Warehousing system

Abstract

The embodiment of the utility model provides a warehousing system. The warehousing system comprises a storage area, a hanging frame type robot, a goods conveying line and a sorting area. The storage area comprises a plurality of goods shelves arranged at intervals, and roadways extending in the length direction of the goods shelves are formed between the adjacent goods shelves. The first end of the goods conveying line extends into the goods shelf of the storage area, and the second end extends to the sorting area and is used for conveying goods between the storage area and the sorting area; the hanging frame type robot is hung on the side, close to the roadway, of the goods shelf and used for moving along the roadway and taking and placing goods between the goods shelf and the goods conveying line in the goods shelf. Through the cooperation of the hanger type robot and the goods conveying line, the goods are put in and put out of the warehouse, the movable goods taking and putting of the hanger type robot and the conveying of the goods conveying line can be carried out at the same time and do not interfere with each other, and the goods taking and putting efficiency and the carrying efficiency of the warehousing system are improved.

Description

Technical Field

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

[0002] In related technologies, a warehousing system includes multiple shelves and handling equipment. The handling equipment usually adopts a handling robot or a stacker. It is necessary to pick up and place goods at the shelves and picking areas, and to transport goods between the shelves and picking areas. This makes the handling equipment have a long travel distance. When the warehousing system dispatches multiple handling equipment, the path planning is complicated, resulting in low efficiency in picking and placing goods in the warehousing system. Utility Model Content

[0003] The purpose of the embodiments of the present application is to provide a warehousing system to improve the efficiency of picking and releasing goods. The specific technical solution is as follows:

[0004] An embodiment of the present application provides a warehousing system, comprising: a storage area, a hanging robot, a cargo conveyor line and a picking area; the storage area comprises a plurality of shelves arranged at intervals, with aisles extending along the length of the shelves formed between adjacent shelves; a first end of the cargo conveyor line extends to the interior of the shelves in the storage area, and a second end extends to the picking area, for conveying cargo between the storage area and the picking area; the hanging robot is hung on a side of the shelf close to the aisle, for moving along the aisle, and picking and placing cargo between the shelf and the cargo conveyor line inside the shelf.

[0005] In some embodiments of the present application, the hanging robot is hung on the shelf on one side of the alley; the hanging robot is used to pick up and place goods on the shelves on both sides of the alley, as well as goods on the cargo conveyor lines inside the shelves on both sides.

[0006] In some embodiments of the present application, the hanging robot includes a support frame and a picking and placing component; the support frame is hung on the shelf and is movably connected to the side of the shelf along the length direction of the aisle; the picking and placing component is arranged on the support frame, and can be raised and lowered along the support frame, and moved horizontally relative to the shelf with the support frame to pick up and place goods at different positions on the shelf and the cargo conveyor line inside the shelf.

[0007] In some embodiments of the present application, the shelf includes a storage space at the top and a docking space at the bottom; the storage space includes a plurality of storage layers spaced apart in a vertical direction for storing goods; the docking space is located at the bottom of the storage space, and the first end of the goods conveying line extends to the docking space; the picking and placing assembly is used to pick and place goods between the shelves on both sides of the aisle and the goods conveying line inside the shelf.

[0008] In some embodiments of the present application, the cargo conveyor line includes an outbound conveyor line and an inbound conveyor line; the outbound conveyor line and the inbound conveyor line are arranged at the bottom of the shelves in the storage area, and one side of each aisle is an outbound conveyor line, and the other side is an inbound conveyor line; the first ends of the outbound conveyor line and the inbound conveyor line extend in parallel to the bottom of the shelf; the second ends extend to the picking area respectively; the outbound conveyor line is used to take the outbound goods to be taken out of the shelf by the hanging robot and placed on the outbound conveyor line to the picking area; the inbound conveyor line is used to input the inbound goods to be received from the picking area to the bottom of the shelf, so that the hanging robot can move the inbound goods on the inbound conveyor line to the shelf.

[0009] In some embodiments of the present application, the picking area includes: a picking platform; the second end of the outbound conveyor line and the second end of the inbound conveyor line are both connected to the picking platform; the picking platform is used to pick and outbound the goods to be shipped from the second end of the outbound conveyor line, and to move the goods to be shipped to the second end of the inbound conveyor line.

[0010] In some embodiments of the present application, there are multiple picking stations in the picking area, and the multiple picking stations are arranged at intervals; the cargo conveyor line also includes: a distribution conveyor line; the second end of the outbound conveyor line and the second end of the inbound conveyor line at the bottom of each shelf are connected to the distribution conveyor line; the distribution conveyor line is also connected to each picking station, and is used to distribute and convey the goods to be shipped out at the second end of each outbound conveyor line to the target picking station, or to distribute and convey the goods to be shipped in on each picking station to the second end of the target inbound conveyor line.

[0011] In some embodiments of the present application, the distribution conveyor line includes: a first distribution conveyor line and a second distribution conveyor line arranged side by side and with opposite transmission directions; the first distribution conveyor line is connected to the second end of the outbound conveyor line and the second end of the inbound conveyor line at the bottom of each shelf, and the second distribution conveyor line is connected to each picking platform; the conveying end of the first distribution conveyor line is connected to the input end of the second distribution conveyor line through a first lifting and transferring mechanism, and the conveying end of the second distribution conveyor line is connected to the input end of the first distribution conveyor line through a second lifting and transferring mechanism; when outbound, the first lifting and transferring mechanism is used to transfer the goods to be outbound on the first distribution conveyor line to the second distribution conveyor line; when inbound, the second lifting and transferring mechanism is used to transfer the goods to be inbound on the second distribution conveyor line to the first distribution conveyor line.

[0012] In some embodiments of the present application, the first distribution conveyor line and the second distribution conveyor line are roller conveyor lines, including a plurality of rollers arranged at intervals; the first lifting and transferring mechanism and the second lifting and transferring mechanism both include: multiple sets of conveyor pulleys, and a lifting mechanism; each set of conveyor pulleys is arranged in the corresponding roller gaps of the first distribution conveyor line and the second distribution conveyor line, and the lifting mechanism is arranged at the bottom of the multiple sets of conveyor pulleys and is driven and connected to the multiple sets of conveyor pulleys; when the goods to be shipped out move on the first distribution conveyor line to the rollers adjacent to the multiple sets of conveyor pulleys of the first lifting and transferring mechanism, the multiple sets of conveyor pulleys of the first lifting and transferring mechanism rise under the drive of the lifting mechanism, lift the goods to be shipped out, and transport them toward the second distribution conveyor line; when the goods to be entered move on the second distribution conveyor line to the rollers adjacent to the multiple sets of conveyor pulleys of the second lifting and transferring mechanism, the multiple sets of conveyor pulleys of the second lifting and transferring mechanism rise under the drive of the lifting mechanism, lift the goods to be entered, and transport them toward the first distribution conveyor line.

[0013] In some embodiments of the present application, each of the picking stations includes: a first picking transmission line, a second picking transmission line and a third picking transmission line; the first picking transmission line is connected to the second distribution conveyor line, and is used to receive the goods to be shipped out from the second distribution conveyor line and transmit them to the second picking transmission line; the second picking transmission line is used to pick the goods to be shipped out transmitted from the first picking transmission line, and transmit the goods to be received to the third picking transmission line; the third picking transmission line is connected to the second distribution conveyor line, and is used to transmit the goods to be received transmitted from the second picking transmission line to the second distribution conveyor line.

[0014] In some embodiments of the present application, a first scanning device is provided at the conveying end of the first distribution conveyor line, and a second scanning device is provided at the conveying end of the second distribution conveyor line; the first scanning device is used to identify the barcode of the goods to be shipped out on the first distribution conveyor line, so that after the second distribution conveyor line receives the goods to be shipped out, the goods to be shipped out are distributed and transported to the target picking platform according to the recognition result of the first scanning device; the second scanning device is used to identify the barcode of the goods to be entered into the warehouse transmitted from the picking platform, so that after the first distribution conveyor line receives the goods to be entered into the warehouse, the goods to be entered into the warehouse are distributed and transported to the second end of the target entering warehouse conveyor line according to the recognition result of the second scanning device; a third scanning device is provided on the picking platform, and the third scanning device is used to identify the barcode of the goods on the picking platform for picking or placing the goods.

[0015] In some embodiments of the present application, at least one horizontal track is arranged at intervals in the vertical direction on one side of the shelf close to the aisle; the support frame is movably connected to the horizontal track so that the support frame and the picking and placing assembly can slide horizontally along the horizontal track to pick and place different goods on the shelves on both sides of the aisle and on the cargo conveyor line inside the shelf.

[0016] In some embodiments of the present application, the hanging robot also includes a lifting component; the lifting component is arranged on the support frame, and is used to drive the picking and placing component to rise and fall along the support frame; the picking and placing component is installed on the lifting component, and is used to extend toward the shelves on both sides of the aisle or the cargo conveying lines inside the shelves on both sides of the aisle to pick up and place goods.

[0017] In some embodiments of the present application, the storage layer is divided into a plurality of storage locations; different storage locations can stack goods of different sizes; and the sizes of goods stored in each storage location are the same or different.

[0018] In some embodiments of the present application, it also includes: a control device; the control device is communicatively connected to the hanging robot and the cargo conveyor line, and is used to control the hanging robot to pick up and place goods between the shelf and the cargo conveyor line inside the shelf, and to control the cargo conveyor line to transport goods between the storage area and the picking area.

[0019] In the warehousing system provided by the embodiments of the present application, the first end of the cargo conveyor line extends to the interior of the shelves in the storage area, and the second end extends to the picking area, for transporting goods between the storage and picking areas. A rack-mounted robot is mounted on the side of the shelf near the aisle and can move along the aisle, picking and placing goods between the shelf and the cargo conveyor line inside the shelf. The rack-mounted robot and the cargo conveyor line work together to achieve the entry and exit of goods. The rack-mounted robot's movement to pick and place goods and the cargo conveyor line's transmission can occur simultaneously without interfering with each other, thereby improving the warehousing system's efficiency in picking and placing goods and handling.

[0020] 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

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0022] Figure 1 A three-dimensional structural diagram of a storage system according to an embodiment of the present application;

[0023] Figure 2 for Figure 1 A three-dimensional structural diagram of the storage system from another angle;

[0024] Figure 3 for Figure 1 A partial three-dimensional structural diagram of the storage system shown;

[0025] Figure 4a for Figure 1 The first distribution diagram of the outbound conveyor line and the inbound conveyor line is shown;

[0026] Figure 4b for Figure 1 The second distribution diagram of the outbound conveyor line and the inbound conveyor line is shown;

[0027] Figure 5 for Figure 1 A partial three-dimensional structural diagram of the distribution conveyor line of the warehousing system shown;

[0028] Figure 6 for Figure 1 A schematic diagram of the three-dimensional structure of the rack-type robot shown;

[0029] Figure 7 This is a flow chart of the first embodiment of the method for releasing inventory provided by this application;

[0030] Figure 8 This is a flow chart of the second embodiment of the method for releasing inventory provided by this application;

[0031] Figure 9 This is a flow chart of the first embodiment of the storage method provided by this application;

[0032] Figure 10 This is a flow chart of the second embodiment of the warehousing method provided in this application.

[0033] Reference numerals:

[0034] Storage area 100; shelf 110; first shelf 110A; second shelf 110B; storage space 111; storage layer 1111; storage location 1112; docking space 112; horizontal track 120;

[0035] Hanging robot 200; support frame 210; column 211; cargo pick-up and placement assembly 220; cargo loading platform 221; hook mechanism 222; lifting assembly 230; lifting motor 231; transmission mechanism 232; conveyor belt 2321; transmission wheel 2322; driving wheel assembly 240;

[0036] Cargo conveyor line 300; outbound conveyor line 310; inbound conveyor line 320; distribution conveyor line 330; first distribution conveyor line 331; second distribution conveyor line 332; first lifting and transferring mechanism 333A; second lifting and transferring mechanism 333B; conveyor pulley 3331; second conveyor belt 3331A; conveyor pulley 3331B; lifting mechanism 3332; roller 334; first scanning device 341; second scanning device 342; third scanning device 343;

[0037] Picking area 400; picking platform 410; first picking transmission line 411; second picking transmission line 412; third picking transmission line 413; display 420;

[0038] Lane 500; Goods 600. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0040] As mentioned in the background technology, in the related technology, the warehousing system includes multiple shelves and handling equipment. The handling equipment usually adopts a handling robot or a stacker. It is necessary to pick up and place goods at the shelves and picking areas, and to transport goods between the shelves and picking areas, resulting in low efficiency of picking and placing goods in the warehousing system.

[0041] In order to improve the efficiency of picking up and releasing goods, the embodiment of the present application provides a warehousing system, see Figures 1 to 3 , Figure 1 A three-dimensional structural diagram of a storage system according to an embodiment of the present application; Figure 2 for Figure 1 A three-dimensional structural diagram of the storage system from another angle; Figure 3 for Figure 1 The partial three-dimensional structure diagram of the storage system shown.

[0042] like Figures 1 to 3 As shown, the warehousing system includes: a storage area 100, a rack-type robot 200, a cargo conveying line 300 and a picking area 400.

[0043] The storage area 100 includes a plurality of shelves 110 arranged at intervals, and aisles 500 extending along the length direction of the shelves 110 are formed between adjacent shelves 110.

[0044] A first end of the goods conveying line 300 extends to the inside of the shelf 110 of the storage area 100 , and a second end extends to the picking area 400 , for conveying goods 600 between the storage area 100 and the picking area 400 .

[0045] The hanging robot 200 is hung on a side of the shelf 110 close to the lane 500 and is used to move along the lane 500 to pick up and place goods 600 between the shelf 110 and the goods conveying line 300 inside the shelf 110.

[0046] The picking area 400 is used to pick or place goods based on the goods conveying line 300.

[0047] In the warehousing system provided by the embodiment of the present application, the first end of the cargo conveyor line 300 extends to the interior of the shelf 110 of the storage area 100, and the second end extends to the picking area 400, for conveying cargo 600 between the storage area 100 and the picking area 400; the rack-mounted robot 200 is mounted on the side of the shelf 110 close to the lane 500, and is capable of moving along the lane 500 to pick up and place cargo 600 between the shelf 110 and the cargo conveyor line 300 inside the shelf 110. The rack-mounted robot 200 and the cargo conveyor line 300 work together to realize the entry and exit of cargo 600, and the movement of the rack-mounted robot 200 to pick up and place cargo 600 and the transmission of cargo conveyor line 300 can be carried out simultaneously without interfering with each other, thereby improving the efficiency of picking up and placing cargo and the handling efficiency of the warehousing system.

[0048] Specifically, if Figures 1 to 3 As shown, the first end of the cargo conveyor line 300 extends into the interior of the shelf 110 of the storage area 100. The first end can be located in the middle or at the bottom of the shelf 110. The cargo 600 can be a specific item or a container or other container for holding items. This application does not limit the type of cargo. The cargo 600 can have various sizes. For example, the cargo 600 can be containers of different sizes for holding different items.

[0049] In some embodiments of the present application, a hanging robot 200 is hung on the shelf 110 on one side of the alley 500; the hanging robot 200 is used to pick up and place the goods 600 on the shelves 110 on both sides of the alley 500, as well as the goods 600 on the cargo conveying lines 300 inside the shelves 110 on both sides.

[0050] In addition, in other embodiments, a hanging robot 200 can be hung on the shelves 110 on both sides of the aisle 500 respectively. The hanging robot 200 is used to pick up and place the goods 600 on the shelf 110 and the goods 600 on the goods conveying line 300 inside the shelf 110.

[0051] The number of rack-mounted robots 200 in each lane 500 can be one or more, and can be set according to the length of the shelf 110. Multiple rack-mounted robots 200 can each be responsible for picking up and placing goods 600 on a portion of the shelf 110 to improve the efficiency of picking up and placing goods.

[0052] By applying the embodiment of the present application, the hanging robot 200 is hung on the shelf 110 on one side of the alley 500, and picks and places the goods 600 on the shelves 110 on both sides of the alley 500, as well as the goods 600 on the cargo conveying lines 300 inside the shelves 110 on both sides, which can improve the utilization rate of the hanging robot 200.

[0053] The storage area 100, the cargo conveying line 300 and the picking area 400 of the warehousing system of the embodiment of the present application are first described in detail below.

[0054] See also Figure 1 In the storage area 100 of the storage system in the embodiment of the present application, 6 rows of shelves 110 are set, of which the middle four rows are four-deep shelves, which can be composed of two double-deep shelves spliced ​​back to back, and double-deep shelves are used on both sides. Figure 1 As shown, an aisle 500 is formed between adjacent rows of shelves 110. A rack-mounted robot 200 is mounted on one of the shelves 110 on either side of the aisle 500 to retrieve and place goods 600 from the double-deep shelves 110 on either side of the aisle 500, near the aisle 500. Specifically, for the sake of order and ease of management, in this embodiment, the rack-mounted robot 200 is mounted on a shelf on the right side of the aisle.

[0055] In some embodiments of the present application, Figures 1 to 3 As shown, the shelf 110 includes a storage space 111 at an upper portion and a docking space 112 at a bottom portion.

[0056] The storage space 111 includes multiple storage layers 1111 arranged at intervals in the vertical direction for storing goods 600; the docking space 112 is located at the lower part of the storage space 111, and the first end of the goods conveying line 300 extends to the docking space 112, and the second end extends to the picking area 400.

[0057] Specifically, the storage layer 1111 is divided into multiple storage locations 1112 for storing goods 600.

[0058] In some embodiments of the present application, Figures 1 to 3 As shown, the cargo conveying line 300 includes an outbound conveying line 310 and an inbound conveying line 320. The outbound conveying line 310 and the inbound conveying line 320 are arranged at the bottom of the shelves 110 in the storage area 100, and one side of each lane 500 is the outbound conveying line 310, and the other side is the inbound conveying line 320.

[0059] The first ends of the outbound conveyor line 310 and the inbound conveyor line 320 extend parallel to the bottom of the shelf 110 ; the second ends extend to the picking area 400 respectively.

[0060] The outbound conveyor line 310 is used to take the goods 600 to be outbound taken out from the shelf 110 by the rack-type robot 200 and placed on the outbound conveyor line 310 and output them to the picking area 400 .

[0061] The incoming conveyor line 320 is used to input the incoming goods 600 received from the picking area 400 to the bottom of the shelf 110 , so that the rack-type robot 200 moves the incoming goods 600 on the incoming conveyor line 320 to the shelf 110 .

[0062] Specifically, the outbound conveyor line 310 and the inbound conveyor line 320 are unidirectional conveyor lines. The conveying direction of the outbound conveyor line 310 is from the storage area 100 to the picking area 400, and the conveying direction of the inbound conveyor line 320 is from the picking area 400 to the storage area 100.

[0063] The rack 110 is a multi-deep rack so that the docking space 112 can accommodate the outbound conveyor line 310 and the inbound conveyor line 320. Accordingly, the rack-mounted robot 200 can pick up and place multi-deep goods 600.

[0064] However, in order to improve the utilization rate of the hanging robot 200, the shelves 110 located on both sides of the storage area 100 can be set to a deep position that can only accommodate one outbound conveyor line 310 or inbound conveyor line 320. The hanging robot 200 is set on the side of the shelf 110 close to the aisle 500, and can pick up and place the goods 600 on the shelf 110 and its adjacent shelves 110. There is no need to set up a hanging robot 200 on the side of the shelf 110 away from the aisle 500.

[0065] See also Figure 4a and Figure 4b , Figure 4a for Figure 1 The first distribution diagram of the outbound conveyor line and the inbound conveyor line is shown; Figure 4b for Figure 1 The second distribution diagram of the outbound conveyor line and the inbound conveyor line is shown.

[0066] The outbound conveyor line 310 and the inbound conveyor line 320 can be as follows Figure 4a As shown, they are arranged in sequence at the bottom of the shelves 110 of the storage area 100, that is, they are arranged at the bottom of the shelves 110 of the storage area 100 in an alternating order of outbound conveyor line 310, inbound conveyor line 320, outbound conveyor line 310, and inbound conveyor line 320.

[0067] The outbound conveyor line 310 and the inbound conveyor line 320 can also be as follows Figure 4bAs shown, in the storage area 100, two identical outbound conveyor lines 310 or two identical inbound conveyor lines 320 are set at the bottom of the four-deep shelves, the types of cargo conveyor lines 300 at the bottom of adjacent four-deep shelves are different, and the types of cargo conveyor lines 300 at the bottom of the double-deep shelves on both sides are also different from the types of cargo conveyor lines 300 at the bottom of the adjacent four-deep shelves.

[0068] Regardless of whether the first or second solution is adopted, it can be achieved that one side of each lane 500 is the outbound conveyor line 310 and the other side is the inbound conveyor line 320. This application will subsequently describe the warehousing system using the first solution as an example.

[0069] like Figure 1 As shown, the outbound conveyor line 310 and the inbound conveyor line 320 in the embodiment of the present application are arranged in parallel on the left and right at the bottom of the four-row four-deep shelf in the middle of the storage area 100. The inbound conveyor line 320 is arranged at the bottom of the double-deep shelf on the left side of the storage area 100, and the inbound conveyor line 320 is arranged at the bottom of the double-deep shelf on the right side of the storage area 100.

[0070] When the goods 600 on the four-row, four-deep shelves in the middle of the storage area 100 need to be shipped out, the hanging robot 200 located in the aisle 500 on the side where the goods 600 are located needs to pick up the goods and place them on the only shipping conveyor line 310 adjacent to the aisle 500.

[0071] When the goods 600 on the double-deep shelf on the left side of the storage area 100 need to be shipped out, the hanging robot 200 in the aisle 500 can place the goods 600 to be shipped out on the shelf 110 on the shipping conveyor line 310 at the bottom of the adjacent shelf 110 of the shelf 110.

[0072] When the goods 600 to be stored need to be stored on the double-deep shelf on the right side of the storage area 100, they can be transported to the docking space 112 of the adjacent shelf through the storage conveyor line 320 at the bottom of the adjacent shelf 110 of the shelf 110, and then taken down by the hanging robot 200 in the aisle 500 and placed on the shelf 110.

[0073] Below, Figure 3 Taking the rack-mounted robot 200 as an example, the following steps are described:

[0074] Figure 3 There are two adjacent shelves 110, one of which is a first shelf 110A and the other is a second shelf 110B.

[0075] An outbound conveyor line 310 is located at the bottom of the first shelf 110A, near the lane 500. An inbound conveyor line 320 is located at the bottom of the second shelf 110B, near the lane 500. A rack-mounted robot 200 is mounted on the first shelf 110A. The rack-mounted robot 200 includes a support frame 210 and a pick-and-place assembly 220. The detailed structure is described below.

[0076] When leaving the warehouse:

[0077] A. The pick-and-place assembly 220 moves horizontally and vertically based on the support frame 210 to the position corresponding to the target goods 600 to be shipped on the first shelf 110A or the second shelf 110B, and reaches out to pick up the target goods 600 to be shipped;

[0078] B. After picking up the goods, the picking and placing component 220 retracts and moves downward to a position corresponding to the outbound conveyor line 310 at the bottom of the first shelf 110A, extends toward the outbound conveyor line 310, and places the goods 600 to be shipped on the outbound conveyor line 310.

[0079] When entering the warehouse:

[0080] C. The pick-and-place assembly 220 moves horizontally and up and down based on the support frame 210 to the position corresponding to the inbound conveyor line 320 at the bottom of the second shelf 110B, and extends toward the inbound conveyor line 320 to pick up the goods;

[0081] D. After picking up the goods, the picking and placing component 220 retracts and moves upward to a position corresponding to the target storage location 1112 on the first shelf 110A or the second shelf 110B, extends toward the target storage location 1112, and places the goods 600 to be stored on the target storage location 1112.

[0082] By applying the embodiment of the present application, an outbound conveyor line 310 and an inbound conveyor line 320 are set up, so that the goods 600 can be taken out of and into the warehouse at the same time without interfering with each other, thereby improving the picking and placing efficiency and the handling efficiency of the warehousing system; and the outbound conveyor line 310 and the inbound conveyor line 320 are set at the bottom of the shelf 110 in the storage area 100, which can improve the space utilization of the warehousing system.

[0083] In some embodiments of the present application, Figure 1 and Figure 2 As shown, the picking area 400 includes a picking platform 410. The second end of the outbound conveyor line 310 and the second end of the inbound conveyor line 320 are both connected to the picking platform 410.

[0084] The picking platform 410 is used to pick and remove the goods 600 to be shipped from the second end of the outbound conveyor line 310 , and to move the goods 600 to be received to the second end of the inbound conveyor line 320 .

[0085] Specifically, the picking station 410 can be manually picked or picked by equipment. The goods to be stored 600 can be the goods from the outbound conveyor line 310 that have been picked, or the goods to be stored that are placed on the picking station 410 by manual or equipment from the outside.

[0086] By applying the embodiment of the present application, a picking platform 410 is provided to receive the goods 600 to be shipped out on the outbound conveyor line 310 for picking and shipping out, or to move the goods 600 to be received into the warehouse to the inbound conveyor line 320 .

[0087] In some embodiments of the present application, Figure 1 and Figure 2 As shown, the picking area 400 has a plurality of picking platforms 410 , and the plurality of picking platforms 410 are arranged at intervals.

[0088] The cargo conveying line 300 further includes: a distribution conveying line 330 ; the second end of the outbound conveying line 310 and the second end of the inbound conveying line 320 at the bottom of each shelf 110 are both connected to the distribution conveying line 330 .

[0089] The distribution conveyor line 330 is also connected to each picking platform 410, and is used to distribute and transport the goods 600 to be shipped out at the second end of each outbound conveyor line 310 to the target picking platform 410, or to distribute and transport the goods 600 to be shipped in on each picking platform 410 to the second end of the target inbound conveyor line 320.

[0090] Specifically, if Figure 1 and Figure 2 As shown, the picking area 400 shown in this embodiment includes three picking stations 410, and each picking station can pick a preset number of goods 600 to be shipped from the shelves 110.

[0091] The goods 600 to be shipped on the shelves 110 on both sides of each lane 500 are transported through a shipping conveyor line 310 and finally transported to the distribution conveyor line 330. The distribution conveyor line 330 distributes and transports each piece of goods 600 to the corresponding target picking platform 410.

[0092] All the goods 600 to be stored on each picking platform 410 are transported to the distribution conveyor line 330 , and the distribution conveyor line 330 distributes and transports each of the goods 600 to be stored to the target storage conveyor line 320 corresponding to the target shelf 110 .

[0093] By applying the embodiment of the present application, a distribution conveyor line 330 is set up, which can distribute and convey the goods 600 to be shipped out to the corresponding target picking platform 410, or distribute and convey the goods 600 to be received in to the corresponding target incoming conveyor line 320, thereby avoiding the direct connection of all outgoing conveyor lines 310 and incoming conveyor lines 320 to the picking platform 410, resulting in too many conveyor lines in the picking area 400; the distribution conveyor line 330 distributes the goods 600, thereby improving the warehousing system and the efficiency of inbound and outbound storage.

[0094] In some embodiments of this application, see Figure 5 , Figure 5 for Figure 1 The partial three-dimensional structure diagram of the distribution conveyor line of the storage system is shown in FIG. Figure 1 、 Figure 2 and Figure 5 As shown, the distribution conveyor line 330 includes: a first distribution conveyor line 331 and a second distribution conveyor line 332 which are arranged side by side and have opposite transmission directions.

[0095] The first distribution conveyor line 331 is connected to the second end of the outbound conveyor line 310 and the second end of the inbound conveyor line 320 at the bottom of each shelf 110 , and the second distribution conveyor line 332 is connected to each picking platform 410 .

[0096] The conveying ends of the first distribution conveyor line 331 and the second distribution conveyor line 332 are connected to the input end of the second distribution conveyor line 332 through the first lifting and transferring mechanism 333A, and the conveying end of the second distribution conveyor line 332 is connected to the input end of the first distribution conveyor line 331 through the second lifting and transferring mechanism 333B.

[0097] When out of the warehouse, the first lifting and transferring mechanism 333A is used to transfer the goods 600 to be out of the warehouse on the first distribution conveyor line 331 to the second distribution conveyor line 332; when entering the warehouse, the second lifting and transferring mechanism 333B is used to transfer the goods 600 to be entered into the warehouse on the second distribution conveyor line 332 to the first distribution conveyor line 331.

[0098] Specifically, if Figure 1 and Figure 2 As shown, in the distribution conveyor line 330 shown in this embodiment, the first distribution conveyor line 331 and the second distribution conveyor line 332 are parallel and adjacent, and are arranged in a direction perpendicular to the lane 500, and the first distribution conveyor line 331 is located on the side close to the storage area 100.

[0099] In other embodiments, the first distribution conveyor line 331 and the second distribution conveyor line 332 may also be non-straight conveying sections, which may not be parallel to each other or perpendicular to the lane 500. It is only necessary that the first distribution conveyor line 331 and the second distribution conveyor line 332 are adjacent to each other at their ends so that the goods 600 can be transported between the first distribution conveyor line 331 and the second distribution conveyor line 332.

[0100] The first distribution conveying line 331 and the second distribution conveying line 332 are unidirectional conveying lines. Figure 1 As shown, in this embodiment, the first distribution conveyor line 331 transports from right to left, while the second distribution conveyor line 332 transports from left to right. That is, the first distribution conveyor line 331 has its input end at the right end and its output end at the left end; the second distribution conveyor line 332 has its input end at the left end and its output end at the right end. The first and second distribution conveyor lines 331 and 332 are connected at their left ends by a first lifting and transfer mechanism 333A, and at their right ends by a second lifting and transfer mechanism 333B.

[0101] In other embodiments, the transmission direction of the first distribution conveyor line 331 may be from left to right, and the transmission direction of the second distribution conveyor line 332 may be from right to left. This application does not limit this.

[0102] In the embodiment of the present application, a first distribution conveyor line 331 and a second distribution conveyor line 332 are provided to receive goods 600 from the storage area 100 and the picking area 400, respectively, thereby preventing goods 600 from being stacked on a single conveyor line and improving the transmission efficiency of the distribution conveyor line 330. A first lifting and transferring mechanism 333A and a second lifting and transferring mechanism 333B are provided to enable goods 600 to be transported between the first distribution conveyor line 331 and the second distribution conveyor line 332.

[0103] In some embodiments of the present application, Figure 5 As shown, the first distribution conveyor line 331 and the second distribution conveyor line 332 are roller conveyor lines, including a plurality of rollers 334 arranged at intervals.

[0104] The first lifting and transferring mechanism 333A and the second lifting and transferring mechanism 333B both include: multiple sets of conveyor pulleys 3331, and a lifting mechanism 3332; each set of conveyor pulleys 3331 is arranged in the corresponding roller gap between the first distribution conveyor line 331 and the second distribution conveyor line 332, and the lifting mechanism 3332 is arranged at the bottom of the multiple sets of conveyor pulleys 3331 and is driven and connected to the multiple sets of conveyor pulleys 3331.

[0105] When the goods to be shipped out 600 move on the first distribution conveyor line 331 to the roller 334 adjacent to the multiple sets of conveyor pulleys 3331 of the first lifting and transferring mechanism 333A, the multiple sets of conveyor pulleys 3331 of the first lifting and transferring mechanism 333A rise under the drive of the lifting mechanism 3332, lift the goods to be shipped out 600, and transport them toward the second distribution conveyor line 332.

[0106] When the goods to be stored 600 move on the second distribution conveyor line 332 to the roller 334 adjacent to the multiple sets of conveyor pulleys 3331 of the second lifting and transferring mechanism 333B, the multiple sets of conveyor pulleys 3331 of the second lifting and transferring mechanism 333B rise under the drive of the lifting mechanism 3332, lift the goods to be stored 600, and transport them toward the first distribution conveyor line 331.

[0107] Specifically, if Figure 5 As shown, the conveyor belt wheel 3331 includes a second conveyor belt 3331A and at least two conveyor wheels 3331B. There are three groups of conveyor belt wheels 3331 in this embodiment, and each group of conveyor belt wheels 3331 can be as shown in FIG. Figure 5 As shown, it is set in the gaps between adjacent rollers, and can also be set in the gaps between rollers with a certain interval. It can increase the lateral size of the lifting and transferring mechanism to accommodate larger goods 600. The specific setting can be determined according to the actual scenario, and this application does not limit this.

[0108] Taking the first lifting and transferring mechanism 333A as an example, in this embodiment, each set of conveyor pulleys 3331 includes two conveyor pulleys 3331B, and the two conveyor pulleys 3331B are respectively arranged in the roller gaps of the first distribution conveyor line 331 and the second distribution conveyor line 332, and the second conveyor belt 3331A is wound around the two conveyor pulleys 3331B; the lifting mechanism 3332 is arranged at the bottom of the second conveyor belt 3331A, specifically, it can be located in the gap between the first distribution conveyor line 331 and the second distribution conveyor line 332, and is used to move the goods to be shipped 600 to the first lifting and transferring mechanism 3 When 33A is located above one end of the first distribution conveyor line 331, the second conveyor belt 3331A and the conveyor wheel 3331B are driven to rise to a height higher than the roller 334 to lift the goods 600 to be shipped out, and then the goods 600 are transported to the first lifting and transferring mechanism 333A located at one end of the second distribution conveyor line 332, and then the second conveyor belt 3331A and the conveyor wheel 3331B are driven to descend to a height lower than the roller 334 to place the goods 600 to be shipped out on the second distribution conveyor line 332, and the second distribution conveyor line 332 continues to transport the goods 600 to be shipped out.

[0109] The conveyor pulley 3331 is in the raised state only when the goods 600 to be shipped out are transported to the first lifting and transferring mechanism 333A or the goods 600 to be shipped in are transported to the second lifting and transferring mechanism 333B, and can remain in the lowered state at other times.

[0110] In this embodiment of the present application, conveyor pulleys 3331 are arranged in a retractable manner within the corresponding roller gaps of the first distribution conveyor line 331 and the second distribution conveyor line 332. This allows the goods 600 to move in the original conveying direction when the conveyor pulleys 3331 are lowered. When the conveyor pulleys 3331 are raised, the goods 600 can move perpendicular to the original conveying direction to be transferred to another conveyor line. Furthermore, the placement of the conveyor pulleys 3331 within the roller gaps improves the space utilization of the distribution conveyor line 330.

[0111] In some embodiments of the present application, Figure 1 and Figure 2 As shown, each picking station 410 includes: a first picking transmission line 411, a second picking transmission line 412 and a third picking transmission line 413.

[0112] The first picking conveyor line 411 is in communication with the second distribution conveyor line 332 , and is used to receive the goods 600 to be shipped out from the second distribution conveyor line 332 and transfer them to the second picking conveyor line 412 .

[0113] The second picking transmission line 412 is used to pick the goods to be shipped out 600 transmitted from the first picking transmission line 411 and transmit the goods to be shipped in 600 to the third picking transmission line 413 .

[0114] The third picking conveyor line 413 is in communication with the second distribution conveyor line 332 , and is used to transfer the goods to be stored 600 transferred from the second picking conveyor line 412 to the second distribution conveyor line 332 .

[0115] Specifically, if Figure 1 As shown, the first picking transmission line 411, the second picking transmission line 412 and the third picking transmission line 413 are arranged in a U shape. Among them, the second picking transmission line 412 is used for manual or equipment to pick or put goods.

[0116] By applying the embodiment of the present application, a first picking transmission line 411, a second picking transmission line 412 and a third picking transmission line 413 are set up, so that the picking platform 410 can receive the goods 600 to be shipped out on the second distribution conveyor line 332 for manual or equipment picking or placing, and transmit the goods 600 to be shipped in to the second distribution conveyor line 332.

[0117] In some embodiments of the present application, Figure 1 and Figure 2As shown, a first scanning device 341 is provided at the conveying end of the first distribution conveying line 331 , and a second scanning device 342 is provided at the conveying end of the second distribution conveying line 332 .

[0118] The first scanning device 341 is used to identify the barcode of the goods 600 to be shipped on the first distribution conveyor line 331, so that after the second distribution conveyor line 332 receives the goods 600 to be shipped, it will be distributed and transported to the target picking station 410 according to the identification result of the first scanning device 341.

[0119] The second scanning device 342 is used to identify the barcode of the goods to be stored 600 transmitted from the picking platform 410, so that after the first distribution conveyor line 331 receives the goods to be stored 600, it will be distributed and conveyed to the second end of the target storage conveyor line 320 according to the identification result of the second scanning device 342.

[0120] A third scanning device 343 is provided on the picking platform 410 , and the third scanning device 343 is used to identify the barcode of the goods 600 on the picking platform 410 so as to pick or place the goods.

[0121] Specifically, the warehousing system further includes a control device, which is communicatively connected to the rack-mounted robot 200 , the cargo conveying line 300 and the picking platform 410 .

[0122] When the goods to be shipped 600 pass through the first scanning device 341, the control device receives the identification information fed back by the first scanning device 341 and sends instructions to the second distribution conveyor line 332, so that the second distribution conveyor line 332 distributes and conveys the goods to be shipped 600 to the target picking station 410.

[0123] When the goods to be stored 600 pass through the second scanning device 342, the control device receives the identification information fed back by the second scanning device 342 and sends instructions to the first distribution conveyor line 331, so that the first distribution conveyor line 331 distributes and conveys the goods to be stored 600 to the second end of the target storage conveyor line 320.

[0124] like Figure 1 As shown, in this embodiment, the third scanning device 343 is arranged on the second picking transmission line 412; a display 420 is provided in the area enclosed by the U-shaped picking platform 410 and the second distribution conveyor line 332. When the goods 600 to be shipped out of the warehouse transmitted by the first picking transmission line 411, or the goods 600 to be stored in the warehouse placed on the second picking transmission line 412 that are manually or equipment-accessed from the outside pass through the third scanning device 343, the control device receives the identification information fed back by the third scanning device 343, and outputs the identification information and the order information of the goods to the display 420 at the picking platform 410, so that the staff can pick or release the goods with reference to the order information on the display 420.

[0125] By applying the embodiment of the present application, by setting a scanning device on the first distribution conveyor line 331 and the second distribution conveyor line 332, the first distribution conveyor line 331 and the second distribution conveyor line 332 can distribute and convey the goods 600 to be entered or the goods 600 to be shipped out according to the recognition results of the scanning device, and can accurately deliver the goods 600 to the target shelf 110 or the target picking platform 410; by setting a scanning device on the picking platform 410, the staff can pick or place the goods with reference to the order information corresponding to the goods 600, thereby improving the picking efficiency and the warehousing efficiency of the warehousing system.

[0126] Below, Figure 1 For example, the process of loading and unloading goods 600 on the four-row, four-deep shelf located in the middle of the storage area 100 will be described first.

[0127] When entering the warehouse: the goods 600 to be entered are transferred from the second picking transmission line 412 of the picking platform 410 to the second lifting and transferring mechanism 333B of the second distribution conveyor line 332 via the third picking transmission line 413, and are scanned and identified by the second scanning device 342. Then, they are transferred to the first distribution conveyor line 331 by the second lifting and transferring mechanism 333B. The first distribution conveyor line 331 distributes and conveys the goods 600 to be entered to the second end of the entry conveyor line 320 corresponding to the target storage location 1112 according to the identification result. The goods are then conveyed by the entry conveyor line 320 to the bottom docking space 112 of the shelf 110 where the target storage location 1112 is located or the bottom docking space 112 of the adjacent shelf 110, and finally moved to the target storage location 1112 by the hanging robot 200.

[0128] When leaving the warehouse: the goods 600 to be shipped are picked up by the hanging robot 200 in the aisle 500 on the side where the goods 600 are located, and placed on the only shipping conveyor line 310 adjacent to the aisle 500, and transported to the first distribution conveyor line 331 via the shipping conveyor line 310, and continued to be transported to the first lifting and transferring mechanism 333A of the first distribution conveyor line 331, and scanned and identified by the first scanning device 341, and then transported to the second distribution conveyor line 332 by the first lifting and transferring mechanism 333A. The second distribution conveyor line 332 distributes and transports the goods 600 to be shipped to the first picking conveyor line 411 and the second picking conveyor line 412 of the target picking platform 410 according to the identification results, and the picking and shipping are carried out manually or by equipment.

[0129] Next, the process of loading and unloading the goods 600 on the two double-deep shelves located on both sides of the storage area 100 is described.

[0130] The process of loading and unloading goods 600 on the double-deep shelf on the left side of the storage area 100 is as follows.

[0131] When entering the warehouse: the goods 600 to be entered are transferred from the second picking transmission line 412 of the picking platform 410 to the second lifting and transferring mechanism 333B of the second distribution conveyor line 332 via the third picking transmission line 413, and are scanned and identified by the second scanning device 342. Then, they are transferred to the first distribution conveyor line 331 by the second lifting and transferring mechanism 333B. The first distribution conveyor line 331 distributes and conveys the goods 600 to be entered according to the identification results to the second end of the entry conveyor line 320 at the bottom of the shelf 110, and is transported by the entry conveyor line 320 to the bottom docking space 112 of the shelf 110, and finally moved to the target storage location 1112 on the shelf 110 by the hanging robot 200 in the aisle 500.

[0132] When leaving the warehouse: the goods 600 to be left are picked up by the hanging robot 200 in the aisle 500 and placed on the outbound conveyor line 310 at the bottom of the shelf 110 adjacent to the shelf 110, and are transported to the first distribution conveyor line 331 via the outbound conveyor line 310, and continue to be transported to the first lifting and transferring mechanism 333A of the first distribution conveyor line 331, and are scanned and identified by the first scanning device 341, and then are transferred to the second distribution conveyor line 332 by the first lifting and transferring mechanism 333A. The second distribution conveyor line 332 distributes and conveys the goods 600 to be left the warehouse to the first picking conveyor line 411 and the second picking conveyor line 412 of the target picking platform 410 according to the identification results, and the goods are picked and shipped out manually or by equipment.

[0133] The process of loading and unloading goods 600 on the double-deep shelf on the right side of storage area 100 is as follows.

[0134] When entering the warehouse: the goods 600 to be entered are transferred from the second picking transmission line 412 of the picking platform 410 to the second lifting and transferring mechanism 333B of the second distribution conveyor line 332 via the third picking transmission line 413, and are scanned and identified by the second scanning device 342. Then, they are transferred to the first distribution conveyor line 331 by the second lifting and transferring mechanism 333B. The first distribution conveyor line 331 distributes and conveys the goods 600 to be entered to the second end of the entry conveyor line 320 at the bottom of the shelf 110 adjacent to the shelf 110 according to the identification result, and are transported by the entry conveyor line 320 to the bottom docking space 112 of the shelf 110 adjacent to the shelf 110, and finally moved to the target storage location 1112 on the shelf 110 by the hanging robot 200 in the aisle 500.

[0135] When leaving the warehouse: the goods 600 to be shipped out are picked up by the hanging robot 200 in the aisle 500 and placed on the outbound conveyor line 310 at the bottom of the shelf 110, and are transported to the first distribution conveyor line 331 via the outbound conveyor line 310, and continue to be transported to the first lifting and transferring mechanism 333A of the first distribution conveyor line 331, and are scanned and identified by the first scanning device 341, and then are transferred to the second distribution conveyor line 332 by the first lifting and transferring mechanism 333A. The second distribution conveyor line 332 distributes and transports the goods 600 to be shipped out to the first picking conveyor line 411 and the second picking conveyor line 412 of the target picking platform 410 according to the identification results, and the goods are picked and shipped out manually or by equipment.

[0136] In some embodiments of the present application, Figure 3 As shown, different storage locations 1112 can stack goods 600 of different sizes; the goods 600 stored in each storage location 1112 may be of the same or different sizes.

[0137] Specifically, if Figure 3 As shown, multiple items 600 can be stacked in a single storage location 1112, improving the space utilization and storage capacity of the shelf 110. The items 600 may be of the same size but of different types. If the target item 600 to be shipped is located in the middle, the rack-mounted robot 200 can temporarily move the other items 600 above it to another storage location 1112. After shipping is complete, the other items 600 are returned to the original storage location 1112.

[0138] By applying the embodiment of the present application, different storage locations 1112 can stack goods 600 of different sizes, thereby improving the space utilization and storage capacity of the shelf 110 and reducing the cost of the shelf 110.

[0139] Then, the rack-mounted robot 200 in the warehousing system of the embodiment of the present application is described in detail.

[0140] In some embodiments of this application, see Figure 6 , Figure 6 for Figure 1 The three-dimensional structure diagram of the hanging robot is shown in FIG. Figure 6 As shown, the rack-mounted robot 200 includes a support frame 210 and a pick-and-place component 220 .

[0141] The support frame 210 is hung on the shelf 110 and is movably connected to the side of the shelf 110 along the length direction of the lane 500.

[0142] The cargo picking and placing component 220 is set on the support frame 210, and can be raised and lowered along the support frame 210, and moved horizontally relative to the shelf 110 with the support frame 210 to pick up and place cargo 600 at different positions on the shelf 110 and the cargo conveying line 300 inside the shelf 110.

[0143] Specifically, if Figure 3 and Figure 6 As shown, the rack-mounted robot 200 can drive the horizontal movement of the pick-and-place assembly 220 based on the support frame 210 to pick up and place different goods 600 along the length of the shelves 110 on both sides of the aisle 500 and the goods 600 on the goods conveyor line 300 within the shelves 110. Based on the lifting and lowering movement of the pick-and-place assembly 220 along the support frame 210, it can pick up and place different goods 600 along the height of the shelves 110 on both sides of the aisle 500. In addition, the rack-mounted robot 200 can also pick up and place goods 600 between different storage locations 1112 on the shelves 110 for sorting.

[0144] The support frame 210 may have various structures, which may be a single column or a column portal composed of two columns, and this application does not limit this.

[0145] In a specific embodiment, Figure 6 As shown, the support frame 210 is a column gantry, including two oppositely arranged columns 211, and the cargo picking and placing component 220 is arranged between the two columns 211 of the support frame 210, and is slidably connected to the columns 211 on both sides.

[0146] The specific structure of the cargo pick-up and release component 220 can be a shift fork, a clamping plate, a suction cup, a hook or a lifting plate, etc. Figure 6 As shown, in the specific embodiment of the present application, the cargo pick-up and placement assembly 220 includes a cargo platform 221, a hook mechanism 222, and a telescopic assembly. The cargo platform 221 is slidably connected to the two columns 211 of the support frame 210. The hook mechanism 222 and the telescopic assembly are disposed on the cargo platform 221. The telescopic assembly can drive the cargo platform 221 and the hook mechanism 222 to extend horizontally out of the support frame 210. The hook mechanism 222 can hook the cargo 600 and place it on the cargo platform 221.

[0147] By applying the embodiments of the present application, the hanging robot 200 is hung on the shelf 110 through the support frame 210 and is located in the aisle, thereby improving the space utilization of the warehousing system; the hanging robot 200 moves along the aisle 500, and based on the picking and placing component 220, picks and places the goods 600 at different positions on the shelves 110 on both sides of the aisle 500 and the cargo conveyor line 300 inside the shelf 110. There is no need to transport the goods between the storage area 100 and the picking area 400, thereby improving the picking and placing efficiency of the warehousing system.

[0148] In some embodiments of the present application, Figure 3 and Figure 6 As shown, at least one horizontal track 120 is arranged at intervals in the vertical direction on one side of the shelf 110 close to the aisle 500; the support frame 210 is movably connected to the horizontal track 120 so that the support frame 210 and the picking and placing assembly 220 can slide horizontally along the horizontal track 120 to pick up and place different goods 600 on the shelves 110 on both sides of the aisle 500 and on the cargo conveying line 300 inside the shelf 110.

[0149] Specifically, if Figure 6 As shown, the support frame 210 is provided with at least one set of driving wheels 240, and the height of the driving wheels 240 corresponds to the height of the horizontal track 120. The support frame 210 is connected to the horizontal track 120 by a rolling connection based on the driving wheels 240, so that it can be hung on the shelf 110, and the support frame 210 can move horizontally along the horizontal track 120 under the drive of the driving wheels 240.

[0150] By applying the embodiment of the present application, the support frame 210 can drive the picking and placing component 220 to move horizontally based on the horizontal track 120 to pick up and place different goods 600 in the length direction of the shelves 110 on both sides of the aisle 500, as well as the goods 600 on the goods conveying line 300 inside the shelf 110.

[0151] In some embodiments of the present application, Figure 6 As shown, the rack-mounted robot 200 further includes a lifting assembly 230 . The lifting assembly 230 is disposed on the support frame 210 and is used to drive the picking and placing assembly 220 to move up and down along the support frame 210 .

[0152] The cargo picking and placing assembly 220 is installed on the lifting assembly 230 and is used to extend toward the shelves 110 on both sides of the lane 500 or the cargo conveying lines 300 inside the shelves 110 on both sides of the lane 500 to pick up and place the cargo 600.

[0153] like Figure 6 As shown, in a specific embodiment of the present application, the support frame 210 is a column gantry, and the lifting assembly 230 includes a lifting motor 231 and at least one set of transmission mechanisms 232.

[0154] At least one set of transmission mechanisms 232 is set on the column 211 and fixedly connected to the cargo pick-up and placement assembly 220. The lifting motor 231 is fixedly set on the top of the column door frame and is used to drive at least one set of transmission mechanisms 232 to drive the cargo pick-up and placement assembly 220 to rise and fall along the support frame 210.

[0155] In a specific embodiment of the present application, the lifting assembly 230 includes two sets of transmission mechanisms 232, which are respectively arranged on the two columns 211 of the column door frame.

[0156] Each transmission mechanism 232 includes a conveyor belt 2321 and two transmission wheels 2322, respectively located at the top and bottom ends of the support frame 210. The lifting motor 231 is drivingly connected to the top transmission wheel 2322. The conveyor belt 2321 passes over the bottom and top transmission wheels 2322 and is fixedly connected to the loading and unloading assembly 220 at both ends.

[0157] The lifting motor 231 drives the conveyor belt 2321, the bottom transmission wheel 2322 and the top transmission wheel 2322 to drive the picking and placing assembly 220 to slide vertically along the column gantry to pick up and place goods 600 at different heights on the shelves 110 on both sides of the aisle 500, as well as the goods 600 on the cargo conveyor line 300.

[0158] By applying the embodiment of the present application, the lifting component 230 drives the picking and placing component 220 to rise and fall, so that the picking and placing component 220 can slide vertically along the support frame 210 to pick up and place goods 600 at different heights on the shelves 110 on both sides of the aisle 500, as well as the goods 600 on the cargo conveyor line 300.

[0159] In some embodiments of the present application, Figure 3 As shown, the shelf 110 includes a storage space 111 at an upper portion and a docking space 112 at a bottom portion.

[0160] The storage space 111 includes a plurality of storage layers 1111 arranged at intervals in the vertical direction for storing the goods 600 ; the docking space 112 is located at the lower part of the storage space 111 , and the first end of the goods conveying line 300 extends to the docking space 112 .

[0161] The cargo picking and placing assembly 220 is used to pick and place cargo 600 between the shelves 110 on both sides of the lane 500 and the cargo conveying line 300 inside the shelves 110 .

[0162] Specifically, there is a predetermined height between the storage layer 1111 at the bottom of the storage space 111 and the ground, forming a docking space 112 at the bottom of the shelf 110 .

[0163] The hanging robot 200 is used for shipping out of the warehouse. The picking and placing component 220 moves horizontally and rises and falls based on the support frame 210, moves to the position corresponding to the target goods 600 to be shipped out, and extends toward the target goods 600 to be shipped out to pick up the goods; after picking up the goods, the picking and placing component 220 shrinks and moves downward to the position corresponding to the goods conveyor line 300, and then extends toward the goods conveyor line 300, places the goods 600 to be shipped out of the warehouse on the goods conveyor line 300, and the goods conveyor line 300 transports the goods 600 to be shipped out of the warehouse to the picking area 400 for shipping out of the warehouse.

[0164] The hanging robot 200 is used for warehousing. The picking and placing component 220 moves horizontally and rises and falls based on the support frame 210, moves to a position corresponding to the cargo conveyor line 300, and extends toward the cargo conveyor line 300 to pick up the goods; after picking up the goods, the picking and placing component 220 retracts and moves upward to a position corresponding to the target storage location 1112, and then extends toward the target storage location 1112 to place the goods 600 to be stored in the target storage location 1112.

[0165] By applying the embodiment of the present application, the hanging robot 200 can complete the storage and retrieval of the goods 600 by moving the picking and placing component 220 between the storage space 111 and the docking space 112 to pick up and place goods. There is no need to transport the goods between the storage area 100 and the picking area 400, which reduces the moving range of the hanging robot 200 and improves the picking and placing efficiency of the warehousing system.

[0166] The warehousing system of an embodiment of the present application also includes: a control device; the control device is communicatively connected to the hanging robot 200 and the cargo conveyor line 300, and is used to control the hanging robot 200 to pick up and place goods 600 between the shelf 110 and the cargo conveyor line 300 inside the shelf 110, and to control the cargo conveyor line 300 to transport goods 600 between the storage area 100 and the picking area 400.

[0167] Finally, the outbound method and inbound method involved in the warehousing system provided in the embodiment of the present application are described in detail.

[0168] The method for releasing goods from a warehouse provided in the embodiment of the present application is applied to the above-mentioned control device. Figure 7 , Figure 7 This is a flow chart of the first embodiment of the outbound method provided by this application. Figure 7 As shown, the process includes the following steps:

[0169] Step S710: Sending instructions to the rack-mounted robot to enable the rack-mounted robot to move the target goods to be shipped from the shelf to the goods conveying line inside the shelf;

[0170] Step S720: Send an instruction to the cargo conveyor line to enable the cargo conveyor line to convey the target cargo to be shipped from the storage area to the picking area.

[0171] The method for shipping goods in an embodiment of the present application is applied to the aforementioned warehousing system. This method enables shipping goods by instructing a rack-mounted robot to move target goods from a shelf to a goods conveyor line within the shelf, and then instructing the goods conveyor line to transport the target goods from a storage area to a picking area. Furthermore, the rack-mounted robot's movement to pick and place goods and the goods conveyor line's transmission can occur simultaneously without interfering with each other, thereby improving the warehousing system's efficiency in picking and placing goods and handling them.

[0172] In some embodiments of the present application, a rack-mounted robot includes a support frame and a cargo pick-and-place assembly. The cargo conveyor line includes an outbound conveyor line and an inbound conveyor line. The outbound conveyor line and the inbound conveyor line are located at the bottom of the shelves in the storage area. The picking area includes multiple picking stations. The cargo conveyor line also includes a distribution conveyor line; the second end of the outbound conveyor line and the second end of the inbound conveyor line at the bottom of each shelf are connected to the distribution conveyor line. The distribution conveyor line is also connected to each picking station.

[0173] The control device is communicatively connected with the outbound conveyor line, the inbound conveyor line, the distribution conveyor line and the picking platform.

[0174] See also Figure 8 , Figure 8 This is a flow chart of the second embodiment of the outbound method provided by this application. Figure 8 As shown, the process includes the following steps:

[0175] Step S711: Sending a command to the rack-mounted robot causes the rack-mounted robot's pick-and-place component to move horizontally and vertically based on the support frame to a position corresponding to the storage location of the target goods to be shipped, and then reaching out to pick up the target goods to be shipped;

[0176] Step S712: Send a command to the rack-mounted robot, causing the rack-mounted robot's pick-and-place assembly to retract and move downward to a position corresponding to the outbound conveyor line located on one side of the lane where the rack-mounted robot is located, extend toward the outbound conveyor line, and place the target goods to be shipped on the outbound conveyor line.

[0177] Step S721: Sending instructions to the outbound conveyor line to enable the outbound conveyor line to convey the target goods to be outbound to the distribution conveyor line;

[0178] Step S722: Send an instruction to the distribution conveyor line to enable the distribution conveyor line to transport the target goods to be shipped to the target picking platform.

[0179] Specifically, the first scanning device on the distribution conveyor line is communicatively connected to the control device, can identify the barcode of the target goods to be shipped out, and feed back the identification information to the control device. The control device determines the target picking station based on the identification information, and sends an instruction containing the location information of the target picking station to the distribution conveyor line.

[0180] The third scanning device of the picking station is communicatively connected to the control device, and can identify the barcode of the target goods to be shipped out, and feed back the identification information to the control device. The control device outputs the identification information and the order information of the goods to the display of the picking station based on the identification information, so that the staff can pick and ship the goods according to the order information on the display.

[0181] The storage method provided in the embodiment of the present application is applied to the above-mentioned control device. Figure 9 , Figure 9 This is a flow chart of the first embodiment of the storage method provided by this application. Figure 9 As shown, the process includes the following steps:

[0182] Step S910: Sending instructions to the cargo conveying line to enable the cargo conveying line to convey the target cargo to be stored from the picking area to the storage area.

[0183] Step S920: Send an instruction to the rack-mounted robot, so that the rack-mounted robot moves the target goods to be stored from the goods conveying line inside the shelf to the shelf.

[0184] The warehousing method of the present embodiment is applied to the aforementioned warehousing system. This method implements warehousing by instructing a cargo conveyor line to transport the target incoming goods from the picking area to the storage area, and instructing a rack-mounted robot to move the target incoming goods from the cargo conveyor line inside the shelf to the shelf. Furthermore, the rack-mounted robot's movement to pick and place goods and the transportation of the cargo conveyor line can occur simultaneously without interfering with each other, thereby improving the warehousing system's efficiency in picking and placing goods and handling.

[0185] In some embodiments of the present application, a rack-mounted robot includes a support frame and a cargo pick-and-place assembly. The cargo conveyor line includes an outbound conveyor line and an inbound conveyor line. The outbound conveyor line and the inbound conveyor line are located at the bottom of the shelves in the storage area. The picking area includes multiple picking stations. The cargo conveyor line also includes a distribution conveyor line; the second end of the outbound conveyor line and the second end of the inbound conveyor line at the bottom of each shelf are connected to the distribution conveyor line. The distribution conveyor line is also connected to each picking station.

[0186] The control device is communicatively connected with the outbound conveyor line, the inbound conveyor line, the distribution conveyor line and the picking platform.

[0187] See also Figure 10 , Figure 10 This is a flow chart of the second embodiment of the storage method provided by this application. Figure 10 As shown, the process includes the following steps:

[0188] Step S911: Send an instruction to the distribution conveyor line to enable the distribution conveyor line to transport the target incoming goods from the picking area to the incoming conveyor line corresponding to the shelf where the target empty storage location is located;

[0189] Step S912: Sending instructions to the incoming conveyor line to enable the incoming conveyor line to convey the target incoming goods to the bottom of the shelf;

[0190] Step S921: Sending a command to the rack-mounted robot causes the rack-mounted robot's pick-and-place component to move horizontally and vertically based on the support frame to a position corresponding to the target incoming goods on the inbound conveyor line at the bottom of the shelf, and then extending toward the inbound conveyor line to pick up the goods.

[0191] Step S922: Send instructions to the rack-type robot, so that the picking and placing component of the rack-type robot retracts and moves upward to a position corresponding to the target empty storage location after picking up the goods, extends toward the target empty storage location, and places the target goods to be stored on the target empty storage location.

[0192] Specifically, when an inbound conveyor line is set at the bottom of the shelf where the target empty storage location is located, the target goods to be stored can be directly transported to the inbound conveyor line; when an outbound conveyor line is set at the bottom, the bottom of the shelf separated from the shelf by an aisle is the inbound conveyor line, and the target goods to be stored need to be transported to the inbound conveyor line and transported to the target empty storage location by the hanging robot in the aisle.

[0193] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0194] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application are included in the scope of protection of the present application.

Claims

1. A warehousing system, characterized in that: include: A storage area (100), a rack-mounted robot (200), a cargo conveying line (300), and a picking area (400); The storage area (100) includes a plurality of shelves (110) arranged at intervals, and a lane (500) extending along the length direction of the shelves (110) is formed between adjacent shelves (110); The first end of the cargo conveying line (300) extends to the interior of the shelf (110) of the storage area (100), and the second end extends to the picking area (400), for conveying cargo (600) between the storage area (100) and the picking area (400); The hanging robot (200) is hung on a side of the shelf (110) close to the lane (500) and is used to move along the lane (500) and pick up and place goods (600) between the shelf (110) and the goods conveying line (300) inside the shelf (110).

2. The storage system according to claim 1, characterized in that: The rack-type robot (200) is mounted on a shelf (110) on one side of the lane (500); the rack-type robot (200) is used to pick up and place goods (600) on the shelves (110) on both sides of the lane (500), as well as goods (600) on the goods conveying lines (300) inside the shelves (110) on both sides.

3. The storage system according to claim 1, characterized in that: The rack-type robot (200) comprises a support frame (210) and a picking and placing component (220); The support frame (210) is hung on the shelf (110) and is movably connected to the side of the shelf (110) along the length direction of the lane (500); The cargo pick-up and placement assembly (220) is arranged on the support frame (210), and can be raised and lowered along the support frame (210), and can move horizontally relative to the shelf (110) along with the support frame (210), so as to pick up and place cargo (600) at different positions on the shelf (110) and the cargo conveying line (300) inside the shelf (110).

4. The storage system according to claim 3, characterized in that: The shelf (110) includes a storage space (111) at the top and a docking space (112) at the bottom; The storage space (111) includes a plurality of storage layers (1111) spaced apart in a vertical direction for storing goods (600); The docking space (112) is located at the lower part of the storage space (111), and the first end of the cargo conveying line (300) extends to the docking space (112); The cargo picking and placing assembly (220) is used to pick and place cargo (600) between the shelves (110) on both sides of the lane (500) and the cargo conveying line (300) inside the shelves (110).

5. The storage system according to claim 1, characterized in that: The cargo conveying line (300) includes an outbound conveying line (310) and an inbound conveying line (320); the outbound conveying line (310) and the inbound conveying line (320) are arranged at the bottom of the shelf (110) of the storage area (100), and one side of each lane (500) is the outbound conveying line (310), and the other side is the inbound conveying line (320); The first ends of the outbound conveyor line (310) and the inbound conveyor line (320) extend in parallel to the bottom of the shelf (110); and the second ends extend to the picking area (400) respectively. The outbound conveyor line (310) is used to take the goods (600) to be outbound, which are taken out from the shelf (110) by the rack-type robot (200) and placed on the outbound conveyor line (310), and output them to the picking area (400); The inbound conveyor line (320) is used to input the goods (600) to be inbound received from the picking area (400) to the bottom of the shelf (110), so that the rack-type robot (200) can move the goods (600) to be inbound on the inbound conveyor line (320) to the shelf (110).

6. The storage system according to claim 5, characterized in that: The picking area (400) includes: a picking platform (410); The second end of the outbound conveyor line (310) and the second end of the inbound conveyor line (320) are both in communication with the picking platform (410); The picking platform (410) is used to pick and remove goods to be shipped (600) transported from the second end of the shipping conveyor line (310), and to move goods to be shipped (600) to the second end of the shipping conveyor line (320).

7. The storage system according to claim 6, characterized in that: The picking area (400) has a plurality of picking platforms (410), and the plurality of picking platforms (410) are arranged at intervals; The cargo conveying line (300) further includes: a distribution conveying line (330); The second end of the outbound conveyor line (310) and the second end of the inbound conveyor line (320) at the bottom of each shelf (110) are both connected to the distribution conveyor line (330); The distribution conveyor line (330) is also connected to each picking platform (410) and is used to distribute and convey the goods (600) to be shipped out at the second end of each outbound conveyor line (310) to the target picking platform (410), or to distribute and convey the goods (600) to be shipped in on each picking platform (410) to the second end of the target inbound conveyor line (320).

8. The storage system according to claim 7, characterized in that: The distribution conveying line (330) comprises: a first distribution conveying line (331) and a second distribution conveying line (332) arranged side by side and with opposite transmission directions; The first distribution conveyor line (331) is connected to the second end of the outbound conveyor line (310) and the second end of the inbound conveyor line (320) at the bottom of each shelf (110), and the second distribution conveyor line (332) is connected to each picking platform (410); The conveying end of the first distribution conveyor line (331) is connected to the input end of the second distribution conveyor line (332) through a first lifting and transferring mechanism (333A), and the conveying end of the second distribution conveyor line (332) is connected to the input end of the first distribution conveyor line (331) through a second lifting and transferring mechanism (333B); During outbound transportation, the first lifting and transferring mechanism (333A) is used to transfer the goods (600) to be outbound on the first distribution conveyor line (331) to the second distribution conveyor line (332); during inbound transportation, the second lifting and transferring mechanism (333B) is used to transfer the goods (600) to be inbound on the second distribution conveyor line (332) to the first distribution conveyor line (331).

9. The storage system according to claim 8, characterized in that: The first distribution conveyor line (331) and the second distribution conveyor line (332) are roller conveyor lines, comprising a plurality of rollers (334) arranged at intervals; The first lifting and transferring mechanism (333A) and the second lifting and transferring mechanism (333B) both comprise: a plurality of sets of conveyor belt wheels (3331), and a lifting mechanism (3332); each set of conveyor belt wheels (3331) is arranged in the corresponding roller gaps of the first distribution conveyor line (331) and the second distribution conveyor line (332); the lifting mechanism (3332) is arranged at the bottom of the plurality of sets of conveyor belt wheels (3331) and is drivingly connected to the plurality of sets of conveyor belt wheels (3331); When the goods (600) to be shipped out are moved on the first distribution conveyor line (331) to the roller (334) adjacent to the multiple sets of conveyor pulleys (3331) of the first lifting and transferring mechanism (333A), the multiple sets of conveyor pulleys (3331) of the first lifting and transferring mechanism (333A) are lifted up by the lifting mechanism (3332), and the goods (600) to be shipped out are lifted up and transported toward the second distribution conveyor line (332); When the goods to be stored (600) move on the second distribution conveyor line (332) to the roller (334) adjacent to the multiple sets of conveyor pulleys (3331) of the second lifting and transferring mechanism (333B), the multiple sets of conveyor pulleys (3331) of the second lifting and transferring mechanism (333B) rise under the drive of the lifting mechanism (3332), lift the goods to be stored (600), and transport them toward the first distribution conveyor line (331).

10. The storage system according to claim 8, characterized in that: Each of the picking stations (410) comprises: a first picking transmission line (411), a second picking transmission line (412) and a third picking transmission line (413); The first picking transmission line (411) is connected to the second distribution transmission line (332) and is used to receive the goods (600) to be shipped from the second distribution transmission line (332) and transmit them to the second picking transmission line (412); The second picking transmission line (412) is used to pick the goods to be shipped out (600) transmitted from the first picking transmission line (411), and to transmit the goods to be shipped in (600) to the third picking transmission line (413); The third picking conveyor line (413) is connected to the second distribution conveyor line (332) and is used to transfer the goods to be stored (600) transferred from the second picking conveyor line (412) to the second distribution conveyor line (332).

11. The storage system according to claim 8, characterized in that: The conveying end of the first distribution conveying line (331) is provided with a first scanning device (341), and the conveying end of the second distribution conveying line (332) is provided with a second scanning device (342); The first scanning device (341) is used to identify the barcode of the goods (600) to be shipped on the first distribution conveyor line (331), so that after the second distribution conveyor line (332) receives the goods (600) to be shipped, the goods (600) to be shipped are distributed and transported to the target picking station (410) according to the identification result of the first scanning device (341); The second scanning device (342) is used to identify the barcode of the goods to be stored (600) transmitted from the picking platform (410), so that after the first distribution conveyor line (331) receives the goods to be stored (600), the goods to be stored (600) are distributed and conveyed to the second end of the target storage conveyor line (320) according to the identification result of the second scanning device (342); The picking platform (410) is provided with a third scanning device (343), and the third scanning device (343) is used to identify the barcode of the goods (600) on the picking platform (410) to pick or place the goods.

12. The storage system according to claim 3, characterized in that: At least one horizontal track (120) is arranged at intervals along the vertical direction on one side of the shelf (110) close to the lane (500); the support frame (210) is movably connected to the horizontal track (120), so that the support frame (210) and the picking and placing assembly (220) slide horizontally along the horizontal track (120) to pick and place different goods (600) on the shelves (110) on both sides of the lane (500) and the goods conveying line (300) inside the shelves (110).

13. The storage system according to claim 3, characterized in that: The rack-type robot (200) further includes a lifting assembly (230); the lifting assembly (230) is disposed on the support frame (210) and is used to drive the picking and placing assembly (220) to move up and down along the support frame (210); The cargo picking and placing assembly (220) is installed on the lifting assembly (230) and is used to extend toward the shelves (110) on both sides of the lane (500) or the cargo conveying line (300) inside the shelves (110) on both sides of the lane (500) to pick up and place the cargo (600).

14. The storage system according to claim 4, characterized in that: The storage layer (1111) is divided into a plurality of storage locations (1112); different storage locations (1112) can stack goods (600) of different sizes; and the goods (600) stored in each storage location (1112) are of the same or different sizes.

15. The storage system according to any one of claims 1 to 14, characterized in that: Also includes: A control device; the control device is in communication with the rack-mounted robot (200) and the cargo conveying line (300), and is used to control the rack-mounted robot (200) to pick up and place cargo (600) between the shelf (110) and the cargo conveying line (300) inside the shelf (110), and to control the cargo conveying line (300) to convey cargo (600) between the storage area (100) and the picking area (400).

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