Handling device, warehousing system and handling method

Abstract

The present specification discloses a conveying device, a warehousing system and a conveying method. The conveying device is used for placing a target movable carrier on a fixed shelf containing at least two layers of storage positions. When the conveying device reaches a specified position corresponding to a target storage position, the conveying device is extended to the position of the target storage position by a lifting mechanism and is supported on the fixed shelf or the ground. Then, the target movable carrier is taken out from or placed in the target storage position by a piggyback mode to complete the conveying task. The present scheme uses a fixed shelf to store movable carriers, which is more cost-effective. After the construction is completed, the warehouse can continue to be adjusted, so that the flexibility of the warehouse layout is high, and the warehousing efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a handling equipment, warehousing system and handling method. Background Technology

[0002] Currently, to improve picking efficiency in the warehousing and logistics field, robots are typically used to transport mobile containers to operators, who then pick the goods from these containers without needing to move. However, with the rapid development of the logistics industry, the demand for warehousing is constantly increasing. One of the problems that service providers need to solve is how to store as many mobile containers as possible within a limited space.

[0003] In existing technologies, to fully utilize warehouse space, a three-dimensional arrangement of mobile containers is often used to construct warehouses. Specifically, the warehouse is constructed by setting up multiple rigid planes to vertically divide the three-dimensional space into layers. Each rigid plane can be equipped with several storage positions for placing mobile containers. When it is necessary to pick or sort goods in a mobile container, the mobile container can be moved to the corresponding workstation using the handling equipment configured on that rigid plane, where operators can then perform the warehouse tasks, realizing the "goods-to-person" process.

[0004] However, existing methods for constructing multi-story warehouses using rigid planes are costly. Furthermore, once constructed, the warehouse structure is difficult to adjust, reducing flexibility in warehouse layout and consequently lowering storage efficiency. Summary of the Invention

[0005] This specification provides a handling equipment, warehousing system, and handling method through its embodiments, which are used to partially solve the problems existing in the prior art.

[0006] The embodiments in this specification adopt the following technical solutions:

[0007] This specification provides a material handling device applied to a warehousing system, the warehousing system including one or more fixed shelves, the fixed shelves having at least two storage positions for storing movable vehicles; the material handling device includes at least a moving mechanism, a lifting mechanism, and a picking and placing mechanism.

[0008] The moving mechanism is used to move the transport device to the designated position corresponding to the target storage location;

[0009] The lifting mechanism is used to raise the height of the pick-and-place mechanism to match the height of the target storage location based on the height of the target storage location.

[0010] The picking and placing mechanism is used to extend from the handling equipment to the target storage location and support itself on the fixed shelf or on the ground, and then take out the target movable vehicle from the target storage location or place the target movable vehicle in the target storage location by carrying it on its back.

[0011] Optionally, the fixed shelf is composed of at least uprights and beams, the storage position includes at least two parallel beams, the movable carrier is placed on the beams, and there is a gap between the bottom of the movable carrier and the beam of the storage position.

[0012] The pick-and-place mechanism is used to extend from the gap between the target movable vehicle and the crossbeam of the target storage location into the underside of the target movable vehicle and to be supported on the crossbeam of the target storage location.

[0013] Optionally, the bottom storage position of the fixed shelf is at least surrounded by uprights, and the upper storage position of the fixed shelf is at least composed of uprights and beams. The upper storage position includes at least two parallel beams. The movable carrier is placed on the beams of the upper storage position, and there is a gap between the bottom of the movable carrier and the beam of the upper storage position. And / or, the movable carrier is placed on the ground of the bottom storage position, and an opening is formed between the legs of the movable carrier and the ground of the bottom storage position.

[0014] The loading and unloading mechanism is used to extend into the underside of the target movable vehicle through the opening between the legs of the target movable vehicle and the ground when the target storage location is the bottom storage location, and to support it on the ground; when the target storage location is the top storage location, it extends into the underside of the target movable vehicle through the gap between the bottom of the target movable vehicle and the crossbeam of the target storage location, and to support it on the crossbeam of the target storage location.

[0015] Optionally, the fixed shelving unit consists of at least uprights and shelves, with the movable carrier placed on the shelves, and an opening formed between the legs of the movable carrier and the shelf of its storage location; in the bottom case, there are no beams, or there are beams and shelves.

[0016] The pick-and-place mechanism extends from the opening between the support leg of the target movable vehicle and the shelf of the target storage location, into the underside of the target movable vehicle, and is supported on the shelf of the target storage location.

[0017] Optionally, the bottom storage position of the fixed shelf is at least surrounded by uprights, the upper storage position of the fixed shelf is composed of uprights and shelves, the movable carrier is placed on the shelf of the upper storage position, and the legs of the movable carrier form an opening between the legs of the movable carrier and the shelf of the upper storage position, and / or, the movable carrier is placed on the ground of the bottom storage position, and the legs of the movable carrier form an opening between the legs of the movable carrier and the ground of the bottom storage position.

[0018] The loading and unloading mechanism is configured to extend into the underside of the target movable vehicle through the opening between the legs of the target movable vehicle and the ground when the target storage location is a bottom storage location, and to support it on the ground; and to extend into the underside of the target movable vehicle through the opening between the legs of the target movable vehicle and the shelf of the target storage location when the target storage location is a top storage location, and to support it on the shelf of the target storage location.

[0019] Optionally, the picking and placing mechanism includes a lifting component and a conveying component, the conveying component includes a telescopic unit, and the lifting component and the conveying component are connected;

[0020] The conveying component is used to adjust the telescopic length so that the telescopic unit extends to the target storage position and is supported on the fixed shelf or the ground, and drives the lifting component to move to the target storage position, or drives the lifting component to return from the target storage position to the handling equipment, and after the lifting component returns to the handling equipment, adjusts the telescopic length and retracts back to the handling equipment;

[0021] The lifting component is used to adjust the lifting height when it is driven to the target storage location by the conveying component, so as to lift or lower the target movable vehicle.

[0022] Optionally, the picking and placing mechanism includes a telescopic component and a lifting component, wherein the telescopic component and the lifting component are independent of each other;

[0023] The telescopic component is used to adjust the telescopic length so that the telescopic component extends to the target storage position and is supported on the fixed shelf or the ground, or, after the lifting component returns to the handling equipment, the telescopic length is adjusted to retract back to the handling equipment;

[0024] The lifting assembly is used to move along the telescopic assembly after the telescopic assembly extends to the target storage position, reach the target storage position and enter under the movable carrier, adjust the lifting height, lift the target movable carrier and transport it back to the handling equipment, or carry the target movable carrier, move along the telescopic assembly to the target storage position, adjust the lifting height, place the target movable carrier in the target storage position and return to the handling equipment.

[0025] Optionally, the picking and placing mechanism includes a telescopic component and a lifting component;

[0026] The telescopic component is used to adjust the telescopic length, extending to the target storage position while simultaneously bringing the lifting component to the target storage position and supporting it on the fixed shelf or the ground; or, after the lifting component has transported the target movable carrier back to the handling equipment, the telescopic length is adjusted to retract back to the handling equipment.

[0027] The lifting assembly is used to move together with the telescopic assembly to the target storage location and enter under the target movable vehicle, adjust the lifting height, lift the target movable vehicle, and transport it back to the handling equipment.

[0028] Optionally, the picking and placing mechanism includes a telescopic component and a lifting component;

[0029] The telescopic component is used to adjust the telescopic length, extend to the target storage position, and support it on the fixed shelf or the ground; or, after the lifting component places the target movable carrier in the target storage position, the telescopic length is adjusted to retract back to the handling equipment while bringing the lifting component back to the handling equipment.

[0030] The lifting assembly is used to carry the target movable carrier along the telescopic assembly to the target storage position after the telescopic assembly extends to the target storage position, reach the target storage position, adjust the lifting height, place the target movable carrier in the target storage position, and return to the handling equipment together with the telescopic assembly.

[0031] Optionally, the picking and placing mechanism further includes a fixing component, which is connected to the telescopic component;

[0032] The fixing component is used to fix the lifting component that is not carrying the target movable vehicle, so that the lifting component can reach the target storage position or return to the transport equipment together with the telescopic component, and to release the lifting component so that the lifting component can carry the target movable vehicle along the telescopic component to reach the target storage position or return to the transport equipment.

[0033] Optionally, the telescopic component includes a track;

[0034] The lifting assembly is used to reach the target storage location along the track of the telescopic assembly via its own drive device.

[0035] Optionally, the lifting mechanism is used to adjust the height of the pick-up and place mechanism after the pick-up and place mechanism takes out the target movable carrier and returns to the handling equipment, so that the pick-up and place mechanism carries the target movable carrier to the bottom of the handling equipment.

[0036] Optionally, the telescopic assembly further includes a support member located below the telescopic assembly;

[0037] The support member is used to adjust the support height when the telescopic assembly extends to the target storage position, so that the support member contacts the beam or shelf of the fixed shelf and is supported on the beam or shelf of the fixed shelf, or to adjust the support height so that the support member contacts the ground and is supported on the ground, and keeps the telescopic assembly horizontal.

[0038] Optionally, the handling equipment is used to receive a handling task sent by the server of the warehousing system, and according to the handling task, to move the target movable vehicle from the target storage location of the fixed shelf to other storage locations or a designated destination.

[0039] Optionally, the handling equipment is configured to determine the activity level of the target mobile vehicle based on at least one of the frequency of goods being picked up and put down and the quantity of goods being picked up and put down on the target mobile vehicle, and to determine the storage location of the target mobile vehicle when it returns to the fixed shelf based on the ranking of the activity levels of the target mobile vehicle.

[0040] Optionally, the movable carrier is a movable shelf.

[0041] This specification provides a storage system including one or more handling devices and one or more fixed racks, the fixed racks having at least two storage compartments for storing mobile vehicles.

[0042] The above-described at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0043] This method involves placing a target mobile vehicle on fixed shelving units with at least two storage levels. When the transport equipment reaches the designated location corresponding to the target storage unit, a lifting mechanism extends the transport equipment to the target storage unit and supports it on the fixed shelving unit or on the ground. The target mobile vehicle is then retrieved from the target storage unit or placed back into it using a carrying method, thus completing the transport task. This solution utilizes fixed shelving to store mobile vehicles, resulting in lower costs. Furthermore, after construction, the warehouse layout can be adjusted, offering high flexibility and improving warehousing efficiency. Attached Figure Description

[0044] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0045] Figure 1 A schematic diagram of a warehousing system provided as an embodiment of this specification;

[0046] Figure 2 A schematic diagram of a movable vehicle provided in the embodiments of this specification;

[0047] Figure 3 This is a schematic diagram illustrating a scenario where the movable vehicle provided in this manual is placed in a storage location.

[0048] Figure 4 This is a schematic diagram of a handling device provided as an embodiment of the present specification;

[0049] Figure 5 This is a schematic diagram of the handling equipment provided in this manual;

[0050] Figure 6 A schematic diagram illustrating the handling of a movable vehicle by the pick-and-place mechanism provided in this manual;

[0051] Figure 7 A schematic diagram illustrating the handling of a movable vehicle by the pick-and-place mechanism provided in this manual;

[0052] Figure 8 A schematic diagram illustrating the handling of a movable vehicle by the pick-and-place mechanism provided in this manual;

[0053] Figure 9 This is a structural diagram of the handling equipment provided in this manual;

[0054] Figure 10 A schematic diagram illustrating a scenario where the handling equipment provided in this manual performs a handling task;

[0055] Figure 11 This is a flowchart illustrating the cargo handling method provided in this manual. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without creative effort are within the scope of protection of this application.

[0057] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0058] Generally, the purpose of warehouse storage is to store a variety of large quantities of goods, for example, to facilitate the picking of required goods according to orders. In the warehousing system described in this specification, the goods are carried by mobile carriers, which are used to hold the goods and placed in storage locations on fixed shelves. The handling equipment described in this specification can be used to perform the steps of removing the mobile carriers from the fixed shelves or placing the mobile carriers on the fixed shelves. The mobile carrier can be a mobile shelf.

[0059] Figure 1 This is a schematic diagram of a storage system provided in an embodiment of this specification. The left side is a top view of the fixed shelves in the storage system, and the right side is a front view of the fixed shelves. The storage system consists of multiple vertical fixed shelves and aisles between them. Each fixed shelf contains at least two storage levels; the diagram illustrates this with two storage levels per shelf. Movable vehicles are stored in these storage levels. In the diagram, the gray frame represents the fixed shelves, the shaded rectangles in the top view represent movable vehicles, and the shelf-like objects in the front view represent movable vehicles. Movable vehicles 1, 2, 3, 4, 5, 6, 7, and 8 are stored in each storage level of the fixed shelves. Specifically, movable vehicles 2, 4, 6, and 8 are stored in the first storage level from bottom to top, and movable vehicles 1, 3, 5, and 7 are stored in the second storage level from bottom to top.

[0060] The handling equipment operates in the aisles between the fixed shelves. It extends the pick-and-place mechanism from the handling equipment to the target storage location, supports it on the fixed shelf or the ground, and then retrieves the target movable vehicle using a carrying method. Alternatively, it places the target movable vehicle in the target storage location. This completes the process of moving the target movable vehicle from the fixed shelf to the handling equipment, or from the handling equipment to the fixed shelf. The target storage location is either the storage location for the target movable vehicle or the storage location where the target movable vehicle is to be placed. Of course, the number of storage layers in the fixed shelf can be set as needed, and this manual does not limit this.

[0061] Alternatively, the aforementioned fixed shelving can be a beam shelving consisting of uprights and beams. Each storage location of this fixed shelving includes at least two parallel beams, and the movable carrier stored in the storage location is placed on the beams. Thus, the retrieval mechanism can extend from the gap between the target movable carrier and the beam of the target storage location, under the target movable carrier, and be supported on the beam of the target storage location to support the retrieval mechanism in handling or placing the target movable carrier.

[0062] In the aforementioned beam racking system, the beams can be fixed to the uprights using various methods such as clips and fixing bolts. Of course, in addition to the uprights and beams, the beam racking system generally may also include longitudinal beams, reinforcing ribs, and other components to ensure the stability of the beam racking system, as well as baffles and partitions to distinguish different storage locations. The specific components that the beam racking system may include can be configured as needed, and this manual does not impose any restrictions on this; it only uses the simplest beam racking system containing uprights and beams as an example for explanation.

[0063] Furthermore, considering the space utilization of the warehouse, the storage locations in the warehouse may also include ground-level storage locations. Therefore, the fixed shelving may also consist of ground-level and upper-level storage locations. The ground-level storage locations of the fixed shelving are enclosed by uprights, and the upper-level storage locations are composed of uprights and beams, with each upper-level storage location including at least two parallel beams. Movable vehicles stored in the storage locations are placed on the beams of the upper-level storage locations, with a gap between the bottom of the movable vehicle and the beam of its respective upper-level storage location. And / or, the movable vehicles stored in the storage locations are placed on the ground of the ground-level storage locations, with an opening formed between the legs of the movable vehicle and the ground of its respective ground-level storage location.

[0064] Therefore, when the target storage location is a ground storage location, the retrieval and placement mechanism can extend under the target movable vehicle through the opening between the outriggers of the target movable vehicle and the ground, and be supported on the ground. When the target storage location is a high-level storage location, the retrieval and placement mechanism can extend under the target movable vehicle through the gap between the target movable vehicle and the crossbeam of the target storage location, and be supported on the crossbeam of the target storage location.

[0065] Similarly, if the ground floor of the bottom storage unit is the ground, then the bottom storage unit may be enclosed only by uprights, without including the two parallel beams installed to prevent movable vehicles from falling. However, in the upper storage units, two parallel beams are still required to prevent movable vehicles stored in the upper storage units from falling. Therefore, the fixed racking system including the bottom and upper storage units includes at least uprights and beams, the bottom storage unit is at least enclosed by uprights, the upper storage unit is at least composed of uprights and beams, and the upper storage unit includes at least two parallel beams.

[0066] Of course, in addition to uprights and beams, the beam rack that includes bottom and top storage positions can also include longitudinal beams, reinforcing ribs and other components to ensure the stability of the beam rack, as well as baffles, partitions and other components to distinguish different storage positions. The specific components that the beam rack may include can be set as needed. This manual does not limit this, and only uses the simplest beam rack that includes uprights and beams as an example for explanation.

[0067] Furthermore, the fixed shelving can also be a shelving unit consisting of uprights and shelves, in which case the movable carrier can be placed on the shelf, and an opening is formed between the legs of the movable carrier placed in the storage position and the shelf of the storage position.

[0068] Therefore, the pick-and-place mechanism can extend from the opening between the legs of the target movable vehicle and the shelf of the target storage location under the target movable vehicle and be supported on the shelf of the target storage location to support the pick-and-place mechanism in transporting or placing the target movable vehicle.

[0069] In the aforementioned shelving unit, the shelves can be fixed to the uprights using various methods such as glue or bolts. Of course, in addition to the uprights and shelves, it may also include components such as beams, longitudinal beams, and reinforcing ribs to ensure the stability of the shelving unit, as well as baffles and partitions to distinguish different storage locations. Alternatively, the shelving unit can have shelves placed on two parallel beams connected to the uprights using glue, bolts, or other methods. The specific components included in the shelving unit and the connection methods between these components can be configured as needed; this manual does not limit this, but only uses the simplest shelving unit including uprights and shelves as an example for explanation.

[0070] Of course, to consider warehouse space utilization, the shelving can also be in the form of including bottom and upper storage positions as described above. In this case, the bottom storage position of the fixed shelving is enclosed by uprights, and the upper storage position is composed of uprights and shelves. Movable vehicles stored in the storage positions can be placed on the shelves of the upper storage positions, with an opening formed between the legs of the movable vehicle and the shelf of the upper storage position. And / or, the movable vehicles stored in the storage positions can be placed on the ground of the bottom storage position, with an opening between the legs of the movable vehicle and the ground of the bottom storage position.

[0071] Therefore, when the target storage location is a ground storage location, the retrieval and placement mechanism can extend under the target movable vehicle through the opening between the outriggers of the target movable vehicle and the ground, and be supported on the ground. When the target storage location is a high-level storage location, the retrieval and placement mechanism can extend under the target movable vehicle through the opening between the outriggers of the target movable vehicle and the shelf of the target storage location, and be supported on the shelf of the target storage location.

[0072] Similarly, if the floor of the bottom storage compartment of the shelving unit is the ground, then the bottom storage compartment may be enclosed only by uprights, without including shelves to prevent movable vehicles from falling. However, in the upper storage compartments, shelves are provided to prevent movable vehicles stored there from falling. Therefore, the fixed shelving unit including bottom and upper storage compartments includes at least uprights and shelves, with the bottom storage compartments being enclosed at least by uprights and the upper storage compartments consisting of at least uprights and shelves.

[0073] Of course, in addition to the uprights and shelves, it may also include components such as beams, longitudinal beams, and reinforcing ribs to ensure the stability of the shelving, as well as baffles and partitions to distinguish different storage locations. The shelving can also be a shelving unit where the shelves are fixed to the uprights using glue, bolts, or other methods, or a shelving unit where the shelves are placed on two parallel beams connected to the uprights using glue, bolts, or other methods. The specific components included in the shelving unit and the connection methods between these components can be configured as needed; this manual does not limit this, but only uses the simplest shelving unit including uprights and shelves as an example for explanation.

[0074] It should be noted that this fixed shelving can be a beam shelving, a shelf shelving, or a double-depth shelving. The storage spaces within this fixed shelving are spaces used to store movable vehicles. Taking beam shelving as an example, the storage spaces of this fixed shelving are the spaces enclosed by adjacent beams and uprights that can be used to store movable vehicles. The above-mentioned fixed shelving can take the form of… Figure 1The fixed shelving units in this design retain legs to protect goods from moisture. Alternatively, to optimize warehouse space utilization, the bottom storage units of these fixed shelving units can be placed directly on the ground. The specific form, material, and type of the fixed shelving units can be customized as needed; this manual does not impose any restrictions on these aspects.

[0075] In this specification, the movable vehicle stored in the fixed shelf can be as follows: Figure 2 As shown in the figure, taking a mobile shelf as an example, the mobile carrier can contain multiple storage positions for storing goods, and can be used to store multiple goods. The mobile carrier may have legs, with gaps between the legs and the bottom of the storage positions, allowing a loading and unloading mechanism to enter and move the mobile carrier. Of course, the types of goods stored in the mobile carrier can be the same or different types. The specifications of the goods stored in the storage positions of the mobile carrier and the specifications of the storage positions themselves can be set as needed, and this specification does not impose any restrictions on this.

[0076] Of course, in addition to the above-mentioned types of mobile carriers, other types of mobile carriers are also possible, such as pallet racks, which can be configured according to specific needs.

[0077] In addition to the outriggers, the aforementioned movable carrier may also have pads, so that when the fixed shelving is a beam shelving, the movable carrier can also be supported in the beam by the pads. For example... Figure 3 As shown.

[0078] Figure 3 This diagram illustrates a scenario where the movable carriers provided in this manual are placed in storage compartments. The diagram uses an example where each fixed shelf contains two storage compartments. The storage compartments hold the movable carriers, and there are gaps between the pads next to the legs of the movable carriers and between the storage compartments and the crossbeams. In the diagram, the gray frame represents the fixed shelf, and the shelf-like objects represent the movable carriers. Each storage compartment of this fixed shelf holds movable carriers 1, 2, 3, and 4, respectively. The retrieval mechanism can extend under the movable carriers through the gaps formed by the pads of the movable carriers and the crossbeams of the storage compartments.

[0079] Of course, the form of the mobile vehicle can be set as needed, and this manual does not limit it.

[0080] It should be noted that the storage spaces in the aforementioned mobile vehicles are different from those in fixed shelves.

[0081] In this specification, since the warehousing system includes multiple fixed racks with multiple storage positions, and the target storage position of the movable vehicle to be moved by the handling equipment may be in a storage position on a different layer of the fixed racks, meaning that the height of each movable vehicle is different. To retrieve a movable vehicle from a storage position or place it in the target storage position, the retrieval and placement mechanism must first be aligned with the storage position. Therefore, the handling equipment may include a lifting mechanism that adjusts the height of the retrieval and placement mechanism, and a retrieval and placement mechanism for moving the movable vehicle. Figure 4 As shown.

[0082] Figure 4 This is a schematic diagram of a handling device provided as an embodiment of the present specification. This handling device is used in a warehousing system and is integrated with… Figure 1 The warehousing system described above has a similar structure, which includes multiple fixed racks with passageways between them for handling equipment.

[0083] The handling equipment includes at least a pick-and-place mechanism 200 and a lifting mechanism 201, and may also include a moving mechanism 202. The handling equipment can control the height of the pick-and-place mechanism 200 through the lifting mechanism 201, so that the pick-and-place mechanism moves along the vertical direction of the fixed shelf of the storage system to take out the movable carrier placed in the storage position of the fixed shelf, or place the movable carrier in the storage position of the fixed shelf.

[0084] In addition, the lifting mechanism can also be a component of the pick-and-place mechanism; that is, the handling equipment can include at least a pick-and-place mechanism, which can include a lifting component. The handling equipment can then control the pick-and-place mechanism to move vertically along the fixed shelves of the storage system according to its own lifting component, so as to match the height of the pick-and-place mechanism with the height of the target storage location where the target movable carrier is located.

[0085] Furthermore, in this specification, the moving mechanism 202 moves within the aisles between the fixed shelves and controls the handling equipment to reach the designated position corresponding to the fixed shelf where the target movable carrier is located. The moving mechanism 202 and the picking / placing mechanism 200 can be connected via a lifting mechanism 201. The specific positional relationship and size of the picking / placing mechanism 200 and the moving mechanism 202, as well as the position of the lifting mechanism 201 connecting the moving mechanism and the picking / placing mechanism 200, can be set as needed, and this specification does not impose any limitations on this.

[0086] Of course, the lifting mechanism can perform the lifting action after the transport equipment has reached the designated position, or it can perform the lifting action in advance before the transport equipment reaches the designated position, or it can perform the lifting action at the same time as the transport equipment reaches the designated position. The specific timing of the lifting action can be set as needed.

[0087] In this specification, the pick-and-place mechanism 200 is used to retrieve a target movable carrier from its fixed shelf. When the pick-and-place mechanism 200 moves to the designated position corresponding to the target storage location, the lifting mechanism can raise the height of the pick-and-place mechanism according to the height of the target storage location, so that the height of the pick-and-place mechanism matches the height of the target storage location where the target movable carrier is located. Then, the target movable carrier is retrieved from the target storage location by the pick-and-place mechanism 200. The designated position corresponding to the target storage location is the front of the fixed shelf corresponding to the target storage location, and the position where the lifting mechanism can align the handling equipment with the target storage location.

[0088] Then, the pick-and-place mechanism 200 can extend under the target movable vehicle, support itself on the target storage location, and lift out the target movable vehicle.

[0089] Of course, after the lifting mechanism 201 matches the height of the pick-up and place mechanism 200 with the height of the target storage location where the target mobile vehicle is located, the pick-up and place mechanism 200 can also place the transported target mobile vehicle in the target storage location. In other words, the purpose of the lifting mechanism 201 matching the height of the pick-up and place mechanism 200 with the height of the target storage location where the target mobile vehicle is located can also be to enable the pick-up and place mechanism 200 to place the target mobile vehicle in the target storage location.

[0090] Specifically, the picking and placing mechanism can extend itself into the target storage location and place the target movable vehicle into the target storage location to complete the step of placing the movable vehicle in the fixed shelf.

[0091] Furthermore, in this specification, the pick-and-place mechanism 200 includes a telescopic assembly 203 and a lifting assembly 204. For example... Figure 5 As shown.

[0092] Figure 5 This is a schematic diagram of the handling equipment provided in this specification. The handling equipment includes a pick-and-place mechanism 200, a lifting mechanism 201, and a moving mechanism 202. The pick-and-place mechanism includes a telescopic component 203 and a lifting component 204. The figure shows a schematic diagram with the telescopic component 203 and the lifting component 204 connected as an example.

[0093] The telescopic component 203 is used to adjust its telescopic length when the height of the pick-and-place mechanism 200 matches the height of the target storage location, so that the telescopic component 203 enters the target storage location and is supported on the target storage location.

[0094] Then, during the process of retrieving the target movable vehicle from the target storage location, the lifting component 204 can move along the extension direction of the telescopic component after the telescopic component enters the target storage location, reach the target storage location and enter under the target movable vehicle, adjust the lifting height, lift the target movable vehicle, and carry the movable vehicle back to the pick-up and drop mechanism.

[0095] Of course, during the process of placing the target movable vehicle into the target storage position, the lifting component 204 can carry the target movable vehicle, move along the telescopic component, reach the target storage position, adjust the lifting height, place the target movable vehicle into the target storage position, and return to the pick-and-place mechanism.

[0096] It should be noted that the above Figure 5 The telescopic and lifting components in the loading and unloading mechanism are simplified. The specific forms of the telescopic and lifting components can be set as needed, and this manual does not impose any restrictions on them.

[0097] In addition, since the telescopic assembly may have an overturning moment during the above steps, in order to ensure the safety of the handling equipment, a load can be added behind the telescopic assembly to ensure the safety of the handling equipment when handling movable carriers.

[0098] Of course, since the load is added behind the telescopic component, the load needs to be determined based on the length of the telescopic component and the position of the target movable vehicle, which is less efficient. Therefore, after the telescopic component enters the target storage position, the lower surface of the telescopic component can be made to fit with the bottom surface of the target storage position to support the movement of the lifting component.

[0099] Specifically, the telescopic component 203 adjusts its telescopic length according to the target storage location in the target mobile vehicle, so that the telescopic component 203 enters the gap between the target mobile vehicle and the target storage location and supports itself on the fixed shelf.

[0100] Furthermore, the lifting component 204 can be independent of the telescopic component 203. After the telescopic component 203 enters the target storage location, it forms a track for moving the lifting component. Therefore, the lifting component 204, through its own drive mechanism, can control itself to move along the track of the telescopic component to the area below the target movable vehicle, lift the target movable vehicle, and then carry it back to the pick-and-place mechanism 200. Figure 6 As shown.

[0101] Figure 6This is a schematic diagram of the picking and placing mechanism provided in this manual. In the diagram, the gray frame is a fixed shelf, and the white shelf-shaped object placed on the fixed shelf is a movable vehicle. Taking the movable vehicle 1 located in the fixed shelf as the target movable vehicle as an example, when the height of the picking and placing mechanism matches the height of the target storage position where the target movable vehicle is located, the telescopic component 203 can adjust its telescopic length so that the telescopic component 203 enters the target storage position and is supported on the fixed shelf.

[0102] Finally, the lifting assembly 204 can reach the target movable vehicle under the track of the telescopic assembly through its own drive device, lift the target movable vehicle, and then carry the target movable vehicle back to the pick-up and drop mechanism 200.

[0103] In addition, the telescopic component 203 can adjust its telescopic length after the target movable vehicle and the lifting component return to the pick-up and drop mechanism 200, so that the telescopic component 203 leaves the target storage position.

[0104] Of course, when the telescopic component enters the target storage location, the lifting component can also carry the target movable vehicle along the track of the telescopic component to the target storage location via its own drive device, and place the target movable vehicle in the target storage location.

[0105] Furthermore, in one embodiment provided in this specification, the telescopic component and the lifting component can communicate with each other to transport the movable vehicle. Specifically, the telescopic component can send a movement command to the lifting component when it reaches the target position corresponding to the target storage location.

[0106] The lifting component can enter the target storage position according to the received movement command, and when it reaches the target storage position, it can adjust the lifting height, lift or lower the target movable vehicle, and return to the pick-up and place mechanism. After returning to the pick-up and place mechanism, it can send a return command to the telescopic component.

[0107] The telescopic component can adjust its telescopic length and return to the pick-and-place mechanism according to the return command sent by the lifting component.

[0108] It should be noted that, in this specification, the move command and return command may not be applied in other embodiments.

[0109] In addition, to ensure the handling efficiency of the handling equipment, the handling equipment can also control the lifting component to enter the target storage position at the same time as the telescopic component enters the target storage position.

[0110] Specifically, when the height of the pick-and-place mechanism 200 matches the height of the target storage location, the telescopic component 203 can adjust its telescopic length so that it extends to the target storage location while simultaneously bringing the lifting component 204 to the target storage location and supporting it on a fixed shelf or the ground.

[0111] The lifting component 204 can then reach the target storage location together with the telescopic component, enter under the target movable vehicle, adjust the lifting height, lift the target movable vehicle, and transport the target movable vehicle back into the transport equipment.

[0112] Finally, after the lifting assembly 204 returns to the transport equipment carrying the target movable vehicle, the telescopic assembly 203 can adjust its telescopic length and retract back to the transport equipment.

[0113] Of course, in addition to removing the target mobile vehicle from the target storage location, the handling equipment can also perform the process of placing the target mobile vehicle into the target storage location.

[0114] Specifically, when the height of the retrieval mechanism 200 matches the height of the target storage location, the telescopic component 203 can adjust its telescopic length so that it extends to the target storage location and is supported on a fixed shelf or the ground.

[0115] After the telescopic component 203 extends to the target storage position, the lifting component 204 can carry the target movable vehicle, move along the telescopic component to the target storage position, adjust the lifting height, place the target movable vehicle in the target storage position, and return to the handling equipment together with the telescopic component.

[0116] Finally, after the lifting assembly places the target movable vehicle in the target storage location, the telescopic component can adjust its telescopic length, retract back to the transport equipment, and simultaneously wait for the lifting assembly to return to the transport equipment.

[0117] Of course, to avoid relative movement between the lifting component and the telescopic component when they move together, which could pose a safety hazard when transporting the target movable vehicle, the picking and placing mechanism may also include a fixing component. The fixing component is connected to the telescopic component.

[0118] Specifically, the pick-and-place mechanism may further include a fixing component 205. This fixing component is used to fix or release the lifting component. The telescopic component can adjust its telescopic length to support itself on the target storage location when the height of the pick-and-place mechanism matches the height of the target movable vehicle. The lifting component can be fixed to the telescopic component via the fixing component, and enter the target storage location together with the telescopic component. After the lifting component lifts the target movable vehicle, the fixing component releases the lifting component, allowing the lifting component to move via its own drive mechanism and carry the target movable vehicle back to the pick-and-place mechanism.

[0119] During the process of placing the target movable vehicle into the target storage location, the telescopic assembly can adjust its telescopic length to enter the target storage location. The lifting assembly can carry the target movable vehicle, and through its own drive device, it can travel along the track of the telescopic assembly to the target storage location, and adjust its lifting height to place the target movable vehicle in the target storage location. After the lifting assembly places the target movable vehicle in the target storage location, the telescopic assembly can control the fixing assembly to secure itself to the telescopic assembly.

[0120] In other words, the fixing component can fix the lifting component that is not carrying the target movable carrier, so that the lifting component can reach the target storage position or return to the handling equipment together with the telescopic component, and release the lifting component so that the lifting component carries the target movable carrier and moves along the telescopic component to reach the target storage position or return to the handling equipment. Figure 7 As shown.

[0121] Figure 7 This is a schematic diagram of the picking and placing mechanism provided in this manual for transporting a movable vehicle. In the diagram, the gray frame is a fixed shelf, and the white shelf-like object placed on the fixed shelf is a movable vehicle. The left side of the diagram is a partial enlarged view of the fixed component and the lifting component in the picking and placing mechanism. The shaded rectangle is the fixed component 205. Taking the movable vehicle 1 located on the second layer of the fixed shelf as the target movable vehicle as an example.

[0122] When the height of the loading and unloading mechanism matches the height of the target storage location where the target movable vehicle is located, the telescopic component 203 can adjust its telescopic length so that the telescopic component 203 enters the target storage location and is supported on the fixed shelf.

[0123] Simultaneously, the lifting component 204 can be fixed to the telescopic component 203 via the fixing component 205, and enter the target storage position together with the telescopic component 203. Afterwards, the lifting component 204 can lift the target movable vehicle, release itself via the fixing component 205, and return to the pick-and-place mechanism with the target movable vehicle via its own drive device.

[0124] The telescopic component 203 can adjust its telescopic length after the target movable vehicle returns to the pick-up and place mechanism, so that the telescopic component 203 retracts back into the pick-up and place mechanism.

[0125] Of course, after the telescopic component 203 enters the target storage position, the lifting component 204 can also carry the target movable vehicle along the track of the telescopic component to the target storage position through its own drive device, and place the target movable vehicle in the target storage position. Then, it can fix itself in the telescopic component through the fixing component, and the telescopic component returns to the pick-and-place mechanism together.

[0126] In this specification, the conveying assembly may also include a lifting assembly 204 and a conveying assembly 206. The conveying assembly includes a telescopic unit 207. The lifting assembly 204 and the conveying assembly 206 are connected, and the lifting assembly 204 is located above or inside the conveying assembly 206.

[0127] When the height of the pick-and-place mechanism matches the height of the target storage location where the target movable carrier is located, the conveying component 206 can adjust its telescopic length so that the telescopic unit 207 enters the target storage location and is supported on the target storage location, thereby driving the lifting component 204 to move to the target storage location, or driving the lifting component 204 to return from the target storage location to the pick-and-place mechanism.

[0128] The lifting component 204 can adjust its lifting height to lift or lower the target movable vehicle when it is driven to the target storage position by the conveying component 206.

[0129] Subsequently, after the lifting component 204 lifts or lowers the target movable vehicle, the conveying component 206 can also move the lifting component 204 back from the target storage location to the pick-and-place mechanism.

[0130] Of course, the conveying component 206 can adjust its telescopic length and retract back to the pick-and-place mechanism after the lifting component 204 returns to the pick-and-place mechanism. For example... Figure 8 As shown.

[0131] Figure 8 This is a schematic diagram of the picking and placing mechanism for transporting a movable vehicle provided in this specification. In the diagram, the gray frame is a fixed shelf, and the white shelf-like object placed on the fixed shelf is a movable vehicle. Taking the movable vehicle 1 located in the fixed shelf as the target movable vehicle as an example, the conveying component 206 can adjust its telescopic length when the height of the picking and placing mechanism matches the height of the target storage position where the target movable vehicle is located, so that the telescopic unit 207 enters the target storage position.

[0132] Secondly, the transmission component 206 can drive the lifting component 204 to move to the target storage location.

[0133] Then, the lifting assembly 204 can lift the target movable vehicle after reaching it, so that the target movable vehicle is no longer in contact with the fixed shelf.

[0134] Finally, the conveying component 206 can drive the lifting component 204 to move into the pick-and-place mechanism.

[0135] Of course, the telescopic unit 207 can adjust its telescopic length after the target movable vehicle and the lifting component return to the pick-up and place mechanism 200, so that the telescopic component 203 returns to the pick-up and place mechanism.

[0136] The telescopic unit 207 can take many forms, such as a conveyor belt, a telescopic plate, or other forms. The conveying component 206 can be a conveyor belt, a conveyor rail, a robotic arm, etc. Of course, the movement of the telescopic component and the conveying component can be set as needed, and this manual does not limit this.

[0137] Furthermore, when the aforementioned telescopic unit has a telescopic function, it can also be a component that enables the telescopic function of the conveying component. In this case, the pick-and-place mechanism can include a lifting component and a conveying component, with the lifting component located on the conveying component.

[0138] The conveying component 206 can be adjusted in length to extend into the target storage location and be supported on a fixed shelf or the ground. It also drives the lifting component 204 to move into the target storage location.

[0139] The lifting component 204 can adjust its lifting height to lift or lower the target movable vehicle when it is driven to the target storage position by the conveying component 206.

[0140] Subsequently, after the lifting component 204 lifts or lowers the target movable vehicle, the conveying component 206 can drive the lifting component 204 back from the target storage position to the pick-and-place mechanism.

[0141] Of course, the conveying component 206 can adjust its telescopic length and retract back into the handling equipment after the lifting component 204 returns to the pick-and-place mechanism.

[0142] The aforementioned conveyor assembly can also be in the form of a telescopic belt conveyor.

[0143] It should be noted that when the lifting component 204 is located above the conveying component 206, the lifting component can be a device with a lifting function that is fixed above the conveying component. When the lifting component 204 is located inside the conveying component 206, the conveying component 206 may also have an opening for the lifting component to extend out.

[0144] Taking a conveyor belt as an example, when the lifting component is located inside the conveyor belt, the conveyor belt can be equipped with a space for placing the lifting component and an opening for the lifting component to extend. During the process of the pick-and-place mechanism transporting the target movable carrier back to the target storage location from the target storage location, the conveyor belt, when supported on a fixed shelf or the ground, can carry the lifting component located inside the conveyor belt to the target storage location. After being carried to the target storage location by the conveyor belt, the lifting component can adjust its lifting height, extend from the opening of the conveyor belt, lift the target movable carrier, and be carried back to the transport equipment by the conveyor belt.

[0145] During the process of the pick-and-place mechanism placing the target movable carrier into the target storage position, the lifting component can move along with the conveyor belt, carrying the target movable carrier to the target storage position. The lifting height is adjusted to place the target movable carrier in the target storage position, and then it retracts from the opening of the conveyor belt back into the space inside the conveyor belt used to house the lifting component. After the lifting component returns to the conveyor mechanism, the telescopic length can be adjusted to retract into the handling equipment, carrying the lifting component back to the handling equipment.

[0146] Furthermore, in one embodiment provided in this specification, the conveying component 206 and the lifting component 204 can also communicate with each other to transport the movable vehicle. Specifically, when the conveying component 206 reaches the target location corresponding to the target storage location, it can drive the lifting component to move to the target storage location.

[0147] The lifting component 204 can adjust its lifting height to lift or lower the target movable vehicle when it is driven to the target storage position by the conveying component 206, and send a completion command to the lifting component.

[0148] The transmission component 206 can, according to the completion command sent by the lifting component 204, drive the lifting component to return from the target storage position to the pick-and-place mechanism, and adjust the extension length to retract the extension unit to the pick-and-place mechanism.

[0149] The target position is the position at which the telescopic component is located at a preset distance threshold from the exit of the target storage location after entering the target storage location. In other words, it is the position at which the lifting component can support the target movable vehicle after the telescopic component reaches the target position.

[0150] It should be noted that, in this specification, this completion instruction may not be applied to other embodiments.

[0151] Furthermore, after the pick-up and place mechanism 200 retrieves the target movable carrier from the target storage location and returns it to the transport mechanism, in order to ensure the safety of the transport equipment, the transport equipment can adjust the height of the pick-up and place mechanism 200 through the lifting mechanism 201 so that the pick-up and place mechanism 200 carries the target movable carrier to the bottom layer of the transport equipment.

[0152] In addition, in this specification, after the handling equipment removes the target mobile carrier, it can also move the target mobile carrier to other storage locations, or move the target mobile carrier to cargo loading and unloading equipment, where the cargo loading and unloading equipment performs the operation of loading and unloading goods in the target mobile carrier, and then puts the target mobile carrier back into the target storage location.

[0153] Furthermore, the warehousing system may also include a server, which can schedule the handling equipment to return the target mobile vehicle to its original storage location within the warehousing system, or to another storage location within the warehousing system. The handling equipment can receive handling tasks sent by the server of the warehousing system and handle the target mobile vehicle according to the handling tasks.

[0154] Alternatively, to reduce the operational burden on the handling equipment, more capacity can be allocated to transporting mobile vehicles to workstations rather than returning them to their original storage locations. In this case, the server, upon determining that a mobile vehicle needs to be returned to a storage location, can identify the nearest available storage location and send a handling task to the handling equipment based on that location. The handling equipment can then place the mobile vehicle in the identified available storage location according to the received task. Of course, the server can also employ a proximity-based placement strategy when placing mobile vehicles into storage locations.

[0155] Alternatively, since warehousing systems typically involve multiple concurrent tasks such as picking, sorting, and outbound processing, situations may arise where a mobile vehicle is moved out of a storage location, and then another mobile vehicle is placed in that location under the scheduling of other handling tasks. When returning a mobile vehicle, the server can determine that another mobile vehicle is already in the original storage location. The server can then identify other storage locations and send a handling task to the handling equipment based on those locations. The handling equipment can then place the mobile vehicle in the other storage location according to the received handling task. This storage location can be located on the ground or on a fixed shelf.

[0156] It should be noted that the process of the server in the above-mentioned warehousing system sending a handling task to the handling equipment can also enable communication between the handling equipment and record the available storage spaces in the warehousing system. When it is necessary to move the target mobile vehicle, the handling task of moving the target mobile vehicle is determined based on the currently available storage space, the location of the target mobile vehicle, etc., and the handling task is sent to the server for recording.

[0157] In addition, since the telescopic component may tilt during the process of placing the target movable carrier into the target storage location, resulting in an overturning moment and posing a safety hazard to the telescopic component 203, the telescopic component 203 may also have a support member 207 to avoid the overturning moment caused by the tilt of the telescopic component 203.

[0158] Specifically, the telescopic component 203 can adjust its telescopic length after entering the target storage location, allowing it to reach the target storage location. Then, the telescopic component 203 can control the support member 208, adjusting its support length or angle to ensure the support member 208 contacts the bottom surface of the target storage location, providing support and keeping the telescopic component horizontally parallel. Figure 8 As shown.

[0159] Figure 9 This is a structural diagram of the handling equipment provided in this specification. In the diagram, the black rectangle represents the telescopic component 203, and the gray rectangle below the black rectangle represents the support member 208. The telescopic component 203 can be adjusted in length to allow it to be placed on the bottom surface of the target storage location. Then, the telescopic component 203 can control the support member 208 to provide support and control the lifting component 204 to place the target movable carrier into the target storage location.

[0160] Of course, the aforementioned support member 208 can be in the form of a rigid body or a telescopic rod. Furthermore, the support member 208 and the telescopic assembly 203 can be connected by a hinge or a rigid connection. For example, the support member 208 can be fixed below the telescopic assembly 203, and when support is needed, the support height can be adjusted so that the support member 208 contacts the bottom surface of the storage compartment.

[0161] Furthermore, to further improve warehouse operating efficiency, in one or more embodiments of this specification, the handling equipment can determine the activity level of a mobile carrier that needs to be returned to storage based on at least one of the following: the frequency of loading and unloading of goods stored on the mobile carrier and the quantity of goods accessed. Thus, based on the ranking of the activity levels of the mobile carriers, the storage location of the mobile carrier when it returns to the warehousing system is determined.

[0162] Specifically, for mobile carriers that need to be returned to storage, the handling equipment first determines the activity level of the mobile carrier based on at least one of the loading / unloading frequency and the quantity of goods stored on it, and then stores it. Next, based on the activity levels of the stored mobile carriers, the equipment sorts them to determine their order. Finally, from the available storage spaces on each layer, the equipment determines the storage location to place the mobile carrier according to its order.

[0163] It should be noted that, for warehousing systems, the execution time of handling tasks at different heights may vary. Therefore, this handling equipment can determine the "heat" of different storage locations on each floor based on the location of the loading and unloading equipment and the handling equipment. The more "heated" the storage location, the higher the activity level of the mobile vehicles placed there.

[0164] Furthermore, since the heat intensity indicates that the storage location may already be occupied by other movable vehicles, the handling equipment can also determine whether the identified storage location is vacant. If so, the movable vehicle is placed in that storage location; otherwise, the movable vehicle is swapped with another movable vehicle already in that storage location—that is, the other movable vehicle is removed from the storage location, and the movable vehicle is placed in that location. For any other movable vehicles that have been removed, the handling equipment can use the same method to re-determine their storage location.

[0165] Alternatively, in one or more embodiments of this specification, when the server determines that a storage location is not free, it may determine the nearest free storage location and place the mobile vehicle in the newly determined free storage location.

[0166] Alternatively, other movable vehicles can be removed from this storage location and placed in another available storage location closest to it.

[0167] Of course, since there is no binding relationship between the goods and the mobile carriers in this specification, the goods can be taken out from one mobile carrier before picking and placed in another mobile carrier after picking. Therefore, the handling equipment can also determine the activity level of different goods based on at least one of the following: the frequency of goods loading and unloading and the quantity of goods stored and retrieved. Based on the order of activity levels of each good, the equipment sends handling instructions to perform handling tasks, adjusting the goods in at least some of the mobile carriers so that the activity level of goods in the lower storage locations is higher than that of goods in the higher storage locations. This process can be performed during goods sorting or in other tasks, as long as the goods need to be removed from the mobile carriers. The goods can also be containers that carry the goods.

[0168] In one or more embodiments of this specification, the handling device may also determine the activity level of the mobile carrier based on the activity level of each item in the mobile carrier, and use any of the methods described above for determining storage locations based on the activity level of the mobile carrier to place the mobile carrier back into the storage location. The specific process is similar to the process described above, and will not be repeated in this specification.

[0169] In addition to picking and outbound tasks, warehouses currently also handle sorting tasks, which involve organizing goods in at least two storage locations. This may include merging or swapping goods. In this specification, sorting tasks can be performed at workstations. Therefore, the handling equipment can also respond to sorting tasks by moving the mobile carrier from its original storage location in the warehousing system to another location or keeping it in its original location.

[0170] Specifically, in response to a sorting task, the handling equipment identifies the mobile carrier that has completed sorting at the workstation, determines the original storage location of the mobile carrier, and returns the mobile carrier to the original storage location. Alternatively, it determines the activity ranking of the mobile carriers after sorting, determines another storage location for the mobile carrier to be returned to, and places the mobile carrier in that other storage location.

[0171] Specifically, the method for determining the activity level of the mobile vehicle can be consistent with the aforementioned approach, that is, the activity level of the mobile vehicle can be determined based on at least one of the loading and unloading frequency and the quantity of goods stored and retrieved on the mobile vehicle. Subsequently, the storage location of the mobile vehicle after its position is adjusted during cargo handling can be determined based on the ranking of the mobile vehicle's activity level.

[0172] Additionally, in one or more embodiments of this specification, a cargo handling task can also be performed on a mobile vehicle. For example, when the mobile vehicle is used to place multiple containers, cargo handling can be performed on at least two containers of the mobile vehicle. Alternatively, when the mobile vehicle is used to place one container, the workstation can also perform cargo handling on the container placed by the mobile vehicle according to the cargo it stores. Here, the container is a container for loading goods, and one type of goods can be placed in the same container.

[0173] Of course, the process of determining the storage location of the target mobile vehicle by the handling equipment can also be performed by the server in the warehousing system, which determines the storage location of the target mobile vehicle, determines the handling task based on the determined storage location, and sends the handling task to the handling equipment, which then determines the handling task based on the received handling task.

[0174] Furthermore, before the retrieval mechanism 200 retrieves the object, it can receive the address of the target mobile vehicle and the task path from itself to the target mobile vehicle sent by the server 100. The address includes the location and height of the mobile vehicle containing the target mobile vehicle.

[0175] Then, the pick-and-place mechanism 200 can control the handling equipment to move to the storage location of the target mobile vehicle through the moving mechanism according to the task path corresponding to the received target mobile vehicle.

[0176] Finally, the retrieval mechanism 200 can, based on the received storage location of the target movable vehicle, control the retrieval mechanism 201 to reach the storage location of the target movable vehicle. For example... Figure 9 As shown.

[0177] Figure 10 This diagram illustrates a scenario where the transport equipment provided in this manual performs a transport task. In the diagram, server 100 sends a transport task to the transport equipment, which includes the location and height of the storage location where the target movable vehicle is located. The transport equipment can then control itself to move to the vicinity of the storage location where the target movable vehicle is located, based on the transport task.

[0178] When the height of the pick-and-place mechanism matches the height of the target storage location where the target movable vehicle is located, the telescopic component 203 is controlled to adjust its telescopic length, allowing it to enter the gap between the target movable vehicle and the fixed shelf, and supporting itself on the fixed shelf. Once supported, the lifting component 204 is controlled to move along the telescopic component, and when it is under the target movable vehicle, it lifts the target movable vehicle and transfers it into the pick-and-place mechanism. While transferring the target movable vehicle into the pick-and-place mechanism, the telescopic length is adjusted to move the telescopic component 203 out of the gap.

[0179] Of course, the aforementioned handling and sorting tasks are all warehouse tasks.

[0180] based on Figure 2 The manual also provides a method for handling goods, as shown in the handling equipment. Figure 11 As shown.

[0181] Figure 11 This is a flowchart illustrating the goods handling method provided in this specification. The handling equipment is applied in a warehousing system, which includes one or more fixed racks. Each fixed rack contains at least two storage levels for storing movable vehicles. The handling equipment includes at least a picking and placing mechanism and a lifting mechanism.

[0182] S300: Control the moving mechanism to move the transport device to the designated position corresponding to the target storage location.

[0183] S302: Using the lifting mechanism, the height of the pick-and-place mechanism is raised to match the height of the target storage location based on the height of the target storage location.

[0184] S304: Control the picking and placing mechanism to extend from the handling equipment to the target storage location and support it on the fixed shelf or on the ground, and then take out the target movable vehicle from the target storage location or place the target movable vehicle in the target storage location by carrying it on its back.

[0185] The handling method provided in this manual can be specifically executed by handling equipment that operates in a warehousing system. The warehousing system includes multiple fixed racks, each of which contains at least two storage positions for placing movable vehicles. The handling equipment includes at least a pick-and-place mechanism and a lifting mechanism.

[0186] In addition, the detailed execution process of this method can be found in the above description of the handling equipment, which will not be repeated here.

[0187] Furthermore, since conveyor belts offer higher safety for transporting objects, they can also be used to move mobile vehicles.

[0188] Specifically, the pick-and-place mechanism may include a lifting component and a conveying component, the lifting component and the telescopic unit being connected and both located inside the conveying component.

[0189] The handling equipment can control the conveying component to adjust its telescopic length, so that the telescopic unit extends to the target storage position and is supported on the fixed shelf or the ground, and drives the lifting component to move to the target storage position, or drives the lifting component to return from the target storage position to the handling equipment.

[0190] When the lifting component is driven by the conveying component to reach the target storage position, the handling equipment can control the lifting component to adjust the lifting height and lift or lower the target movable carrier.

[0191] Once the lifting assembly returns to the pick-and-place mechanism, the transport equipment can control the conveying assembly to adjust its telescopic length, allowing the telescopic unit to return to the transport equipment.

[0192] Furthermore, if the lifting component can be self-driven, the handling efficiency of the handling equipment can be improved. Therefore, the pick-and-place mechanism may include a telescopic component and a lifting component, and the telescopic component and the lifting component are independent of each other.

[0193] The handling equipment can control the telescopic component to adjust its telescopic length, so that the telescopic component extends to the target storage location and is supported on a fixed shelf or the ground.

[0194] Once the telescopic component enters the target storage location, the handling device can control the lifting component to move along the telescopic component to the bottom of the target movable carrier, adjust the lifting height, lift the target movable carrier and transport it back to the handling device, or, while carrying the movable carrier and moving it along the telescopic component to the target storage location, adjust the lifting height, place the target movable carrier in the target storage location, and return to the pick-and-place mechanism.

[0195] After the lifting assembly returns to the transport equipment, the telescopic assembly is controlled to adjust its telescopic length and retract back to the transport equipment.

[0196] In addition, if the lifting mechanism enters the target storage position at the same time as the telescopic component, the handling efficiency of the handling equipment is high. Therefore, the picking and placing mechanism includes a telescopic component and a lifting component, and the picking and placing mechanism includes a telescopic component, a lifting component and a fixing component.

[0197] When the height of the picking and placing mechanism matches the height of the target storage location where the target movable carrier is located, the handling equipment can control the telescopic component to adjust its telescopic length so that the telescopic component is supported on the target storage location.

[0198] Subsequently, the handling device can fix the lifting component to the telescopic component via the fixing component, so that the lifting component enters the target storage position together with the telescopic component, and controls the lifting component to lift the target movable vehicle. The fixing component is then controlled to release the lifting component, so that the lifting component can carry the target movable vehicle back to the pick-and-place mechanism in a carrying manner. Alternatively, the lifting component can be controlled to carry the movable vehicle and move along the telescopic component to the target storage position, and the lifting height can be adjusted to place the target movable vehicle in the target storage position. The fixing component is then controlled to fix the lifting component in the telescopic component.

[0199] Finally, after the lifting assembly carries the target movable vehicle back to the pick-and-place mechanism or places the target movable vehicle in the target storage location, the handling equipment can control the telescopic assembly to adjust its telescopic length and retract back to the handling equipment.

[0200] Based on the aforementioned handling equipment, warehousing system, and cargo handling method, a target mobile vehicle is placed on a fixed rack containing at least two storage levels. When the handling equipment reaches the designated location corresponding to the target storage level, a lifting mechanism extends the handling equipment to the target storage level and supports it on the fixed rack or on the ground. The target mobile vehicle is then retrieved from the target storage level or placed back into it via a carrying method, thus completing the handling task. This solution utilizes fixed racks to store mobile vehicles, resulting in lower costs. Furthermore, after construction, the warehouse layout can be adjusted, leading to greater flexibility and improved warehousing efficiency.

[0201] Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software. In other words, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0202] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0203] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0204] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0205] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0206] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0207] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0208] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0209] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0210] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0211] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0212] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0213] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0214] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0215] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0216] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0217] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A handling device, characterized in that, The material handling equipment is applied to a warehousing system, which includes one or more fixed shelves, each shelf containing at least two storage compartments for storing movable vehicles; the material handling equipment includes at least a moving mechanism, a lifting mechanism, and a picking and placing mechanism. The moving mechanism is used to move the transport device to the designated position corresponding to the target storage location; The lifting mechanism is used to raise the height of the pick-and-place mechanism to match the height of the target storage location based on the height of the target storage location. The picking and placing mechanism is used to extend from the handling equipment to the target storage location and support itself on the fixed shelf or on the ground, and then take out the target movable vehicle from the target storage location or place the target movable vehicle in the target storage location by carrying it on its back. The picking and placing mechanism includes a telescopic component and a lifting component, and the telescopic component and the lifting component are independent of each other; The telescopic component is used to adjust the telescopic length so that the telescopic component extends to the target storage position and is supported on the fixed shelf or the ground, or, after the lifting component returns to the handling equipment, the telescopic length is adjusted to retract back to the handling equipment; The lifting assembly is used to move along the telescopic assembly after the telescopic assembly extends to the target storage position, reach the target storage position and enter under the target movable vehicle, adjust the lifting height, lift the target movable vehicle and transport it back to the handling equipment, or carry the target movable vehicle, move along the telescopic assembly to the target storage position, adjust the lifting height, place the target movable vehicle in the target storage position and return to the handling equipment.

2. The handling equipment as described in claim 1, characterized in that, The fixed shelf is composed of at least uprights and beams, the storage position includes at least two parallel beams, the movable carrier is placed on the beams, and there is a gap between the bottom of the movable carrier and the beam of the storage position. The pick-and-place mechanism is used to extend from the gap between the target movable vehicle and the crossbeam of the target storage location into the underside of the target movable vehicle and to be supported on the crossbeam of the target storage location.

3. The handling equipment as described in claim 1, characterized in that, The bottom storage position of the fixed shelf is at least surrounded by uprights, and the upper storage position of the fixed shelf is at least composed of uprights and beams. The upper storage position includes at least two parallel beams. The movable carrier is placed on the beams of the upper storage position, and there is a gap between the bottom of the movable carrier and the beam of the upper storage position. And / or, the movable carrier is placed on the ground of the bottom storage position, and an opening is formed between the legs of the movable carrier and the ground of the bottom storage position. The loading and unloading mechanism is used to extend into the underside of the target movable vehicle through the opening between the legs of the target movable vehicle and the ground when the target storage location is the bottom storage location, and to support it on the ground; when the target storage location is the top storage location, it extends into the underside of the target movable vehicle through the gap between the bottom of the target movable vehicle and the crossbeam of the target storage location, and to support it on the crossbeam of the target storage location.

4. The handling equipment as described in claim 1, characterized in that, The fixed shelf consists of at least uprights and shelves, the movable carrier is placed on the shelves, and the legs of the movable carrier form an opening between the shelf and the storage position it is in. The pick-and-place mechanism extends from the opening between the support leg of the target movable vehicle and the shelf of the target storage location, into the underside of the target movable vehicle, and is supported on the shelf of the target storage location.

5. The handling equipment as described in claim 1, characterized in that, The bottom storage position of the fixed shelf is at least surrounded by uprights, and the upper storage position of the fixed shelf is at least composed of uprights and shelves. The movable carrier is placed on the shelf of the upper storage position, and the legs of the movable carrier form an opening between the legs of the movable carrier and the shelf of the upper storage position. And / or, the movable carrier is placed on the ground of the bottom storage position, and the legs of the movable carrier form an opening between the legs of the movable carrier and the ground of the bottom storage position. The loading and unloading mechanism is configured to extend into the underside of the target movable vehicle through the opening between the legs of the target movable vehicle and the ground when the target storage location is a bottom storage location, and to support it on the ground; and to extend into the underside of the target movable vehicle through the opening between the legs of the target movable vehicle and the shelf of the target storage location when the target storage location is a top storage location, and to support it on the shelf of the target storage location.

6. The handling equipment as described in claim 1, characterized in that, The picking and placing mechanism includes a lifting component and a conveying component, the conveying component includes a telescopic unit, and the lifting component and the conveying component are connected; The conveying component is used to adjust the telescopic length so that the telescopic unit extends to the target storage position, supports the fixed shelf or the ground, and drives the lifting component to move to the target storage position, or drives the lifting component to return from the target storage position to the handling equipment, and after the lifting component returns to the handling equipment, adjusts the telescopic length to retract back to the handling equipment; The lifting component is used to adjust the lifting height when it is driven to the target storage location by the conveying component, so as to lift or lower the target movable vehicle.

7. The handling equipment as described in claim 1, characterized in that, The loading and unloading mechanism includes a telescopic component and a lifting component; The telescopic component is used to adjust the telescopic length, extending to the target storage position while simultaneously bringing the lifting component to the target storage position and supporting it on the fixed shelf or the ground; or, after the lifting component has transported the target movable carrier back to the handling equipment, the telescopic length is adjusted to retract back to the handling equipment. The lifting assembly is used to move together with the telescopic assembly to the target storage location and enter under the target movable vehicle, adjust the lifting height, lift the target movable vehicle, and transport it back to the handling equipment.

8. The handling equipment as described in claim 1, characterized in that, The loading and unloading mechanism includes a telescopic component and a lifting component; The telescopic component is used to adjust the telescopic length, extend to the target storage position, and support it on the fixed shelf or the ground; or, after the lifting component places the target movable carrier in the target storage position, the telescopic length is adjusted to retract back to the handling equipment while bringing the lifting component back to the handling equipment. The lifting assembly is used to carry the target movable carrier along the telescopic assembly to the target storage position after the telescopic assembly extends to the target storage position, reach the target storage position, adjust the lifting height, place the target movable carrier in the target storage position, and return to the handling equipment together with the telescopic assembly.

9. The handling equipment as described in claim 7 or 8, characterized in that, The picking and placing mechanism also includes a fixing component, which is connected to the telescopic component; The fixing component is used to fix the lifting component that is not carrying the target movable vehicle, so that the lifting component can reach the target storage position or return to the transport equipment together with the telescopic component, and to release the lifting component so that the lifting component can carry the target movable vehicle along the telescopic component to reach the target storage position or return to the transport equipment.

10. The conveying device as described in claim 1 or 8, characterized in that, The telescopic component includes a track; The lifting assembly is used to reach the target storage location along the track of the telescopic assembly via its own drive device.

11. The handling equipment as claimed in claim 1, characterized in that, The lifting mechanism is used to adjust the height of the pick-up and place mechanism after the pick-up and place mechanism takes out the target movable carrier and returns to the handling equipment, so that the pick-up and place mechanism carries the target movable carrier to the bottom of the handling equipment.

12. The handling equipment as described in claim 9, characterized in that, The telescopic assembly also includes a support member located below the telescopic assembly; The support member is used to adjust the support height when the telescopic assembly extends to the target storage position, so that the support member contacts the beam or shelf of the fixed shelf and is supported on the beam or shelf of the fixed shelf, or to adjust the support height so that the support member contacts the ground and is supported on the ground, and keeps the telescopic assembly horizontal.

13. The handling equipment as described in claim 1, characterized in that, The handling equipment is used to receive handling tasks sent by the server of the warehousing system, and according to the handling tasks, to move the target movable vehicle from the target storage location of the fixed shelf to other storage locations or a designated destination.

14. The handling equipment as described in claim 13, characterized in that, The handling equipment is used to determine the activity level of the target mobile vehicle based on at least one of the frequency of goods being picked up and put down and the quantity of goods being picked up and put down on the target mobile vehicle, and to determine the storage location of the target mobile vehicle when it returns to the fixed shelf based on the ranking of the activity level of the target mobile vehicle.

15. The handling equipment as described in claim 1, characterized in that, The movable carrier is a movable shelf.

16. A warehousing system, characterized in that, The warehousing system includes one or more handling devices as described in any one of claims 1-15 and one or more fixed racks, the fixed racks comprising at least two storage compartments for storing mobile vehicles.

17. A method for handling materials, characterized in that, The material handling equipment is used in a warehousing system, which includes one or more fixed racks, each rack containing at least two storage levels for storing movable vehicles; the material handling equipment includes at least a moving mechanism, a lifting mechanism, and a picking and placing mechanism; wherein: Control the moving mechanism to move the transport device to the designated position corresponding to the target storage location; The lifting mechanism is used to raise the height of the pick-and-place mechanism to match the height of the target storage location, based on the height of the target storage location. The picking and placing mechanism is controlled to extend from the handling equipment to the target storage location and support itself on the fixed shelf or the ground. Then, it retrieves the target movable vehicle from the target storage location or places the target movable vehicle in the target storage location via a carrying method. The picking and placing mechanism includes a telescopic component and a lifting component, which are independent of each other. By controlling the telescopic component, the telescopic length is adjusted so that the telescopic component extends to the target storage location and is supported on the fixed shelf or the ground. Alternatively, the lifting component... After the item returns to the handling equipment, the telescopic length is adjusted to retract back to the handling equipment. Additionally, by controlling the lifting assembly, when the telescopic assembly extends to the target storage position, the item moves along the telescopic assembly to reach the target storage position and enters below the target movable carrier. The lifting height is adjusted to lift the target movable carrier and transport it back to the handling equipment. Alternatively, the item carries the target movable carrier, moves along the telescopic assembly to the target storage position, adjusts the lifting height, places the target movable carrier in the target storage position, and returns to the handling equipment.

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