A kind of overhead intelligent warehouse and its management method and management system

Abstract

The present invention discloses a overhead intelligent warehouse and its management method and management system. The overhead intelligent warehouse includes a compact shelving system and an overhead crane system that are arranged in conjunction with each other; the compact shelving system includes a plurality of frames, which are stacked horizontally and can move along the stacking direction to form a logistics channel; the overhead crane system includes an overhead crane manipulator for storing and retrieving items, and the grasping structure of the overhead crane manipulator can move in the logistics channel; the overhead intelligent warehouse also includes an automated control system electrically connected to the compact shelving system and the overhead crane system, which is used to control the movement of the frames and the overhead crane manipulator. The overhead intelligent warehouse provided by the present invention does not need to be provided with a passage wide enough to provide access for personnel through the combination of stacked frames and the overhead crane system. It only needs to be able to form a narrow logistics channel, which can achieve maximum space utilization; in addition, the intelligence level is improved through automated control, thereby improving the overall storage and retrieval operation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of material storage, and in particular to a overhead intelligent warehouse and a management method and management system thereof. Background Art

[0002] The storage and retrieval of items and materials have always accompanied human production and life. After entering the modern era of high technology and high efficiency, intelligent warehouse systems came into being. Through the optimization design of warehouse structure and management methods, the space utilization rate and intelligence level of intelligent warehouses are getting higher and higher.

[0003] Specifically, some existing technologies use compact shelving for item storage, some use rotating cabinets for storage, and some use three-dimensional warehouses for storage. All of these are for increasing the storage capacity and space utilization of the warehouse, and they also hope to be able to sense the storage location of items and improve the demand for rapid entry and exit of items.

[0004] As the current requirements for intelligent and automated warehouses are getting higher and higher, the existing dense shelving intelligent warehouses have a large storage capacity, multiple rows of shelves share one aisle, and the space utilization rate is very high. However, people must enter the shelf to retrieve items, and automatic entry and exit management cannot be achieved.

[0005] The intelligent horizontal rotating cabinet-type intelligent warehouse in the existing technology can realize the automatic rotation and outbound management of items, but there is a rotating turntable in the middle of each rotation group, and the cabinet rotates out of the warehouse, and the rotation space also wastes warehouse space, and the utilization rate of warehouse space is not high.

[0006] The existing three-dimensional warehouse rack intelligent stacker can realize the automatic storage and retrieval of items. However, the stacker operation route must be reserved between the racks, so the space utilization rate is not high.

[0007] In summary, the space utilization rate of the intelligent warehouse in the existing technology is not ideal, and its intelligence level and operating efficiency still need to be improved. Summary of the Invention

[0008] In view of the deficiencies in the prior art, the present invention aims to provide a overhead intelligent warehouse and a management method and management system thereof.

[0009] To achieve the aforementioned object of the invention, the technical solutions adopted by the present invention include:

[0010] In a first aspect, the present invention provides a overhead crane type intelligent warehouse, which includes a compact shelving system and an overhead crane system that are arranged in conjunction with each other;

[0011] The compact shelving system includes a plurality of racks containing storage spaces, wherein the plurality of racks are stacked horizontally and can move along the stacking direction to form a logistics channel with variable position;

[0012] The overhead crane system includes an overhead crane manipulator for storing and retrieving items in the storage space, and the grasping structure of the overhead crane manipulator is capable of moving in the logistics channel;

[0013] The overhead crane type intelligent warehouse also includes an automated control system electrically connected to the compact shelving system and the overhead crane system, for controlling the movement of the rack and the overhead crane manipulator.

[0014] In a second aspect, the present invention further provides a management method for the above-mentioned overhead intelligent warehouse, which comprises:

[0015] When storing items, the storage location of the items to be stored is obtained, and the movement of the rack is controlled based on the storage location to form a logistics channel exposing the storage location;

[0016] Controlling the overhead crane manipulator to grab the items to be stored and deposit them to the storage location via the logistics channel;

[0017] and / or, when taking out an item, obtaining a target position of the target item, and controlling the movement of the rack based on the target position to form a logistics channel exposing the target position;

[0018] The overhead crane robot is controlled to grab the target item and transport the target item away from the compact shelving system through the logistics channel.

[0019] In a third aspect, the present invention further provides a management system for a overhead intelligent warehouse, which includes:

[0020] An item storage module is used to obtain a storage location of items to be stored, and control the movement of the rack based on the storage location to form a logistics channel exposing the storage location;

[0021] and controlling the overhead crane manipulator to grab the items to be stored and store them in the storage location via the logistics channel;

[0022] and / or, taking out an item module, for obtaining a target position of a target item, and controlling the movement of the rack based on the target position to form a logistics channel exposing the target position;

[0023] And, controlling the overhead crane robot to grab the target item and transport the target item away from the compact shelving system through the logistics channel.

[0024] Based on the above technical solution, compared with the prior art, the beneficial effects of the present invention include at least:

[0025] The overhead intelligent warehouse provided by the present invention, through the combination of stacked frames and overhead crane systems, does not need to set up a passage wide enough to provide personnel entry and exit. It only needs to form a narrow logistics channel, which can maximize space utilization. In addition, the intelligence level is improved through automated control, thereby improving the overall storage and retrieval operation efficiency.

[0026] The above description is only an overview of the technical solution of the present invention. In order to enable those skilled in the art to more clearly understand the technical means of this application and implement them according to the contents of the specification, the following is an explanation of the preferred embodiments of the present invention with detailed drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the planar structure of a overhead intelligent warehouse provided by a typical implementation case of the present invention;

[0028] Figure 2 This is a partial structural diagram of a overhead crane system for an overhead crane type intelligent warehouse provided by a typical embodiment of the present invention;

[0029] Figure 3 This is a partial structural diagram of a overhead crane system for an overhead crane type intelligent warehouse provided by a typical embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the storage situation of items in a overhead intelligent warehouse provided in a typical implementation case of the present invention.

[0031] Description of reference numerals:

[0032] 1. Shelf body; 11. Shelf track;

[0033] 2. Crane manipulator; 21. Longitudinal motion track; 22. Horizontal motion track; 23. Rotating connector; 24. Vertical motion track; 25. Fork arm; 26. Fork foot; 27. Drive motor; 28. Track column;

[0034] 3. Window storage space;

[0035] 4. Storage area;

[0036] 5. Interactive area. DETAILED DESCRIPTION

[0037] In light of the shortcomings of existing technologies, the inventors of this case, after extensive research and extensive practice, have come up with the technical solution of this invention. Based on the correspondence between storage locations and items, as well as the specific needs of human interaction, this invention creatively proposes a lightweight overhead intelligent warehouse management system that maximizes warehouse space utilization while also enabling automated inbound and outbound management.

[0038] The technical solution, its implementation process and principles are further explained below.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0040] See also Figures 1-4 The first aspect of an embodiment of the present invention provides a overhead intelligent warehouse, comprising a compact shelving system and an overhead crane system that are arranged in conjunction with each other; the compact shelving system comprises a plurality of racks 1 containing storage space, and the plurality of racks 1 are stacked horizontally and can move along the stacking direction to form a logistics channel with variable position; the overhead crane system comprises an overhead crane manipulator 2 for storing and retrieving items in the storage space, and the grasping structure of the overhead crane manipulator 2 can move in the logistics channel; the overhead crane intelligent warehouse also comprises an automation control system electrically connected to the compact shelving system and the overhead crane system, for controlling the movement of the racks 1 and the overhead crane manipulator 2.

[0041] As some typical application examples of the above technical solutions, a specific scenario is a overhead warehouse, on the top of which a set of intelligent overhead crane manipulator 2 systems are running. The intelligent warehouse uses intelligent compact cabinets to store items. The intelligent compact cabinets can open the cabinets in rows to present the items between the columns. The intelligent overhead crane manipulator 2 is transferred to the specific storage location between the item columns based on the item storage location and other information sent by the intelligent compact cabinet system. The overhead crane manipulator 2 automatically takes out the items and transfers them to the interactive window storage rack, waiting for the staff to pick them up.

[0042] Therefore, in the compact shelving system, the width of the retained logistics channel does not need to be too wide. For example, the compact shelving warehouse in the prior art needs to leave at least enough space for personnel operation, usually about 1m. The best setting is generally above 1.2m, and the minimum must be 80cm, otherwise people can hardly enter and exit; in the present invention, when the items to be stored and accessed are narrow, for example, the size is about 30-40cm, the width of the logistics channel can also be set to slightly larger than 30-40cm.

[0043] In this way, the technical solution provided by the present invention can maximize the reduction of space waste and improve space utilization, while cooperating with an intelligent management system to improve the overall efficiency of item storage and retrieval.

[0044] In specific implementation, in some embodiments, the compact shelving system may further include a shelf rail 11 extending along the stacking direction, and the plurality of shelves 1 are slidably engaged with the shelf rail 11 .

[0045] In some embodiments, the shelf rail 11 may be disposed at the bottom of the shelf body 1 .

[0046] In some embodiments, the overhead crane system may further include an overhead crane track assembly, and the overhead crane manipulator 2 is fixedly connected to the overhead crane track assembly for controlling the movement of the overhead crane manipulator 2.

[0047] In some embodiments, the overhead crane track assembly may include a longitudinal moving rail 21, a transverse moving rail 22 and a rotating connector 23 set at an angle; the transverse moving rail 22 slides with the longitudinal moving rail 21 and can move along the extension direction of the longitudinal moving rail 21; the rotating connector 23 slides with the transverse moving rail 22 and can move along the extension direction of the transverse moving rail 22; the overhead crane manipulator 2 is rotatably connected to the transverse moving rail 22 through the rotating connector 23, and the rotation axis of the overhead crane manipulator 2 is perpendicular to the plane where the transverse moving rail 22 and the longitudinal moving rail 21 are located.

[0048] In some embodiments, the transverse moving track 22 and the longitudinal moving track 21 can be arranged at the top of the frame 1. For example, they can be arranged above the frame 1 through the support of the track column 28.

[0049] In some embodiments, the overhead crane manipulator 2 may include a vertical motion track 24 extending in the direction of gravity, the vertical motion track 24 being fixedly connected to the rotating connector 23, and the gripping structure being capable of moving up and down along the vertical motion track 24; the gripping structure includes a fork arm 25 extending from the vertical motion track 24, the fork arm 25 being provided with a fork leg 26 for forking or placing items in the storage space. The arrangement of the fork arm 25 and the fork leg 26 is similar to that of a forklift in the prior art. When picking up and placing items, the fork arm 25 can, for example, extend between the bottom corners of an item or a pallet on which the item is placed, and slightly raise the height to lift the item, thereby cooperating with the horizontal movement of the overhead crane manipulator 2 to achieve the picking and placing of the item. Of course, the specific structural design of the gripping structure can be completely different from that shown in this example. The prior art provides a variety of optional gripping methods that can be applied to the present invention, such as suction cups, electromagnets, and other non-mechanical gripping methods.

[0050] Based on the above technical solution, in some specific application examples, continue as follows Figure 2-3As shown, the picking device of the above-mentioned intelligent warehouse is a crane robot 2. The longitude and latitude movement of the crane robot 2 relies on the trolley system composed of the above-mentioned longitudinal moving track 21 and the transverse moving track 22 to transport the crane robot 2 to the designated position. The vertical movement of the picking fork arm 25 of the crane robot 2 is achieved by the motor and the vertical moving track 24 configured by the crane robot 2 itself. The movement in the picking direction is controlled by the rotating connector 23 that can rotate 90 degrees to control the picking direction of the crane robot 2.

[0051] Among them, the longitudinal moving track 21, the transverse moving track 22 and the rotating connecting part 23, as well as the movement of each sliding part on the vertical moving track 24 can be driven by existing transmission structures, such as gear racks, belts, screw transmissions, etc. driven by the drive motor 27.

[0052] In some embodiments, positioning tags distributed at intervals are provided on any one or more of the shelf rails 11 , the longitudinal moving rails 21 , the transverse moving rails 22 , and the vertical moving rails 24 .

[0053] In some embodiments, an item identity tag may be provided in the storage space.

[0054] As some typical application examples of the above technical solutions, more than three QR code coordinate labels are provided on the transverse moving track 22 and the longitudinal moving track 21 of the overhead crane manipulator 2 for calibrating the operating accuracy of the overhead crane manipulator 2 during operation.

[0055] There are more than one compact shelving coordinate point labels set on the running track of the compact shelving to calibrate the running accuracy of the intelligent compact shelving.

[0056] In addition, each layer of the partitions of the frame 1 of the intelligent compact shelving is provided with a QR code label for identifying the storage location information of the items, and at the same time facilitates the overhead crane manipulator 2 to identify the coordinate information of the items.

[0057] In some embodiments, the overhead crane type intelligent warehouse may further include a window storage location 3 , and the overhead crane manipulator 2 may be able to take and place the items from the window storage location 3 .

[0058] In some embodiments, the overhead intelligent warehouse can be divided into a storage area 4 and an interaction area 5 , the compact shelving system is arranged in the storage area 4 , and the window storage location 3 is arranged in the interaction area 5 .

[0059] In some implementation schemes, the interactive area 5 can also be provided with a human-computer interaction interface, and the human-computer interaction interface is communicatively connected to the automated control system; based on the above technical solution, the smart warehouse consists of a storage area 4 and an interactive area 5, the storage area 4 is used to store items to the maximum extent, and the interactive area 5 is used for human-computer interaction.

[0060] In some embodiments, the rack 1 is provided with multiple layers, and the window storage position 3 can be moved or parked along the direction of gravity, and the parking height of the window storage position 3 corresponds to the height of the storage space of the rack 1 and / or the height for manually taking and placing items.

[0061] like Figure 4 As shown, an embodiment of the present invention further provides a management method for a overhead intelligent warehouse in any of the above embodiments, which includes the following steps:

[0062] When storing items, the storage location of the items to be stored is obtained, and the movement of the rack 1 is controlled based on the storage location to form a logistics channel that exposes the storage location.

[0063] The overhead crane manipulator 2 is controlled to grab the items to be stored and store them in the storage location via the logistics channel.

[0064] And / or, when taking out an item, the target position of the target item is obtained, and the movement of the rack 1 is controlled based on the target position to form a logistics channel that exposes the target position.

[0065] The overhead crane robot 2 is controlled to grab the target item and transport the target item away from the compact shelving system through the logistics channel.

[0066] As some typical application examples of the above technical solutions, the above management method can be implemented through the following steps:

[0067] 1. The personnel places the items on the storage rack in the interactive area 5; uploads the information to the background server; the overhead crane robot 2 receives the task information; the overhead crane robot 2 goes to the human-computer interaction table to grab the items; at the same time, the intelligent compact shelving automatically opens, and the lighting of the corresponding storage location automatically lights up; the overhead crane robot 2 transports the items to the specific storage location; the overhead crane robot 2 returns to its position, and the task is completed.

[0068] 2. The overhead crane robot 2 receives the picking task; the intelligent compact shelving automatically opens, and the corresponding storage location indicator light automatically lights up; the overhead crane moves to the designated column; the overhead crane robot 2 takes out the item; places the item in the interactive window; the person picks up the item; and the collection is completed.

[0069] In some embodiments, the frame 1 is provided with multiple layers, and the overhead intelligent warehouse is provided with window storage locations 3 that can be moved or parked along the direction of gravity.

[0070] The management method further comprises:

[0071] Based on the height of the to-be-stored position or the target position, the window storage position 3 is raised or lowered to a corresponding parking position.

[0072] In some embodiments, the management method specifically includes the following sub-steps:

[0073] When storing items:

[0074] Obtaining the item identity information of the item to be stored, and obtaining a corresponding storage location based on the item identity information.

[0075] The window storage position 3 is controlled to be parked at a height corresponding to manual taking and placing of items.

[0076] After placing the items to be stored in the window storage position 3, the window storage position 3 is controlled to be parked at a height corresponding to the position to be stored.

[0077] Control the overhead crane manipulator 2 to grab the items to be stored.

[0078] and / or, when removing an item:

[0079] Obtaining the object identity information of the target object, and obtaining the corresponding target location based on the object identity information.

[0080] The window storage position 3 is controlled to be parked at a height corresponding to the target position.

[0081] After the overhead crane robot 2 places the target object in the window storage location 3, it controls the window storage location 3 to park at a height corresponding to manual picking and placing of objects.

[0082] The purpose of setting up the above technical scheme is to further improve the operation efficiency of the intelligent overhead crane type intelligent warehouse. For example, when storing multiple items, the window storage position 3 first accepts the first item placed manually at an appropriate height, and then adjusts the height to the corresponding height of the storage position corresponding to the first item. At this time, the overhead crane manipulator 2 grabs the first item and performs the storage action. At this time, the window storage position 3 is reset to the original position, receives the second item, and during the operation of the overhead crane manipulator 2, actively adjusts to the second height corresponding to the storage position of the second item (which may also be the same as other heights), and then the overhead crane manipulator 2 grabs it.

[0083] The effect of this setting is that when the overhead crane manipulator 2 grabs an item, it no longer needs to move in the direction of gravity, but only moves horizontally. It does not need to be lifted or lowered, but can be directly translated from the window storage position 3 to the predetermined storage position of the item. Moreover, during the translation process of the overhead crane manipulator 2, the height of the next corresponding window storage position 3 can be adjusted. This setting significantly improves the overall operating efficiency.

[0084] Similarly, when taking out items, the window storage position 3 can adjust the height in advance to receive the items delivered by the overhead crane robot 2, and then adjust the height to a position that is convenient for people to take. In the process of taking out the next item, it still reaches the corresponding height in advance, so that the overall taking-out efficiency is also significantly improved.

[0085] As a third aspect of an embodiment of the present invention, a management system for a overhead intelligent warehouse is further provided, comprising:

[0086] The item storage module is used to obtain the storage location of the items to be stored, and control the movement of the frame 1 based on the storage location to form a logistics channel exposing the storage location.

[0087] Also, the overhead crane robot 2 is controlled to grab the items to be stored and store them in the storage location via the logistics channel.

[0088] And / or, an item removal module is used to obtain a target position of a target item, and control the movement of the rack 1 based on the target position to form a logistics channel exposing the target position.

[0089] And, control the overhead crane robot 2 to grab the target item and transport the target item away from the compact shelving system through the logistics channel.

[0090] In addition, an embodiment of the present invention further provides a readable storage medium corresponding to the above system, wherein the readable storage medium stores the above management system or computer program, and when the computer program is run, the steps of the above management method are executed.

[0091] Based on the above embodiments, it can be clearly seen that the overhead crane type intelligent warehouse provided by the embodiments of the present invention does not need to be provided with a passage wide enough to provide access for personnel through the combination of the stacked frames 1 and the overhead crane system. It only needs to be able to form a narrow logistics passage, thereby achieving maximum space utilization. In addition, the intelligence level is improved through automated control, thereby improving the overall storage and retrieval operation efficiency.

[0092] It should be understood that the above embodiments are merely illustrative of the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit and substance of the present invention are intended to be encompassed within the scope of protection of the present invention.

Claims

1. A management method for a traveling-type intelligent warehouse, wherein the traveling-type intelligent warehouse comprises a compact shelving system and a traveling-type crane system that are arranged in cooperation; the compact shelving system comprises a plurality of racks containing storage spaces, the plurality of racks are stacked horizontally and can move along the stacking direction to form a logistics channel with variable position, the traveling-type intelligent warehouse is provided with window storage spaces that can move or park along the direction of gravity; the traveling-type crane system comprises a traveling-type crane manipulator for storing and retrieving articles in the storage space, and the gripping structure of the traveling-type crane manipulator can move in the logistics channel; the traveling-type intelligent warehouse also comprises an automated control system electrically connected to the compact shelving system and the traveling-type crane system, for controlling the movement of the racks and the traveling-type crane manipulator; The management method includes: When storing multiple items, the storage locations of the items to be stored are obtained, and the movement of the rack is controlled based on the storage locations to form a logistics channel exposing the storage locations; Control the window storage location to be parked at a height corresponding to manual access to items; After placing the items to be stored in the window storage space, the window storage space is controlled to be parked at a height corresponding to the position to be stored; Control the overhead crane manipulator to grab the item to be stored and deposit it to the storage location via the logistics channel. At this time, the window storage position is reset to the height corresponding to the manual placement of items, receives the second item, and actively adjusts to the second height corresponding to the storage location of the second item during the operation of the overhead crane manipulator, and then the overhead crane manipulator grabs it; When multiple items are taken out, the target position of the target item is obtained, and the movement of the rack is controlled based on the target position to form a logistics channel exposing the target position, and the window storage position is controlled to be parked at a height corresponding to the target position; Controlling the overhead crane manipulator to grab the target item and transport the target item away from the compact shelving system through the logistics channel; After the overhead crane robot places the target item in the window storage location, it controls the window storage location to stop at a height corresponding to manual picking and placing of items, and during the process of taking out the second item, the window storage location still reaches the corresponding height of the second item in advance.

2. The management method according to claim 1, characterized in that: The compact shelving system further comprises a shelf rail extending along the stacking direction, and the plurality of shelves are slidably engaged with the shelf rail; The shelf rail is arranged at the bottom of the frame.

3. The management method according to claim 2, characterized in that: The overhead crane system further includes an overhead crane track assembly, and the overhead crane manipulator is fixedly connected to the overhead crane track assembly for controlling the movement of the overhead crane manipulator; The overhead crane track assembly includes a longitudinal movable track, a transverse movable track and a rotating connector arranged at an angle; The transverse movable track is slidably matched with the longitudinal movable track and can move along the extension direction of the longitudinal movable track; The rotating connecting member is in sliding cooperation with the transverse moving track and can move along the extension direction of the transverse moving track; The overhead crane manipulator is rotatably connected to the transverse moving track via the rotating connector, and the rotation axis of the overhead crane manipulator is perpendicular to the plane where the transverse moving track and the longitudinal moving track are located; The transverse moving track and the longitudinal moving track are arranged on the top end of the frame.

4. The management method according to claim 3, characterized in that: The overhead crane manipulator includes a vertical motion track extending in the direction of gravity, the vertical motion track is fixedly connected to the rotating connector, and the grasping structure can move up and down along the vertical motion track; The grabbing structure includes a fork arm extending from the vertical motion track, and the fork arm is provided with a fork foot for forking or placing items in the storage space.

5. The management method according to claim 4, characterized in that: Positioning tags are arranged at intervals on any one or more of the shelf tracks, longitudinal moving tracks, transverse moving tracks, and vertical motion tracks; And / or, an item identity tag is provided in the storage space.

6. The management method according to claim 1, characterized in that: The overhead intelligent warehouse is divided into a storage area and an interactive area, the compact shelving system is arranged in the storage area, and the window storage space is arranged in the interactive area; The interactive area is also provided with a human-computer interaction interface, and the human-computer interaction interface is communicatively connected with the automatic control system.

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