follows the second robot 300 and moves along the slope to the material box cache position 1221 .

[0087] When leaving the warehouse, when the cargo platform 320 is moved out of the bottom of the through slot 123 , the second fork 3321 presses against the material box 500 from the front, so that the material box 500 moves backward along the slope with the second robot 300 to the cargo platform 320 .

[0088] By using the embodiment of the present application, the pick-up and placement of the material box 500 can be realized by controlling the first fork 3311 and the second fork 3321 to be lifted or lowered, and the control is simple. In addition, the first fork 3311 and the second fork 3321 can be controlled to rotate while the second robot 300 is traveling, which can save time and improve the efficiency of pick-up and placement. Compared with the robot using a lifting mechanism, when entering the warehouse, it is necessary to lift the material box, move it to the bottom of the through slot, lower the material box, and when leaving the warehouse, it is necessary to move to the bottom of the through slot and lift the material box; in the embodiment of the present application, when the cargo platform 320 is moved to the bottom of the through slot 123, the material box 500 is placed in the material box cache layer 122, and when the cargo platform 320 is moved out of the bottom of the through slot 123, the material box 500 is placed on the cargo platform 320, and the pick-up and placement efficiency is higher.

[0089] In some embodiments of the present application, Figure 1a , Figure 3a and Figure 3b As shown, the cargo platform 320 of the second robot 300 is fixed on the top of the moving chassis 310 ; the cargo platform 320 can be moved to the bottom of the through slot 123 driven by the moving chassis 310 .

[0090] When entering the warehouse, the second robot 300 drives the second fork 3321 to lift up through the second fork driving motor, and drives the cargo platform 320 to move toward the through slot 123 through the moving chassis 310, so as to move the material box from the rear end of the material box 500 to the material box cache layer 122.

[0091] When leaving the warehouse, the second robot 300 drives the cargo platform 320 to move to the bottom of the through slot 123 through the moving chassis 310, so that the first fork 3311 is located on the first side of the material box 500, and then the first fork driving motor drives the first fork 3311 to lift up, and then drives the cargo platform 320 to move toward the second side of the material box 500 through the moving chassis 310, so as to bring the material box 500 away from the material box cache layer 122 and move it to the cargo platform 320.

[0092] By applying the embodiment of the present application, it is only necessary to control the movement of the motion chassis 310. In addition to realizing the walking function of the second robot 300, the cargo platform 320 can also be moved to the bottom of the through slot 123 or out of the bottom of the through slot 123, thereby simplifying the control part of the second robot 300.

[0093] In some embodiments of the present application, see Figure 3c , Figure 3c for Figure 1a The three-dimensional structure diagram of the second embodiment of the second robot is shown. Figure 1a and Figure 3c As shown, the cargo platform 320 of the second robot 300 is installed on the top of the motion chassis 310 through a telescopic mechanism 340 .

[0094] The cargo platform 320 can be moved to the bottom of the through slot 123 or moved out of the bottom of the through slot 123 driven by the telescopic mechanism 340 .

[0095] When entering the warehouse, the second robot 300 drives the cargo platform 320 to move to one end of the through slot 123 through the motion chassis 310. Then, the second fork 3321 is driven upward by the second fork driving motor, and the cargo platform 320 is driven to extend toward the through slot 123 through the telescopic mechanism 340, so as to move the material box from the rear end of the material box 500 to the material box cache layer 122.

[0096] When leaving the warehouse, the second robot 300 drives the cargo platform 320 to move to one end of the through slot 123 through the moving chassis 310, and then the telescopic mechanism 340 extends toward the through slot 123, driving the cargo platform 320 to move to the bottom of the through slot 123, so that the first fork 3311 is located on the side of the material box 500 away from the moving chassis 310, and then the second robot 300 drives the first fork 3311 to lift up through the first fork driving motor, and then contracts through the telescopic mechanism 340, driving the cargo platform 320 to move out of the bottom of the through slot 123, so as to bring the material box 500 away from the material box cache layer 122, and move it to the cargo platform 320.

[0097] Specifically, Figure 3c As shown, in this embodiment, the telescopic mechanism 340 is a telescopic fork plate, which is arranged at the bottom of the cargo platform 320 and is slidably connected to the cargo platform 320, and can drive the cargo platform 320 to be horizontally telescoped to move the cargo platform 320 to the bottom of the through groove 123 or move out of the bottom of the through groove 123.

[0098] The telescopic mechanism 340 may also be a telescopic slide rail, a scissors mechanism, etc. The present application does not limit the specific structure of the telescopic mechanism 340.

[0099] By applying the embodiment of the present application, the second robot 300 can move to one end of the through slot 123 and extend toward the material box cache layer 122 through the telescopic mechanism 340 to dock with the material box 500, thereby increasing the moving docking path of the second robot 300, reducing the situation where multiple second robots 300 need to avoid each other, and improving the picking and placing efficiency of the warehousing system.

[0100] In some embodiments of the present application, Figure 1a to Figure 1dAs shown, each shelf 100 is a double-depth shelf, and the material box cache layer 122 of each shelf 100 is single-depth and close to the first side of the length direction of the shelf 100 where it is located. The material box cache layer 122 and the second side of the length direction of the shelf 100 where it is located have a distance of at least one depth, so that the accommodating space 121 forms a first channel 710 from the bottom of the material box cache layer 122 to the ground and a second channel 720 from the top of the cache area 120 to the ground.

[0101] The height of the first channel 710 is sufficient for the second robot 300 to travel unloaded, and the height of the second channel 720 is sufficient for the second robot 300 to travel carrying the material box 500.

[0102] The second robot 300 is used to travel along the lane 600, the first channel 710 or the second channel 720 to one side of the material box cache layer 122, move the cargo platform 320 to the bottom of the through slot 123, and take and place the material box 500 on the material box cache layer 122 through the lever mechanism 330.

[0103] Specifically, when the second robot 300 is unloaded, it can travel on the ground along the alley 600 and any channel in the cache area 120. When it carries a material box 500, it can travel along the alley 600 and the second channel 720. When there are other second robots 300 in the forward direction of the second robot 300, the second robot 300 can avoid to other channels and continue to travel.

[0104] The first robot 200 may be a single-deep pick-and-place robot, and a first robot 200 is required to be provided in each lane 600, for picking up and placing the material boxes 500 on two adjacent shelves 100 close to one side of the lane 600. The first robot 200 may also be a double-deep pick-and-place robot, capable of picking up and placing the material boxes 500 on two adjacent shelves 100 close to or far from the lane 600.

[0105] In the embodiment of the present application, a plurality of passages for the second robot 300 to travel are arranged on the ground. When the second robot 300 is unloaded, it can travel along the lane 600 and any passage in the buffer area 120 on the ground. When the second robot 300 is loaded with a material box 500, it can travel along the lane 600 and the second passage 720, so that the second robot 300 can flexibly avoid and improve the handling efficiency. The specific handling process is described in detail in the subsequent description.

[0106] In some embodiments of the present application, Figure 1a to Figure 1d As shown, the second robot 300 is used to carry the material box 500 to be stored from the workstation 400 to the shelf 100 during warehousing, and travel along the lane 600 or the second channel 720 to the side of the material box cache layer 122, move the cargo platform 320 to the bottom of the through groove 123, and move the material box 500 on the cargo platform 320 to the material box cache layer 122 through the second fork assembly 332.

[0107] The second robot 300 is also used to move to the shelf 100 empty-handed when leaving the warehouse, and travel along the aisle 600, the first channel 710 or the second channel 720 to the side of the material box cache layer 122, move the cargo platform 320 to the bottom of the through groove 123, and use the first fork assembly 331 to move the material box 500 to be left the warehouse on the material box cache layer 122 to the cargo platform 320, leave the shelf 100 along the aisle 600 or the second channel 720 and go to the workstation 400 to place the material box 500.

[0108] Specifically, after the material box 500 is put into storage, the second robot 300 can go to the workstation 400 along the alley 600, the first channel 710 or the second channel 720 empty, or take the material box 500 to be shipped out of the storage on the material box cache layer 122 and go to the workstation 400 along the alley 600 or the second channel 720.

[0109] After the material box 500 is shipped out of the warehouse, the second robot 300 can go to the material box cache layer 122 empty-handed along the alley 600, the first channel 710 or the second channel 720 to pick up the material box 500 to be shipped out of the warehouse, or pick up the material box 500 to be stored in the workstation 400 and then go to the material box cache layer 122 along the alley 600 or the second channel 720.

[0110] Based on the handling process of the second robot 300 provided in the embodiment of the present application, it can cooperate with the first robot 200 to realize the storage and retrieval of the material box 500 of the double-depth shelf, thereby improving the handling efficiency of the warehousing system.

[0111] In some embodiments of the present application, see Figure 4 , Figure 4 A side view schematic diagram of a storage system (not shown in the first robot) provided in the second embodiment of the present application. Figure 4 As shown, each shelf 100 is a four-deep shelf, with both sides of the shelf 100 facing an aisle 600 respectively. Each shelf 100 has two material box cache layers 122, both of which are single-depth and are respectively arranged on one side of the shelf 100 facing the aisle 600 in the length direction.

[0112] There is a distance of at least two depths between the two material box cache layers 122 of the four-deep shelf, so that the storage space 121 is close to both sides of the aisle 600, forming a third channel 730 from the bottom of the material box cache layer 122 to the ground, and a fourth channel 740 located in the middle area of ​​the storage space 121 and from the top of the cache area 120 to the ground.

[0113] Among them, the height of the third channel 730 is sufficient for the second robot 300 to travel empty-handed, and the height of the fourth channel 740 is sufficient for the second robot 300 to travel carrying a material box 500; the second robot 300 can travel along the alley 600, the third channel 730 or the fourth channel 740 to the side of the material box cache layer 122, move the cargo platform 320 to the bottom of the through groove 123, and take and place the material box 500 on the material box cache layer 122 through the lever mechanism 330.

[0114] Specifically, the first robot 200 is a double-deep or multi-deep picking and placing robot, which can pick up and place double-deep or multi-deep material boxes 500 on two adjacent shelves 100 .

[0115] The width of the fourth channel 740 is at least two depths. When the second robot 300 needs to pick up and place the box 500 on one side of the box cache layer 122, it can travel to the lane 600 or the fourth channel 740 close to the side of the box cache layer 122 for picking up and placing.

[0116] In the embodiment of the present application, the shelf 100 is a four-deep shelf, which increases the storage capacity of the storage system and increases the width of the passage in the buffer area for the second robot 300 to travel. A plurality of passages are set on the ground for the second robot 300 to travel. When the second robot 300 is unloaded, it can travel along the lane 600 and any passage in the buffer area 120 on the ground. When carrying a material box 500, it can travel along the lane 600 and the fourth passage 740, so that the second robot 300 can flexibly avoid and improve the handling efficiency. The specific handling process is described in detail in the subsequent description.

[0117] In some embodiments of the present application, Figure 4 As shown, when the second robot 300 enters the warehouse, it carries the material box 500 to be stored from the workstation 400 to the shelf 100, and travels along the lane 600 or the fourth channel 740 to the side of the material box cache layer 122, moves the cargo platform 320 to the bottom of the through groove 123, and moves the material box 500 on the cargo platform 320 to the material box cache layer 122 through the second fork assembly 332.

[0118] The second robot 300 is also used to move to the shelf 100 empty-handed when leaving the warehouse, and travel along the aisle 600, the third channel 730 or the fourth channel 740 to the side of the material box cache layer 122, move the cargo platform 320 to the bottom of the through groove 123, and use the first fork assembly 331 to move the material box 500 to be left the warehouse on the material box cache layer 122 to the cargo platform 320, leave the shelf 100 along the aisle 600 or the fourth channel 740 and go to the workstation 400 to place the material box 500.

[0119] Specifically, after the material box 500 is put into storage, the second robot 300 can go to the workstation 400 along the alley 600, the third channel 730 or the fourth channel 740 empty-handed, or take the material box 500 to be shipped out of the storage on the material box cache layer 122 and go to the workstation 400 along the alley 600 or the fourth channel 740.

[0120] After the material box 500 is shipped out of the warehouse, the second robot 300 can go to the material box cache layer 122 empty-handed along the alley 600, the third channel 730 or the fourth channel 740 to pick up the material box 500 to be shipped out of the warehouse, or pick up the material box 500 to be stored in the workstation 400 and then go to the material box cache layer 122 along the alley 600 or the fourth channel 740.

[0121] Based on the handling process of the second robot 300 provided in the embodiment of the present application, it can cooperate with the first robot 200 to realize the storage and retrieval of the material boxes 500 of the four-deep shelf, thereby improving the handling efficiency of the warehousing system.

[0122] In some embodiments of the present application, see Figure 5 , Figure 5 A schematic side view of a storage system (not shown in the first robot) provided in the third embodiment of the present application. Figure 5 As shown, the four-deep rack includes: two double-deep racks spliced ​​back to back, and two material box buffer layers 122 are respectively arranged on one side of the two double-deep racks close to the lane 600.

[0123] The fourth channel 740 in the middle area of ​​the accommodating space 121 from the top of the buffer area 120 to the ground includes: a fifth channel 750 located at the bottom of the first double-deep shelf, and a sixth channel 760 located at the bottom of the second double-deep shelf.

[0124] The second robot 300 is used to travel along the lane 600, the third channel 730 or the fifth channel 750 to the side of the material box cache layer 122 of the first double-deep rack, move the cargo platform 320 to the bottom of the through slot 123, and pick up and place the material box 500 on the material box cache layer 122 through the lever mechanism 330; or, travel along the lane 600, the third channel 730 or the sixth channel 760 to the side of the material box cache layer 122 of the second double-deep rack, move the cargo platform 320 to the bottom of the through slot 123, and pick up and place the material box 500 on the material box cache layer 122 through the lever mechanism 330.

[0125] Specifically, the four-deep shelf includes two double-deep shelves spliced ​​back to back, and the shelf legs located on one side of the splicing surface of the two double-deep shelves divide the fourth channel 740 into a fifth channel 750 located at the bottom of the first double-deep shelf and a sixth channel 760 located at the bottom of the second double-deep shelf.

[0126] The second robot 300 enters from the end of the fifth channel 750 or the sixth channel 760 , and can then switch between the fifth channel 750 or the sixth channel 760 to approach the container cache layer 122 of the first double-deep rack or the second double-deep rack to pick up and place the container 500 .

[0127] Based on the handling process of the second robot 300 provided in the embodiment of the present application, it can cooperate with the first robot 200 to realize the storage and retrieval of material boxes 500 of two double-depth shelves spliced ​​back to back, thereby improving the handling efficiency of the warehousing system.

[0128] In some embodiments of the present application, see Figure 6 , Figure 6 for Figure 1d The three-dimensional structure diagram of the workstation is shown in Figure 1. Figure 1d and Figure 6 As shown, the workstation 400 is provided with a sorting platform 410, and the sorting platform 410 is provided with a docking interface 411 for a material box to be shipped out and a docking interface 412 for a material box to be shipped in.

[0129] The sorting station 410 can receive the material boxes 500 at the material box docking port 411 to be shipped out, then transport the material boxes 500 for sorting, and output the sorted material boxes 500 at the material box docking port 412 to be shipped in.

[0130] The second robot 300 is used to carry the to-be-outbound box 500 to move to the to-be-outbound box docking port 411, dock with the to-be-outbound box docking port 411 to unload the box 500, and then go to the to-be-inbound box docking port 412 to receive the box 500 or go to the shelf 100 to continue receiving the to-be-outbound box 500.

[0131] Specifically, the second robot 300 is also used to move empty-handed to the docking port 412 of the to-be-warehouse box, dock with the docking port 412 of the to-be-warehouse box to receive the to-be-warehouse box 500, and then go to the shelf 100 to place the box 500 in the box cache layer 122.

[0132] The docking interface 411 of the material box to be shipped out and the docking interface 412 of the material box to be shipped in are arranged at the bottom of the sorting platform 410, and a conveying mechanism 413 is arranged on the top of the sorting platform 410. The docking interface 411 of the material box to be shipped out is connected with the conveying mechanism 413 through the first lifting channel 414, and the docking interface 412 of the material box to be shipped in is connected with the conveying mechanism 413 through the second lifting channel 415.

[0133] The specific sorting process is as follows: the second robot 300 carrying the material box 500 to be shipped out moves to the bottom of the material box docking interface 411 to be shipped out, docks with the material box docking interface 411 to be shipped out, and the first lifting channel 414 moves the material box 500 to be shipped out upward to the conveying mechanism 413, and the conveying mechanism 413 conveys the material box 500 to be shipped out toward the second lifting channel 415. During the conveying process of the conveying mechanism 413, the staff sorts the material box 500 to be shipped out on the conveying mechanism 413 and sorts the goods that need to be shipped out. The sorted material box 500, that is, the material box 500 to be stored, is transported to the second lifting channel 415 by the conveying mechanism 413, and then moves downward to the unloaded second robot 300 located below the docking interface 412 of the material box to be stored, and is moved back to the shelf 100 by the second robot 300 for storage.

[0134] By using the embodiment of the present application, the second robot 300 only needs to briefly stop at the outgoing material box docking interface 411 or the incoming material box docking interface 412 to complete docking and picking up the material box 500, thereby improving the in-and-out picking and putting efficiency of the warehousing system.

[0135] Then, the warehousing method provided in the embodiment of the present application is described in detail.

[0136] The warehousing method provided in the embodiment of the present application is applied to a control device, and the control device is communicatively connected with the first robot and the second robot of the aforementioned warehousing system.

[0137] In this embodiment, there are multiple material box storage layers, and each material box storage layer is divided into multiple material box storage positions; multiple through slots are arranged at intervals on the material box cache layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the layer plates on both sides thereof form a material box cache position.

[0138] See also Figure 7 , Figure 7 The process of the first embodiment of the warehousing method provided in the embodiment of the present application; the process includes the following steps:

[0139] Step S700, obtaining the location information of the target free material box storage position and the target free material box cache position of each material box to be stored;

[0140] In this step, the location information of the target free material box storage position and the target free material box cache position of each material box to be stored can be determined according to the number of material boxes to be stored and the number and position of free material box storage positions and free material box cache positions on the shelf.

[0141] Step S710, instructing the second robot to move the to-be-stored material box from the workstation to the target free material box cache position, so that when the second robot moves to a position corresponding to the target free material box cache position in the accommodation space of the shelf, the lever mechanism moves the to-be-stored material box on the cargo platform to the target free material box cache position;

[0142] Step S720, instructing the first robot to move the to-be-stored material box to a target free material box storage location.

[0143] Specifically, in step S700, the target free material box storage position of each material box to be stored can be determined based on the principle that the first robot moves from a starting point from near to far, and / or the principle that the target free material box storage positions are concentrated on the shelf.

[0144] For example, on the shelf, there are several relatively concentrated free material box storage locations at the first position closest to the starting point of the first robot; there are several relatively concentrated free material box storage locations at the second position slightly farther from the starting point of the first robot. If the number of material boxes to be stored does not exceed the number of relatively concentrated free material box storage locations at the first position, then the same number of free material box storage locations as the number of material boxes to be stored among the relatively concentrated free material box storage locations at the first position are determined as target free material box storage locations.

[0145] If the number of material boxes to be stored exceeds the number of several relatively concentrated free material box storage positions at the first position, then the several relatively concentrated free material box storage positions at the first position are all determined as target free material box storage positions; among the several relatively concentrated free material box storage positions at the second position, several free material box storage positions that are the same as the number of remaining material boxes to be stored are also determined as target free material box storage positions.

[0146] In actual applications, the warehousing process and the outbound process of the storage system are parallel. Specifically, the material box storage positions and material box cache positions on the shelves of the storage system have a certain allocation ratio for the material boxes to be shipped out and the material boxes to be shipped in. For example, 50% of the material box cache positions on the shelves are used to carry the material boxes to be shipped out from the storage area, and the other 50% of the material box cache positions are used to carry the material boxes to be shipped in transported by the second robot. When the proportion of full material box cache positions in the material box cache positions used to carry the material boxes to be shipped in reaches a certain proportion, for example, 50%, the control device instructs the first robot to transport the material boxes to be shipped in. The above percentage examples can be set according to the actual scenario, and this application does not limit this.

[0147] The embodiment of the present application is applied to the above-mentioned warehousing system. The method instructs the second robot to move the material box to be stored from the workstation to the target free material box cache position, and instructs the first robot to move the material box to be stored to the target free material box storage position. The first robot and the second robot cooperate with each other to realize the storage of the material box in the warehousing system, thereby improving the efficiency of picking and releasing goods in the warehousing system.

[0148] In some embodiments of the present application, the cargo platform of the second robot is fixed to the top of the moving chassis; the shift rod mechanism includes a second fork assembly; the second fork assembly includes: a second fork drive motor and a second fork; the second fork is arranged on the rear end face of the cargo platform and can be rotated, lifted or lowered under the drive of the second fork drive motor.

[0149] See also Figure 8 , Figure 8 for Figure 7 FIG. 1 is a flowchart of a first specific implementation method of step S710. Figure 8 As shown, step S710 includes the following steps:

[0150] Step S711, instructing the second robot to carry the material box to be stored from the workstation and move to the side of the target free material box cache position;

[0151] Step S712, instructs the second robot to drive the second fork to lift up through the second fork drive motor, and drives the cargo platform to move toward the through slot through the motion chassis, and moves the to-be-stored material box from the rear end of the material box to the target free material box cache position.

[0152] By applying the embodiment of the present application, the cargo platform of the second robot is fixed on the top of the moving chassis. It only needs to instruct the second fork to lift upward and cooperate with the movement of the moving chassis. There is no need to move the material box downward after entering the bottom of the material box cache layer. The material box to be stored can be moved to the target free material box cache position, thereby improving the docking and picking efficiency of the second robot.

[0153] In some embodiments of the present application, the cargo platform of the second robot is installed on the top of the moving chassis through a telescopic mechanism; the shift rod mechanism includes a second fork assembly; the second fork assembly includes: a second fork drive motor and a second fork; the second fork is arranged on the rear end face of the cargo platform and can be rotated, lifted or lowered under the drive of the second fork drive motor.

[0154] See also Fig. 9 , Fig. 9 for Figure 7 FIG. 5 is a flowchart of a second specific implementation method of step S710. Fig. 9 As shown, step S710 includes the following steps:

[0155] Step S713, instructing the second robot to carry the material box to be stored from the workstation and move to the side of the target free material box cache position.

[0156] Step S714, instructs the second robot to drive the second fork to lift up through the second fork driving motor, and drive the cargo platform to extend toward the through slot through the telescopic mechanism, and move the material box from the rear end of the material box to the target free material box cache position.

[0157] By applying the embodiment of the present application, the cargo platform of the second robot is installed on the top of the moving chassis through a telescopic mechanism. The second robot can move to one side of the target idle material box cache position and extend toward the through slot through the telescopic mechanism to dock and pick up the material box. This increases the moving and docking path of the second robot, reduces the situation where multiple second robots need to avoid, and improves the picking and placing efficiency of the warehousing system.

[0158] In some embodiments of the present application, there are multiple shelves, and the spacing areas between the shelves form aisles; each shelf is a double-depth shelf, and the material box cache layer of each shelf is single-depth and close to the first side of the length direction of the shelf where it is located, so that the accommodating space forms a first channel from the bottom of the material box cache layer to the ground and a second channel from the top of the cache area to the ground.

[0159] See also Fig.10 , Fig.10 The process of the second embodiment of the warehousing method provided in the embodiment of the present application; the process includes the following steps:

[0160] Step S700, obtaining the location information of the target free material box storage position and the target free material box cache position of each material box to be stored;

[0161] Step S715, instructing the second robot to carry the material box to be stored from the workstation to the shelf, and drive along the lane or the second channel to the side of the target free material box cache position, move the cargo platform to the bottom of the through slot, and use the lever mechanism to move the material box to be stored on the cargo platform to the target free material box cache position;

[0162] Step S720, instructing the first robot to move the to-be-stored material box to a target free material box storage location.

[0163] Specifically, after the second robot moves the second robot shelf to be stored to the target free material box storage position, it can leave the shelf and go to the standby area to wait for the next instruction, or go to the workstation to continue to receive the material boxes to be stored, or temporarily stay at the target free material box storage position and wait for the next movement instruction. There is no restriction here.

[0164] By applying the embodiment of the present application, the second robot is instructed to travel along the lane or the second channel to the side of the target free material box cache position, and the material box to be stored is placed in the target free material box cache position, thereby realizing the docking and picking function of the second robot. The second robot has multiple docking paths and can flexibly dock with the target free material box cache position, reducing avoidance situations and improving the picking and placing efficiency of the warehousing system.

[0165] In some embodiments of the present application, there are multiple shelves, and the interval areas between the shelves form aisles; each shelf is a four-deep shelf, and each shelf has two material box cache layers, both of which are single-depth and are arranged on one side of the shelf facing the aisle in the length direction; the accommodating space is close to both sides of the aisle, forming a third channel from the bottom of the material box cache layer to the ground, and a fourth channel is located in the middle area of ​​the accommodating space, from the top of the cache area to the ground.

[0166] See also Fig.11 , Fig.11 The process of the third embodiment of the warehousing method provided in the embodiment of the present application; the process includes the following steps:

[0167] Step S700, obtaining the location information of the target free material box storage position and the target free material box cache position of each material box to be stored;

[0168] Step S716, instructing the second robot to carry the material box to be stored from the workstation to the shelf, and drive along the lane or the fourth channel to the side of the target free material box cache position, move the cargo platform to the bottom of the through slot, and use the lever mechanism to move the material box to be stored on the cargo platform to the target free material box cache position;

[0169] Step S720, instructing the first robot to move the to-be-stored material box to a target free material box storage location.

[0170] By applying the embodiment of the present application, the second robot is instructed to travel along the lane or the fourth channel to the side of the target free material box cache position, and the material box to be stored is placed on the target free material box cache position, thereby realizing the docking and picking function of the second robot. The second robot has multiple docking paths and can flexibly dock with the target free material box cache position, reducing avoidance situations and improving the picking and placing efficiency of the warehousing system.

[0171] In some embodiments of the present application, the four-deep rack includes two double-deep racks connected back to back, and the two material box cache layers are respectively arranged on one side of the two double-deep racks close to the aisle; the fourth channel from the top of the cache area to the ground in the middle area of ​​the accommodating space includes: the fifth channel located at the bottom of the first double-deep rack, and the sixth channel located at the bottom of the second double-deep rack.

[0172] See also Fig.12, Fig.12 The fourth embodiment of the storage method provided in the present application is a process; the process includes the following steps:

[0173] Step S700, obtaining the location information of the target free material box storage position and the target free material box cache position of each material box to be stored;

[0174] Step S7161, instructing the second robot to carry the material box to be stored from the workstation to the shelf, and to drive along the lane or the fifth channel to the side of the target free material box cache position of the first double-deep shelf, move the cargo platform to the bottom of the through slot, and use the lever mechanism to move the material box to be stored on the cargo platform to the target free material box cache position of the first double-deep shelf; or, drive along the lane or the sixth channel to the side of the target free material box cache position of the second double-deep shelf, and place the material box to be stored on the target free material box cache position of the second double-deep shelf;

[0175] Step S720, instructing the first robot to move the to-be-stored material box to a target free material box storage location.

[0176] By applying the embodiment of the present application, the second robot is instructed to travel along the lane or the fifth channel to the side of the target free material box cache position of the first double-deep shelf, and the material box to be stored is placed on the target free material box cache position of the first double-deep shelf, thereby realizing the docking and picking function of the second robot. The second robot has multiple docking paths and can flexibly dock with the target free material box cache position, thereby reducing avoidance situations and improving the picking and placing efficiency of the warehousing system.

[0177] In some embodiments of the present application, the first robot includes: a mounting frame and a picking and placing component.

[0178] See also Fig.13 , Fig.13 The fifth embodiment of the storage method provided in the present application is a process; the process includes the following steps:

[0179] Step S700, obtaining the location information of the target free material box storage position and the target free material box cache position of each material box to be stored;

[0180] Step S710, instructing the second robot to move the to-be-stored material box from the workstation to the target free material box cache position, so that when the second robot moves to a position corresponding to the target free material box cache position in the accommodation space of the shelf, the lever mechanism moves the to-be-stored material box on the cargo platform to the target free material box cache position;

[0181] Step S721, sending a first operation instruction including a target material box cache position and a target free material box storage position to the first robot, so that the first robot uses the mounting frame to move horizontally on the shelf to a position corresponding to the target material box cache position, and moves the picking and placing component downward along the mounting frame to a corresponding position on the target material box cache position, uses the picking and placing component to take out the material box to be stored from the target material box cache position, and moves it upward to place it on the corresponding target free material box storage position.

[0182] In the embodiment of the present application, the first robot moves to each target material box cache position and target free material box storage position in turn according to the first operation instruction, and performs the warehousing operation until all containers to be stored are moved to the material box cache position. The first robot and the second robot cooperate with each other in relay to realize the warehousing of the material box in the storage system, thereby improving the efficiency of picking and releasing goods in the storage system.

[0183] Finally, the outbound method provided in the embodiment of the present application is described in detail.

[0184] The warehouse-out method provided in the embodiment of the present application is applied to a control device, and the control device is communicatively connected with the first robot and the second robot of the aforementioned warehousing system.

[0185] In this embodiment, there are multiple material box storage layers, and each material box storage layer is divided into multiple material box storage positions; multiple through slots are arranged at intervals on the material box cache layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the layer plates on both sides thereof form a material box cache position.

[0186] See also Fig.14 , Fig.14 The process of the first embodiment of the outbound method provided in the embodiment of the present application; the process includes the following steps:

[0187] Step S1400, obtaining the location information of the target free material box cache position of each material box to be shipped out in the storage area;

[0188] In this step, the position information of the target free material box cache position of each material box to be shipped out can be determined according to the number and position of the material boxes to be shipped out and the number and position of the free material box cache positions on the shelf.

[0189] Step S1410, instructing the first robot to move the to-be-outbound material box in the storage area to the target free material box cache position;

[0190] Step S1420, instructs the second robot to move the material box to be shipped out from the material box cache position to the workstation, so that when the second robot moves to a position corresponding to the material box cache position in the storage space of the shelf, the lever mechanism moves the material box to be shipped out to the cargo platform.

[0191] Specifically, in step S1400, the target free material box cache positions of each material box to be shipped out can also be determined based on the principle that the first robot moves from a starting point from near to far, and / or the principle that the target free material box cache positions are concentrated on the shelf.

[0192] For example, on the shelf, there are several relatively concentrated free material box cache positions at the first position closest to the starting point of the first robot; there are several relatively concentrated free material box cache positions at the second position slightly farther from the starting point of the first robot. If the number of material boxes to be shipped does not exceed the number of relatively concentrated free material box cache positions at the first position, then the same number of free material box cache positions as the number of material boxes to be shipped among the relatively concentrated free material box cache positions at the first position are determined as target free material box cache positions.

[0193] If the number of material boxes to be shipped out exceeds the number of several relatively concentrated free material box cache positions at the first position, then the several relatively concentrated free material box cache positions at the first position are all determined as target free material box cache positions; among the several relatively concentrated free material box cache positions at the second position, several free material box cache positions that are the same as the number of remaining material boxes to be shipped out are also determined as target free material box cache positions.

[0194] This embodiment is applied to the above-mentioned warehousing system. The method instructs the first robot to move the to-be-outbound material box in the storage area to the target free material box cache position, and instructs the second robot to move the to-be-outbound material box from the material box cache position to the workstation. The first robot and the second robot cooperate with each other to realize the outbound delivery of the material box in the warehousing system, thereby improving the efficiency of picking and releasing goods in the warehousing system.

[0195] In some embodiments of the present application, the cargo platform of the second robot is fixed to the top of the moving chassis; the shift rod mechanism includes a first fork assembly; the first fork assembly includes: a first fork drive motor and a first fork; the first fork is arranged on the front end surface of the cargo platform and can be rotated, lifted or lowered under the drive of the first fork drive motor.

[0196] See also Fig.15 , Fig.15 for Fig.14 FIG. 1 is a flowchart of a first specific implementation method of step S1420. Fig.15 As shown, step S1420 includes the following steps:

[0197] Step S1421, instructing the second robot to move unloaded to one side of the target material box cache position;

[0198] Step S1422, instructs the second robot to drive the cargo platform to move to the bottom of the through slot through the motion chassis, so that the first fork is located on the first side of the material box to be shipped out, and then the first fork driving motor drives the first fork to lift up, and then drives the cargo platform to move toward the second side of the material box through the motion chassis, bringing the material box away from the material box cache layer, and moving it to the cargo platform, and then going to the workstation to place the material box.

[0199] By applying the embodiment of the present application, the cargo platform of the second robot is fixed on the top of the moving chassis. It only needs to instruct the first fork to lift up and cooperate with the movement of the moving chassis. There is no need to lift the material box upward after entering the bottom of the material box cache layer. The material box to be stored can be moved from the material box cache position to the cargo platform, thereby improving the docking and picking efficiency of the second robot.

[0200] In some embodiments of the present application, the cargo platform of the second robot is installed on the top of the moving chassis through a telescopic mechanism; the shift rod mechanism includes a first fork assembly; the first fork assembly includes: a first fork drive motor and a first fork; the first fork is arranged on the front end surface of the cargo platform and can be rotated, lifted or lowered under the drive of the first fork drive motor.

[0201] See also Fig.16 , Fig.16 for Fig.14 FIG. 1 is a flowchart of a second specific implementation method of step S1420. Fig.16 As shown, step S1420 includes the following steps:

[0202] Step S1423, instructing the second robot to move empty to the side of the target material box cache position;

[0203] Step S1424, instructs the second robot to drive the cargo platform to move to one end of the through slot through the moving chassis, and then the telescopic mechanism drives the cargo platform to extend toward the through slot, and drives the cargo platform to move to the bottom of the through slot, so that the first fork is located on the side of the material box away from the moving chassis, and then the second robot drives the first fork to lift up through the first fork driving motor, and then contracts it through the telescopic mechanism, driving the cargo platform to move out of the bottom of the through slot, taking the material box away from the material box cache layer, and moving it to the cargo platform, and then going to the workstation to place the material box.

[0204] By applying the embodiment of the present application, the cargo platform of the second robot is installed on the top of the moving chassis through a telescopic mechanism. The second robot can move to one side of the cache position of the target material box and extend toward the through slot through the telescopic mechanism to dock and pick up the material box. This increases the moving and docking path of the second robot, reduces the situation where multiple second robots need to avoid, and improves the picking and placing efficiency of the warehousing system.

[0205] In some embodiments of the present application, there are multiple shelves, and the spacing areas between the shelves form aisles; each shelf is a double-depth shelf, and the material box cache layer of each shelf is single-depth and close to the first side of the length direction of the shelf where it is located, so that the accommodating space forms a first channel from the bottom of the material box cache layer to the ground and a second channel from the top of the cache area to the ground.

[0206] See also Fig.17 , Fig.17 The process of the second embodiment of the outbound method provided in the embodiment of the present application; the process includes the following steps:

[0207] Step S1400, obtaining the location information of the target free material box cache position of each material box to be shipped out in the storage area;

[0208] Step S1410, instructing the first robot to move the to-be-outbound material box in the storage area to the target free material box cache position;

[0209] Step S1425, instructing the second robot to move unloaded along the lane, the first channel or the second channel to one side of the target material box cache position, moving the cargo platform to the bottom of the through slot, and moving the material box to be shipped out on the material box cache position to the cargo platform through the lever mechanism;

[0210] Step S1426, instructing the second robot to carry the material box to be shipped out along the lane or the second channel to leave the shelf and go to the workstation to place the material box.

[0211] By applying the embodiment of the present application, the second robot is instructed to move empty-handed along the aisle, the first channel or the second channel to the side of the target material box cache position, and carries the material box to be shipped out along the aisle or the second channel to leave the shelf and go to the workstation to place the material box, thereby realizing the docking and picking and placing function of the second robot. The second robot has multiple docking paths and can flexibly dock with the target free material box cache position, reducing avoidance situations and improving the picking and placing efficiency of the warehousing system.

[0212] In some embodiments of the present application, there are multiple shelves, and the interval areas between the shelves form aisles; each shelf is a four-deep shelf, and each shelf has two material box cache layers, both of which are single-depth and are arranged on one side of the shelf facing the aisle in the length direction; the accommodating space is close to both sides of the aisle, forming a third channel from the bottom of the material box cache layer to the ground, and a fourth channel is located in the middle area of ​​the accommodating space, from the top of the cache area to the ground.

[0213] See also Fig.18 , Fig.18 The process of the third embodiment of the outbound method provided in the embodiment of the present application; the process includes the following steps:

[0214] Step S1400, obtaining the location information of the target free material box cache position of each material box to be shipped out in the storage area;

[0215] Step S1410, instructing the first robot to move the to-be-outbound material box in the storage area to the target free material box cache position;

[0216] Step S1427, instructing the second robot to move unloaded along the lane, the third channel or the fourth channel to one side of the target material box cache position, moving the cargo platform to the bottom of the through slot, and using the lever mechanism to move the material box to be shipped out on the material box cache position to the cargo platform;

[0217] Step S1428, instructing the second robot to carry the material box to be shipped out, leave the shelf along the lane or the fourth channel and go to the workstation to place the material box.

[0218] By applying the embodiment of the present application, the second robot is instructed to move empty-handed along the lane, the third channel or the fourth channel to the side of the target material box cache position, and carries the material box to be shipped out along the lane or the fourth channel to leave the shelf and go to the workstation to place the material box, thereby realizing the docking and picking function of the second robot. The second robot has multiple docking paths and can flexibly dock with the target free material box cache position, reducing avoidance situations and improving the picking and placing efficiency of the warehousing system.

[0219] In some embodiments of the present application, the four-deep rack includes two double-deep racks connected back to back, and the two material box cache layers are respectively arranged on one side of the two double-deep racks close to the aisle; the fourth channel from the top of the cache area to the ground in the middle area of ​​the accommodating space includes: the fifth channel located at the bottom of the first double-deep rack, and the sixth channel located at the bottom of the second double-deep rack.

[0220] See also Fig.19 , Fig.19 for Fig.18 FIG. 1 is a flowchart of a specific implementation method of step S1427. Fig.19 As shown, step S1427 includes the following steps:

[0221] Step S14271, instructing the second robot to move unloaded along the lane, the third channel or the fifth channel to one side of the target material box cache position of the first double-deep rack, or instructing the second robot to move unloaded along the lane, the third channel or the sixth channel to one side of the target material box cache position of the second double-deep rack;

[0222] Step S14272, move the cargo platform to the bottom of the through slot, and use the lever mechanism to move the material box to be shipped out of the material box cache position to the cargo platform.

[0223] See also Fig. 20 , Fig. 20for Fig.18 A flowchart of a specific implementation method of step S1428 is shown. Fig. 20 As shown, step S1428 includes the following steps:

[0224] Step S14281, instructs the second robot to carry the material box to be shipped out to leave the first double-deep shelf along the lane or the fifth channel and go to the workstation to place the material box, or instructs the second robot to carry the material box to be shipped out to leave the second double-deep shelf along the lane or the sixth channel and go to the workstation to place the material box.

[0225] By applying the embodiment of the present application, the second robot cooperates with the first robot to realize the storage and access of material boxes of two double-deep shelves spliced ​​back to back. The second robot has multiple docking paths and can flexibly dock with the target free material box cache position, reducing avoidance situations and improving the picking and placing efficiency of the warehousing system.

[0226] In some embodiments of the present application, the first robot includes: a mounting frame and a picking and placing component.

[0227] See also Fig.21 , Fig.21 The fourth embodiment of the process of the outbound method provided in the embodiment of the present application; the process includes the following steps:

[0228] Step S1400, obtaining the location information of the target free material box cache position of each material box to be shipped out in the storage area;

[0229] Step S1411, sending a second operation instruction including a target material box storage position and a target free material box cache position to the first robot, so that the first robot uses the mounting frame to move horizontally on the shelf to a position corresponding to the target material box storage position, and moves the pick-and-place component downward along the mounting frame to a position corresponding to the target material box storage position, uses the pick-and-place component to take out the material box to be shipped from the target material box storage position, and moves downward to place it on the corresponding target free material box cache position;

[0230] Step S1420, instructs the second robot to move the material box to be shipped out from the material box cache position to the workstation, so that when the second robot moves to a position corresponding to the material box cache position in the storage space of the shelf, the lever mechanism moves the material box to be shipped out to the cargo platform.

[0231] In the embodiment of the present application, the first robot moves to each target bin storage position and target free bin cache position in turn according to the second operation instruction, and performs the outbound operation until all containers to be outbound are moved to the bin cache position. The first robot and the second robot cooperate with each other in relay to realize the outbound of bins in the storage system, thereby improving the efficiency of picking and releasing goods in the storage system.

[0232] Also, see Fig. 22 , Fig. 22 A schematic diagram of the structure of a control device provided in an embodiment of the present application.

[0233] The present application also provides a control device, such as Fig. 22 As shown, including:

[0234] Memory 2201, used for storing computer programs;

[0235] The processor 2202 is used to implement the steps of the above-mentioned storage method when executing the program stored in the memory 2201:

[0236] Obtain the location information of the target free material box storage position and the target free material box cache position of each material box to be stored;

[0237] Instruct the second robot to move the to-be-stored material box from the workstation to the target free material box cache position, so that when the second robot moves to a position corresponding to the target free material box cache position in the storage space of the shelf, the lever mechanism moves the to-be-stored material box on the cargo platform to the target free material box cache position;

[0238] Instruct the first robot to move the to-be-stored material box to a target free material box storage location.

[0239] Alternatively, to implement the above steps of the outbound method:

[0240] Obtain the location information of the target free material box cache position of each material box to be shipped out in the storage area;

[0241] Instructing the first robot to move the to-be-outbound material box in the storage area to the target free material box cache position;

[0242] Instruct the second robot to move the material box to be shipped out from the material box cache position to the workstation, so that when the second robot moves to a position corresponding to the material box cache position in the storage space of the shelf, the lever mechanism moves the material box to be shipped out to the cargo platform.

[0243] In addition, the electronic device may further include a communication bus and / or a communication interface, and the processor 2202, the communication interface, and the memory 2201 communicate with each other via the communication bus.

[0244] In addition, the above control device can be implemented by a computer, and can also include a communication module, for example: a wired network card or a wireless network card for communicating with the first robot and the second robot.

[0245] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0246] The communication interface is used for communication between the above electronic device and other devices.

[0247] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0248] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0249] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned warehousing method or out-of-warehouse method are implemented.

[0250] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any warehousing method or warehousing-out method in the above embodiments.

[0251] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0252] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0253] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0254] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application are included in the protection scope of the present application.

Claims

1. A storage system, characterized in that: include: A shelf (100), a first robot (200), a second robot (300) and a workstation (400); The shelf (100) comprises: a storage area (110) and a buffer area (120); the storage area (110) is provided with a material box storage layer (111) for storing material boxes (500); the buffer area (120) is located at the bottom of the storage area (110); a preset height is provided between the top of the buffer area (120) and the ground to form a storage space (121); a material box buffer layer (122) is provided in the storage space (121) for caching material boxes (500); The first robot (200) is arranged on one side of the shelf (100) and is used to take and place the material box (500) between the material box storage layer (111) and the material box buffer layer (122); The second robot (300) is capable of transporting a material box (500) between the workstation (400) and a material box buffer layer (122) of the shelf (100); The second robot (300) comprises: a moving chassis (310), a cargo platform (320) and a lever mechanism (330); the cargo platform (320) is installed on the top of the moving chassis (310); the lever mechanism (330) is fixed on the cargo platform (320) and is used to move the material box (500) on the material box cache layer (122) to the cargo platform (320), or to move the material box (500) on the cargo platform (320) to the material box cache layer (122) when the second robot (300) moves to a position corresponding to the material box cache layer (122) in the accommodating space (121).

2. The storage system according to claim 1, characterized in that: A plurality of through slots (123) are arranged at intervals on the material box cache layer (122), and the through slots (123) are perpendicular to the length direction of the shelf (100); each through slot (123) and the layer plates on both sides thereof form a material box cache position (1221) for carrying a material box (500); The cargo platform (320) of the second robot (300) is used to cooperate with the through slot (123) and can be moved to the bottom of the through slot (123) or moved out of the bottom of the through slot (123); The lever mechanism (330) comprises: a first fork assembly (331) arranged on the front end surface of the cargo platform (320) and / or a second fork assembly (332) arranged on the rear end surface of the cargo platform (320); when the second robot (300) moves to a position corresponding to the material box cache layer (122) in the accommodating space (121), the material box (500) on the material box cache layer (122) is shifted to the cargo platform (320) by the first fork assembly (331) or the second fork assembly (332); or, the material box (500) on the cargo platform (320) is shifted to the material box cache layer (122) by the first fork assembly (331) or the second fork assembly (332).

3. The storage system according to claim 2, characterized in that: The shifting rod mechanism (330) comprises: a first shifting fork assembly (331) arranged on the front end surface of the cargo platform (320) and a second shifting fork assembly (332) arranged on the rear end surface of the cargo platform (320); The first shift fork assembly (331) comprises: a first shift fork drive motor and a first shift fork (3311); the first shift fork (3311) is arranged on the front end surface of the cargo platform (320) and can be rotated, lifted or lowered under the drive of the first shift fork drive motor; The second shift fork assembly (332) comprises: a second shift fork drive motor and a second shift fork (3321); the second shift fork (3321) is arranged on the rear end surface of the cargo platform (320) and can be rotated, lifted or lowered under the drive of the second shift fork drive motor; When entering storage, the first shift fork (3311) is in a lowered state, and the second shift fork (3321) is lifted upwards under the drive of the second shift fork drive motor, moves along with the cargo platform (320) toward the through slot (123), and shifts the material box (500) on the cargo platform (320) onto the material box cache layer (122); When leaving the warehouse, the second shift fork (3321) is in a lowered state, and the first shift fork (3311) follows the cargo platform (320) to be moved to the bottom of the through slot (123), and then is lifted upwards under the drive of the first shift fork drive motor; thereafter, it follows the cargo platform (320) to move out of the bottom of the through slot (123), and shifts the material box (500) to the cargo platform (320).

4. The storage system according to claim 3, characterized in that: The cargo platform (320) of the second robot (300) is fixed to the top of the moving chassis (310); the cargo platform (320) can be moved to the bottom of the through slot (123) under the drive of the moving chassis (310); When entering the warehouse, the second robot (300) drives the second fork (3321) to lift upwards through the second fork driving motor, and drives the cargo platform (320) to move toward the through slot (123) through the motion chassis (310), so as to shift the material box (500) from the rear end to the material box buffer layer (122); When leaving the warehouse, the second robot (300) drives the cargo platform (320) to move to the bottom of the through slot (123) via the motion chassis (310), so that the first fork (3311) is located on the first side of the material box (500), and then the first fork driving motor drives the first fork (3311) to lift upward, and then drives the cargo platform (320) to move toward the second side of the material box (500) via the motion chassis (310), so as to bring the material box (500) away from the material box buffer layer (122) and move it to the cargo platform (320).

5. The storage system according to claim 3, characterized in that: The cargo platform (320) of the second robot (300) is mounted on the top of the motion chassis (310) via a telescopic mechanism (340); The cargo platform (320) can be moved to the bottom of the through slot (123) or moved out of the bottom of the through slot (123) under the drive of the telescopic mechanism (340); When entering the warehouse, the second robot (300) drives the cargo platform (320) to move to one end of the through slot (123) via the motion chassis (310), then drives the second fork (3321) to lift upward via the second fork driving motor, and drives the cargo platform (320) to extend toward the through slot (123) via the telescopic mechanism (340), so as to shift the material box (500) from the rear end to the material box buffer layer (122); When leaving the warehouse, the second robot (300) drives the cargo platform (320) to move to one end of the through slot (123) via the moving chassis (310), and then the telescopic mechanism (340) extends toward the through slot (123) to drive the cargo platform (320) to move to the bottom of the through slot (123), so that the first shift fork (3311) is located on the side of the material box (500) away from the moving chassis (310). Then, the second robot (300) drives the first shift fork (3311) to lift upwards via the first shift fork driving motor, and then contracts via the telescopic mechanism (340) to drive the cargo platform (320) to move out of the bottom of the through slot (123), so as to bring the material box (500) away from the material box buffer layer (122) and shift it to the cargo platform (320).

6. The storage system according to claim 2, characterized in that: The number of the shelves (100) is multiple, and the multiple shelves (100) are arranged at intervals, and the interval areas between the shelves (100) form lanes (600); The first robot (200) is arranged on any shelf (100) on both sides of the lane (600), and is capable of taking and placing material boxes (500) on the shelves (100) on both sides of the lane (600).

7. The storage system according to claim 6, characterized in that: Each of the shelves (100) is a double-depth shelf, and the material box cache layer (122) of each of the shelves (100) is single-depth and close to the first side of the shelf (100) in the length direction thereof, and the material box cache layer (122) and the second side of the shelf (100) in the length direction thereof have a distance of at least one depth, so that the accommodating space (121) forms a first channel (710) from the bottom of the material box cache layer (122) to the ground and a second channel (720) from the top of the cache area (120) to the ground; wherein the height of the first channel (710) is sufficient for the second robot (300) to travel unloaded, and the height of the second channel (720) is sufficient for the second robot (300) to travel carrying a material box (500); The second robot (300) is used to travel along the lane (600), the first channel (710) or the second channel (720) to the side of the material box cache layer (122), move the cargo platform (320) to the bottom of the through slot (123), and pick up and place the material box (500) on the material box cache layer (122) through the lever mechanism (330).

8. The storage system according to claim 7, characterized in that: The second robot (300) is used to carry the material box (500) to be stored from the workstation (400) to the shelf (100) during storage, and to travel along the lane (600) or the second channel (720) to the side of the material box cache layer (122), to move the cargo platform (320) to the bottom of the through slot (123), and to shift the material box (500) on the cargo platform (320) to the material box cache layer (122) through the second shifting fork assembly (332); The second robot (300) is also used to move to the shelf (100) empty-handed when out of the warehouse, and travel along the lane (600), the first channel (710) or the second channel (720) to the side of the material box cache layer (122), move the cargo platform (320) to the bottom of the through slot (123), shift the material box (500) to be out of the warehouse on the material box cache layer (122) to the cargo platform (320) through the first fork assembly (331), leave the shelf (100) along the lane (600) or the second channel (720) and go to the workstation (400) to place the material box (500).

9. The storage system according to claim 6, characterized in that: Each of the shelves (100) is a four-deep shelf, and both sides of the shelf (100) face a lane (600) respectively. Each of the shelves (100) has two material box cache layers (122), both of which are single-deep and are respectively arranged on one side of the shelf (100) facing the lane (600) in the length direction. There is a distance of at least two depths between the two material box cache layers (122) of the four-depth shelf, so that the storage space (121) is close to the two sides of the lane (600), and a third channel (730) from the bottom of the material box cache layer (122) to the ground is formed, and a fourth channel (740) is located in the middle area of ​​the storage space (121) and from the top of the cache area (120) to the ground; wherein the height of the third channel (730) is sufficient for the second robot (300) to travel empty-handed, and the height of the fourth channel (740) is sufficient for the second robot (300) to travel with a material box (500); the second robot (300) can travel along the lane (600), the third channel (730) or the fourth channel (740) to one side of the material box cache layer (122), move the cargo platform (320) to the bottom of the through slot (123), and take and place the material box (500) on the material box cache layer (122) through the lever mechanism (330).

10. The storage system according to claim 9, characterized in that: When entering the warehouse, the second robot (300) carries the material box (500) to be entered into the warehouse from the workstation (400) to the shelf (100), and travels along the lane (600) or the fourth channel (740) to the side of the material box cache layer (122), moves the cargo platform (320) to the bottom of the through slot (123), and shifts the material box (500) on the cargo platform (320) to the material box cache layer (122) through the second shifting fork assembly (332); The second robot (300) is also used to move to the shelf (100) empty-handed when out of the warehouse, and travel along the lane (600), the third channel (730) or the fourth channel (740) to the side of the material box cache layer (122), move the cargo platform (320) to the bottom of the through slot (123), shift the material box (500) to be out of the warehouse on the material box cache layer (122) to the cargo platform (320) through the first fork assembly (331), leave the shelf (100) along the lane (600) or the fourth channel (740) and go to the workstation (400) to place the material box (500).

11. The storage system according to claim 9, characterized in that: The four-deep shelf comprises: two double-deep shelves spliced ​​back to back, and two material box buffer layers (122) are respectively arranged on one side of the two double-deep shelves close to the lane (600); The fourth channel (740) in the middle area of ​​the accommodation space (121) from the top of the buffer area (120) to the ground includes: a fifth channel (750) located at the bottom of the first double-deep shelf, and a sixth channel (760) located at the bottom of the second double-deep shelf; The second robot (300) is used to travel along the lane (600), the third channel (730) or the fifth channel (750) to the side of the material box cache layer (122) of the first double-deep shelf, move the cargo platform (320) to the bottom of the through slot (123), and pick up and place the material box (500) on the material box cache layer (122) through the lever mechanism (330); or, travel along the lane (600), the third channel (730) or the sixth channel (760) to the side of the material box cache layer (122) of the second double-deep shelf, move the cargo platform (320) to the bottom of the through slot (123), and pick up and place the material box (500) on the material box cache layer (122) through the lever mechanism (330).

12. The storage system according to claim 1, characterized in that: There are a plurality of material box storage layers (111), each of the material box storage layers (111) is divided into a plurality of material box storage locations (1111), and each of the material box storage locations (1111) is used to store a material box (500).

13. The storage system according to claim 6, characterized in that: The first robot (200) is installed on the outside of the shelf (100) via crossbeams (130) arranged at intervals in the vertical direction, and the first robot (200) is movably connected to the crossbeams (130) along the direction of the lane (600); The first robot (200) is capable of moving in the lane (600) based on the crossbeam (130) to pick up and place different boxes (500) of the shelf (100) along the direction of the lane (600).

14. The storage system according to claim 13, characterized in that: The first robot (200) comprises: a mounting frame (210) and a cargo picking and placing component (220); The mounting frame (210) is movably connected to the crossbeam (130) along the direction of the lane (600); a cargo pick-up and placement assembly (220) arranged on the mounting frame (210) can move horizontally together with the mounting frame (210) based on the crossbeam (130) to pick up and place different material boxes (500) along the direction of the lane (600) from the shelves (100) on both sides of the lane (600); The cargo picking and placing assembly (220) is movably connected to the mounting frame (210) in a vertical direction, and the cargo picking and placing assembly (220) can be raised and lowered along the mounting frame (210) to pick up and place different material boxes (500) in a height direction of the shelves (100) on both sides of the lane (600).

15. The storage system according to claim 1, characterized in that: The workstation (400) is provided with a sorting platform (410), and the sorting platform (410) is provided with a docking interface (411) for a material box to be shipped out and a docking interface (412) for a material box to be shipped in; The sorting platform (410) is capable of receiving the material boxes (500) at the material box docking port (411) to be shipped out, then conveying the material boxes (500) for sorting, and outputting the sorted material boxes (500) at the material box docking port (412) to be shipped in; The second robot (300) is used to carry the to-be-outbound material box (500) and move it to the to-be-outbound material box docking interface (411), dock with the to-be-outbound material box docking interface (411) to unload the material box (500), and then go to the to-be-inbound material box docking interface (412) to receive the to-be-inbound material box (500) or go to the shelf (100) to continue receiving the to-be-outbound material box (500).

16. A warehousing method, characterized in that: Applied to a control device, the control device being communicatively connected to a first robot and a second robot of a storage system according to any one of claims 1 to 15; There are multiple material box storage layers, each of which is divided into multiple material box storage positions; multiple through slots are arranged at intervals on the material box cache layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the layer plates on both sides thereof form a material box cache position; The method comprises: Obtain the location information of the target free material box storage position and the target free material box cache position of each material box to be stored; Instruct the second robot to move the to-be-stored material box from the workstation to the target free material box cache position, so that when the second robot moves to a position corresponding to the target free material box cache position in the storage space of the shelf, the lever mechanism moves the to-be-stored material box on the cargo platform to the target free material box cache position; Instruct the first robot to move the to-be-stored material box to a target free material box storage location.

17. The warehousing method according to claim 16, characterized in that: The cargo platform of the second robot is fixed to the top of the motion chassis; The lever mechanism includes a second fork assembly; the second fork assembly includes: a second fork drive motor and a second fork; the second fork is arranged on the rear end surface of the cargo platform and can be rotated, lifted or lowered under the drive of the second fork drive motor; The instructing the second robot to move the to-be-stored material box from the workstation to the target free material box cache position includes: Instruct the second robot to carry the material box to be stored from the workstation and move to the side of the target free material box cache position; Instruct the second robot to drive the second fork upwards through the second fork driving motor, and drive the cargo platform to move toward the through slot through the motion chassis, and move the to-be-stored material box from the rear end of the material box to the target idle material box cache position.

18. The warehousing method according to claim 16, characterized in that: The cargo platform of the second robot is mounted on the top of the motion chassis through a telescopic mechanism; The lever mechanism includes a second fork assembly; the second fork assembly includes: a second fork drive motor and a second fork; the second fork is arranged on the rear end surface of the cargo platform and can be rotated, lifted or lowered under the drive of the second fork drive motor; The instructing the second robot to move the to-be-stored material box from the workstation to the target free material box cache position includes: Instruct the second robot to carry the material box to be stored from the workstation and move to the side of the target free material box cache position; Instruct the second robot to drive the second fork to lift up through the second fork driving motor, and drive the cargo platform to extend toward the through slot through the telescopic mechanism, and move the material box from the rear end of the material box to the target free material box cache position.

19. The warehousing method according to claim 16, characterized in that: There are multiple shelves, and the intervals between the shelves form lanes; Each of the shelves is a double-deep shelf, and the material box cache layer of each shelf is single-deep and close to the first side of the length direction of the shelf where it is located, so that the accommodating space forms a first channel from the bottom of the material box cache layer to the ground and a second channel from the top of the cache area to the ground; The instructing the second robot to move the to-be-stored material box from the workstation to the target free material box cache position includes: Instruct the second robot to carry the to-be-stored material box from the workstation to the shelf, and travel along the lane or the second channel to the side of the target free material box cache position, move the cargo platform to the bottom of the through slot, and use the lever mechanism to move the to-be-stored material box on the cargo platform to the target free material box cache position.

20. The warehousing method according to claim 16, characterized in that: There are multiple shelves, and the intervals between the shelves form lanes; Each of the shelves is a four-deep shelf, and each of the shelves has two material box cache layers, both of which are single-depth and are respectively arranged on one side of the shelf facing the lane in the length direction; the two sides of the storage space close to the lane respectively form a third channel from the bottom of the material box cache layer to the ground, and a fourth channel located in the middle area of ​​the storage space from the top of the cache area to the ground; The instructing the second robot to move the to-be-stored material box from the workstation to the target free material box cache position includes: Instruct the second robot to carry the material box to be stored from the workstation to the shelf, and travel along the lane or the fourth channel to the side of the target free material box cache position, move the cargo platform to the bottom of the through slot, and use the lever mechanism to move the material box to be stored on the cargo platform to the target free material box cache position.

21. The warehousing method according to claim 20, characterized in that: The four-deep rack includes two double-deep racks spliced ​​back to back, and the two material box buffer layers are respectively arranged on one side of the two double-deep racks close to the lane; The fourth channel in the middle area of ​​the accommodation space from the top of the buffer area to the ground includes: a fifth channel located at the bottom of the first double-deep shelf, and a sixth channel located at the bottom of the second double-deep shelf; The instructing the second robot to carry the to-be-stored material box from the workstation to the shelf, and to drive along the lane or the fourth channel to the side of the target free material box cache position, to move the cargo platform to the bottom of the through slot, and to move the to-be-stored material box on the cargo platform to the target free material box cache position through the lever mechanism, includes: Instruct the second robot to carry the material boxes to be stored from the workstation to the shelf, and travel along the lane or the fifth channel to the side of the target free material box cache position of the first double-deep shelf, move the cargo platform to the bottom of the through slot, and use the lever mechanism to move the material boxes to be stored on the cargo platform to the target free material box cache position of the first double-deep shelf; or, travel along the lane or the sixth channel to the side of the target free material box cache position of the second double-deep shelf, and place the material boxes to be stored on the target free material box cache position of the second double-deep shelf.

22. The warehousing method according to any one of claims 16 to 21, characterized in that: The first robot includes: a mounting frame and a pick-and-place assembly; The instructing the first robot to move the to-be-stored material box on the material box cache layer to the target free material box storage position includes: A first operation instruction including a target material box cache position and a target free material box storage position is sent to the first robot, so that the first robot uses the mounting frame to move horizontally on the shelf to a position corresponding to the target material box cache position, and moves the picking and placing component downward along the mounting frame to a corresponding position on the target material box cache position, uses the picking and placing component to take out the material box to be stored from the target material box cache position, and moves it upward to place it on the corresponding target free material box storage position.

23. A method for removing goods from a warehouse, characterized in that: Applied to a control device, the control device being communicatively connected to a first robot and a second robot of a storage system according to any one of claims 1 to 15; There are multiple material box storage layers, each of which is divided into multiple material box storage positions; multiple through slots are arranged at intervals on the material box cache layer, and the through slots are perpendicular to the length direction of the shelf; each through slot and the layer plates on both sides thereof form a material box cache position; The method comprises: Obtain the location information of the target free material box cache position of each material box to be shipped out in the storage area; Instructing the first robot to move the to-be-outbound material box in the storage area to the target free material box cache position; Instruct the second robot to move the material box to be shipped out from the material box cache position to the workstation, so that when the second robot moves to a position corresponding to the material box cache position in the storage space of the shelf, the lever mechanism moves the material box to be shipped out to the cargo platform.

24. The method for removing goods from storage according to claim 23, characterized in that: The cargo platform of the second robot is fixed to the top of the motion chassis; The lever mechanism includes a first fork assembly; the first fork assembly includes: a first fork drive motor and a first fork; the first fork is arranged on the front end surface of the cargo platform and can be rotated, lifted or lowered under the drive of the first fork drive motor; The instructing the second robot to move the material box to be shipped out from the material box buffer position to the workstation includes: Instruct the second robot to move unloaded to one side of the target material box cache position; Instruct the second robot to drive the cargo platform to move to the bottom of the through slot through the motion chassis, so that the first fork is located on the first side of the material box to be shipped out of the warehouse, and then drive the first fork to be lifted upward by the first fork driving motor, and then drive the cargo platform to move toward the second side of the material box through the motion chassis, so as to bring the material box away from the material box cache layer, and move it to the cargo platform, and then go to the workstation to place the material box.

25. The method for removing goods from storage according to claim 23, characterized in that: The cargo platform of the second robot is mounted on the top of the motion chassis through a telescopic mechanism; The lever mechanism includes a first fork assembly; the first fork assembly includes: a first fork drive motor and a first fork; the first fork is arranged on the front end surface of the cargo platform and can be rotated, lifted or lowered under the drive of the first fork drive motor; The instructing the second robot to move the material box to be shipped out from the material box buffer position to the workstation includes: Instruct the second robot to move unloaded to one side of the target material box cache position; Instruct the second robot to drive the cargo platform to move to one end of the through slot via the motion chassis, then the telescopic mechanism drives the cargo platform to extend toward the through slot, drives the cargo platform to move to the bottom of the through slot, so that the first fork is located on the side of the material box (500) away from the motion chassis, then the second robot drives the first fork to lift up via the first fork driving motor, and then contracts via the telescopic mechanism, drives the cargo platform to move out of the bottom of the through slot, takes the material box away from the material box cache layer, and moves it to the cargo platform, and then goes to the workstation to place the material box.

26. The method for removing goods from storage according to claim 23, characterized in that: There are multiple shelves, and the intervals between the shelves form lanes; Each of the shelves is a double-deep shelf, and the material box cache layer of each shelf is single-deep and close to the first side of the length direction of the shelf where it is located, so that the accommodating space forms a first channel from the bottom of the material box cache layer to the ground and a second channel from the top of the cache area to the ground; The instructing the second robot to move the material box to be shipped out from the material box buffer position to the workstation includes: Instruct the second robot to move unloaded along the lane, the first channel or the second channel to one side of the target material box cache position, move the cargo platform to the bottom of the through slot, and move the material box to be shipped out on the material box cache position to the cargo platform through the lever mechanism; Instruct the second robot to carry the to-be-outbound material box along the lane or the second channel to leave the shelf and go to the workstation to place the material box.

27. The method for removing goods from storage according to claim 23, characterized in that: There are multiple shelves, and the intervals between the shelves form lanes; Each of the shelves is a four-deep shelf, and each of the shelves has two material box cache layers, both of which are single-depth and are respectively arranged on one side of the shelf facing the lane in the length direction; the two sides of the storage space close to the lane respectively form a third channel from the bottom of the material box cache layer to the ground, and a fourth channel located in the middle area of ​​the storage space from the top of the cache area to the ground; The instructing the second robot to move the material box to be shipped out from the material box buffer position to the workstation includes: Instruct the second robot to move unloaded along the lane, the third channel or the fourth channel to one side of the target material box cache position, move the cargo platform to the bottom of the through slot, and move the material box to be shipped out on the material box cache position to the cargo platform through the lever mechanism; Instruct the second robot to carry the to-be-outbound material box along the lane or the fourth channel to leave the shelf and go to the workstation to place the material box.

28. The method for removing goods from storage according to claim 27, characterized in that: The four-deep rack includes two double-deep racks spliced ​​back to back, and the two material box buffer layers are respectively arranged on one side of the two double-deep racks close to the lane; The fourth channel in the middle area of ​​the accommodation space from the top of the buffer area to the ground includes: a fifth channel located at the bottom of the first double-deep shelf, and a sixth channel located at the bottom of the second double-deep shelf; The instructing the second robot to move unloaded along the lane, the third channel or the fourth channel to one side of the target material box cache position comprises: Instruct the second robot to move unloaded along the lane, the third channel or the fifth channel to one side of the target material box cache position of the first double-deep rack, or instruct the second robot to move unloaded along the lane, the third channel or the sixth channel to one side of the target material box cache position of the second double-deep rack; The step of instructing the second robot to carry the material box to be shipped out, leave the shelf along the lane or the fourth channel and go to the workstation to place the material box, comprises: Instruct the second robot to carry the box to be shipped out to leave the first double-deep rack along the lane or the fifth channel and go to the workstation to place the box, or instruct the second robot to carry the box to be shipped out to leave the second double-deep rack along the lane or the sixth channel and go to the workstation to place the box.

29. The method for removing a warehouse according to any one of claims 23 to 28, characterized in that: The first robot includes: a mounting frame and a pick-and-place assembly; The instructing the first robot to move the to-be-outbound material box in the storage area to the target free material box cache position includes: A second operation instruction including a target material box storage position and a target free material box cache position is sent to the first robot, so that the first robot uses the mounting frame to move horizontally on the shelf to a position corresponding to the target material box storage position, and moves the picking and placing component downward along the mounting frame to a corresponding position on the target material box storage position, uses the picking and placing component to take out the material box to be shipped from the target material box storage position, and moves it downward to place it on the corresponding target free material box cache position.

30. A control device, characterized in that: include: Memory, used to store computer programs; The processor is used to implement the warehousing method described in any one of claims 16 to 22, or the warehousing exit method described in any one of claims 23 to 29 when executing the program stored in the memory.

31. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the warehousing method described in any one of claims 16 to 22, or implements the warehousing-out method described in any one of claims 23 to 29.

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