Intelligent warehouse crossed by mobile robot operating in parallel double-pallet positions

Abstract

The application relates to a parallel double-goods-position operation mobile robot crossing intelligent warehouse, belonging to the technical field of robots or warehouse logistics, and comprising a floor mobile robot, a goods shelf, a double-goods-position stacker, a supporting stacker, a ground rail, a floor passage, a conveying line, an overhead rail, a ground mobile robot; the floor passage is laid under the goods shelf perpendicular to the direction of the lane, the width of the floor passage and the distance between the floor passage and the height of the goods shelf can meet the driving of the floor mobile robot carrying goods, and the floor mobile robot crosses the ground rail; the ground mobile robot drives on the ground and does not cross the ground rail, and transports the goods on the outermost and the next outermost goods shelves; the floor mobile robot and the ground mobile robot are arranged in a multiple-selectivity layout with the double-goods-position stacker, two symmetrical supporting stackers and a single supporting stacker, the bottleneck that the goods can only be in and out of the warehouse from two ends of the lane is overcome, the high in-and-out warehouse capacity of the warehouse is improved, and the energy consumption of the movement of the stacker is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transportation equipment for warehouse logistics and sorting and distribution, in particular to an intelligent warehouse crossed by a mobile robot operating in parallel with double goods locations. BACKGROUND

[0002] In enterprise application scenarios, most enterprises store large quantities of products, and some enterprises also store large quantities of raw materials. In actual application scenarios, many enterprises also have integrated warehouse needs for tools, purchased parts, self-made parts (semi-finished products), and assembled finished products. In terms of working conditions, tools, purchased parts, self-made parts (semi-finished products), and assembled finished products are frequently accessed, so the overall architecture of the automated storage and retrieval system needs to be modified, especially to overcome the bottleneck phenomenon of the access port of the aisle.

[0003] With the development of e-commerce, efficient delivery of goods is becoming increasingly important. The current e-commerce picking process includes: ① non-destructive opening of the logistics box, which is a paper box transported from the supplier's logistics to the e-commerce site. After opening the logistics box, the code of each inner packaged goods is read, and the goods information is entered into the database; ② warehousing: the logistics box is resealed with a seal, and the goods are stored in the warehouse; ③ goods sorting: the logistics box is resealed, and the goods are placed on the supermarket shelves; ④ picking (also known as distribution): at each supermarket shelf (manually dragging a picking cart or using an intelligent trolley), the goods are picked according to the order, the code is read, and the goods are placed in an internal order turnover box; ⑤ packaging: the code is checked, and all the goods and invoices in the order turnover box are packed in a small paper box or plastic bag, and a courier sheet is attached; ⑥ sorting: according to different routes or different courier companies, the goods are packed in plastic turnover boxes or woven bags; ⑦ vehicle allocation: the plastic turnover boxes or woven bags are allocated to the transport vehicles according to the routes.

[0004] In the above-mentioned existing picking process, multiple sealing and opening operations are required, the operation process is complicated, and the implementation efficiency is low. On the other hand, the picking process is similar to supermarket shopping, which requires manual dragging of a picking cart or use of an intelligent trolley, searching for the location of the goods, and manually picking the goods in the order from the supermarket shelves, resulting in low picking efficiency.

[0005] In order to solve the problems of low picking efficiency and large space occupation of supermarket shelves caused by the operation process of multiple carton sealing and unsealing, picking from supermarket shelves, etc., a new mode based on eliminating supermarket shelves is proposed in the industry: using corrugated cartons for remote transportation, warehouse entry and unsealing, storage in warehouse turnover boxes or corrugated carton storage, and direct delivery of turnover boxes or corrugated cartons to the picking station. This new way is a back-end picking mode of warehouse. The back-end picking mode of e-commerce involves automatic three-dimensional warehouses with integrated warehouse and picking (distribution) functions, thereby eliminating processes such as unpacking after corrugated carton storage, manually placing goods on supermarket shelves, and lifting mobile robots to deliver supermarket shelves to distribution personnel.

[0006] In the application scenarios of the foregoing enterprise integrated warehouse and e-commerce warehouse and picking comprehensive warehouse, unlike the conventional "one-in-one-out" mode in which a corrugated carton is stored only once, i.e., multiple cartons are stacked on a pallet for storage, the feature is that the storage space is large and scattered; it is a new "N-in-N-out" mode, i.e., according to the scattered demand for goods in the enterprise workshop or according to the order frequency of goods, the single carton is placed on the pallet or the goods are stored in the turnover box, the feature is that the storage space is small and dense, so the overall architecture of the automatic three-dimensional warehouse needs to be modified, especially the bottleneck phenomenon of the lane entry and exit port needs to be overcome to improve the throughput efficiency and reduce the energy consumption of the stacker movement. SUMMARY

[0007] The applicant provides a parallel double-goods-position operation mobile robot crossing intelligent warehouse with a reasonable structure to effectively solve the bottleneck phenomenon of the lane entry and exit port in the prior art, greatly improve the throughput efficiency and reduce the energy consumption of the stacker movement.

[0008] The technical solutions adopted by the present application are as follows:

[0009] A parallel double-goods-position operation mobile robot crossing intelligent warehouse, comprising a floor mobile robot, a goods shelf, a double-goods-position stacker, a support stacker, a ground rail, a floor passage, a conveying line, a ceiling rail, a ground mobile robot, and an angle correction device.

[0010] One or both ends of the lane are provided with a conveying line for entering and exiting the warehouse, and the conveying line transfers goods with the double-goods-position stacker and the support stacker, wherein the goods include box-type, warehouse pallets, and stacked boxes and bags on the warehouse pallets under the premise of storage and retrieval.

[0011] Each aisle is provided with a double-stacking machine, or two supporting stacking machines arranged symmetrically, or a supporting stacking machine, or any two of the above settings, or a combination of the three settings, according to the number, frequency and inventory of the goods;

[0012] A floor moving robot is provided, and a floor channel with a height equal to that of the ground rail is laid under the rack perpendicular to the ground rail to provide a driving path for the floor moving robot carrying goods. The width and height of the floor channel satisfy the driving of two floor moving robots carrying goods, and the floor moving robot driving on the floor channel needs to cross the ground rail;

[0013] A ground moving robot is configured to drive on the ground under the outermost rack in the direction perpendicular to the ground rail, which cannot cross the ground rail. The goods on the outermost rack or the next outermost rack are directly transported by the ground moving robot through the double-stacking machine or the supporting stacking machine in the outermost aisle;

[0014] A supporting stacking machine interacts with a floor moving robot and a ground moving robot to transport the goods. Parallel double-stacking operation means that a double-stacking machine in an aisle simultaneously interacts with two floor moving robots to transport the goods, or simultaneously interacts with two ground moving robots to transport the goods. Two supporting stacking machines arranged symmetrically in an aisle are each limited to work in their own area with the middle of the floor channel as the boundary. The structure design of the supporting stacking machine allows two supporting stacking machines to simultaneously interact with two floor moving robots to transport the goods without interfering with each other, or to simultaneously interact with two ground moving robots to transport the goods without interfering with each other;

[0015] The floor channel in each aisle is temporarily set as a forbidden zone, which is based on the principle of priority of double-stacking machine and supporting stacking machine passage, and the preferred direction is the passage through the least number of ground rails. The rectangular area on the floor channel under the adjacent two racks also includes an area in the aisle that does not affect the movement of the double-stacking machine and the supporting stacking machine. The rectangular area accommodates one to four floor moving robots, and the floor moving robots move in four directions to adjust their positions in the rectangular area;

[0016] Meanwhile, an angle correction device for the floor moving robot and the ground moving robot is also provided.

[0017] As a further improvement of the above technical solutions:

[0018] The double-goods-position stacker comprises a first goods carrying platform, a first double-fork assembly, a first lower crossbeam, a first driving source, a first driving gear, a first driven gear, a first wall-hanging bearing, a first roller driving shaft integrated part, a first guide roller shaft integrated part, a first bearing with seat, a first roller driven shaft integrated part, a first upper guide roller, a first door-type guide column, a first cable drum part and a laser ranging device.

[0019] The laser ranging device is arranged outside the front end of the first lower crossbeam, the first door-type guide column is fixed on the first lower crossbeam, the first goods carrying platform moves up and down under the guidance of the two side guide columns of the first door-type guide column and is pulled by the cable of the first cable drum part, two first double-fork assemblies are arranged on the first goods carrying platform, the first double-fork assemblies are bidirectional retractable forks, a first driving source is arranged at the lower end of one end of the first lower crossbeam, the first driving source transmits power through the engagement of the first driving gear and the first driven gear, the first driven gear is fixed on the first roller driving shaft integrated part, the two ends of the first roller driving shaft integrated part are supported on the first lower crossbeam through two first wall-hanging bearings, the first roller driven shaft integrated part is also arranged at the lower end of the other end of the first lower crossbeam, the two ends of the first roller driven shaft integrated part are supported on the first lower crossbeam through two first wall-hanging bearings, a pair of first guide roller shaft integrated parts is arranged on each of the two end faces of the moving direction of the first lower crossbeam, each first guide roller shaft integrated part is fixed on the end face of the moving direction of the first lower crossbeam through two first bearings with seat, two pairs of first upper guide rollers are also arranged on the first door-type guide column, each pair of first upper guide rollers is guided in the groove of the overhead rail, the double-goods-position stacker is supported on the overhead rail through the first roller driving shaft integrated part and the first roller driven shaft integrated part, is guided on the side of the overhead rail through the two pairs of first guide roller shaft integrated parts and is guided on the overhead rail through the two pairs of first upper guide rollers and moves along the tunnel under the driving of the first driving source.

[0020] The support stacker comprises a second goods carrying platform, a second double-fork assembly, a second lower crossbeam, a second driving source, a second driving gear, a second driven gear, a second wall-hanging bearing, a second roller driving shaft integrated part, a second guide roller shaft integrated part, a second bearing with seat, a second roller driven shaft integrated part, a second upper guide roller, a cable guide roller assembly, a second guide column, a second cable drum part and a laser ranging device.

[0021] The laser ranging device is located on the outer rear end of the second lower crossbeam. A second guide post is fixed to the second lower crossbeam. Guided by the second guide post, the second loading platform moves up and down by the traction cable of the second cable reel assembly, guided by the cable guide wheel assembly. A second double fork assembly is mounted on the second loading platform; this assembly consists of bidirectional retractable forks. A second drive source is located at the lower part of one end of the second lower crossbeam, transmitting power through the meshing of a second drive gear and a second driven gear. The second driven gear is fixed to an integrated second roller drive shaft, which is supported on the second lower crossbeam by two second wall-mounted bearings at both ends. A second driven shaft is also located at the lower part of the other end of the second lower crossbeam. The two ends of the component are supported on the second lower crossbeam by two second wall-mounted bearings; each of the two end faces of the second lower crossbeam in the direction of movement is provided with a pair of integrated second guide wheel shafts. The two integrated second guide wheel shafts are fixed on the end face of the second lower crossbeam in the direction of movement by two second seated bearings, and the other two integrated second guide wheel shafts are fixed inside the second lower crossbeam by two second seated bearings; the second guide column is also provided with two pairs of second upper guide wheels, each pair of second upper guide wheels being guided in the groove of the overhead rail; the stacker crane is supported on the ground rail by the integrated second roller drive shaft and the integrated second roller driven shaft, guided by the two pairs of integrated second guide wheel shafts on the side of the ground rail, and guided by the two pairs of second upper guide wheels on the overhead rail, and travels along the aisle under the drive of the second drive source.

[0022] The first roller drive shaft assembly, the first guide wheel shaft assembly, the first roller driven shaft assembly, the second roller drive shaft assembly, the second guide wheel shaft assembly, and the second roller driven shaft assembly are all made of ductile iron.

[0023] The floor mobile robot is capable of driving in and out of the warehouse with goods loaded, and never enters or leaves the warehouse empty.

[0024] The goods are delivered in a collaborative mode involving floor mobile robots, ground mobile robots, dual-position stacker cranes, and support stacker cranes;

[0025] The collaborative mode is as follows: the floor mobile robot and the ground mobile robot wait for or adapt to the principle of the double-position stacker and the support stacker; the forks on the double-position stacker and the support stacker directly pick up the goods from the floor mobile robot and the ground mobile robot; in the rectangular area and within the lateral dimension of the floor aisle, the floor mobile robot makes micro-movements and precisely positions the double-position stacker and the support stacker.

[0026] The floor mobile robot is a top-lifting mobile robot that moves in four directions. The chassis of the floor mobile robot has two pairs of wheels in the direction parallel to the aisle and four pairs of wheels in the direction perpendicular to the aisle. Two pairs of driven wheels are adjacent and rotate at the same speed, and two pairs of driving wheels are adjacent and rotate at the same speed, so that it can cross the floor track without obstruction in the floor passage.

[0027] Optionally, the wide-body floor moving robot with two sets of jacking is used to take two pieces of goods from the double-goods-position stacker simultaneously, or is used to take two pieces of goods from two symmetrically arranged support stackers simultaneously, or is used to take one piece of goods from one symmetrically arranged support stacker, and then is used to take two pieces of goods from the double-goods-position stacker after being fully loaded.

[0028] The initial height and stroke of the jacking operation of the ground moving robot are the same as those of the floor moving robot, and the ground moving robot does not need to cross the ground rail.

[0029] The floor moving robot and the ground moving robot are provided with front-rear direction and left-right direction photoelectric measurement modules and / or ultrasonic ranging devices to determine the position on the floor passage, the distance between the floor moving robots or the ground moving robots, and the detection of the micro movement and accurate positioning of the double-goods-position stacker and the support stacker by the floor moving robot.

[0030] The front end of the double-goods-position stacker and the rear end of the support stacker are provided with laser ranging devices to measure the position information and speed information of the front end of the double-goods-position stacker and the rear end of the support stacker along the ground rail direction, which are used to position the position of the goods shelf.

[0031] In the application scenario of two symmetrically arranged support stackers, the rear end laser ranging devices of the two support stackers are used to measure the opposite information and speed information, which are also used for anti-collision detection and speed control between the two support stackers.

[0032] The floor moving robot and the ground moving robot receive the position information and speed information measured by the front end laser ranging devices of the double-goods-position stacker and the rear end laser ranging devices of the support stacker along the ground rail, and comprehensively measure the information measured by the front-rear direction photoelectric measurement modules and / or ultrasonic ranging devices of the floor moving robot and the ground moving robot, and cross the ground rail according to the control strategy.

[0033] The floor moving robot and the ground moving robot are provided with an angle correction device perpendicular to the ground rail, and the four-way moving floor moving robot and the ground moving robot will generate cumulative errors after long-time operation, and the angle correction is performed in a vertical rotation mode.

[0034] The beneficial effects of the present application are as follows:

[0035] The present application has the advantages of compact and reasonable structure, convenient operation, and effective overcoming of the bottleneck phenomenon of the tunnel entry and exit port through the cooperation between the floor moving robot, the double-goods-position stacker, the support stacker, the ground moving robot and other components and mechanisms, so as to improve the throughput efficiency and reduce the energy consumption of the stacker movement.

[0036] Meanwhile, the present application also has the following advantages:

[0037] (1) Not only the conveying line, but also the floor mobile robot and the ground mobile robot participate in the input and output of goods, and are accessed by a double-goods-position stacker or two supporting stackers in the aisle, and are accessed in the high-leg goods shelf, so that the bottleneck of the goods only entering and exiting the warehouse from the two ends of the aisle is overcome, and the high warehouse entering and exiting capacity is greatly improved.

[0038] (2) The floor mobile robot and the ground mobile robot are both jacking mobile robots, and are both movable lowest storage positions; a double-goods-position stacker or two supporting stackers cooperates with the bidirectional conveying line, the floor mobile robot and the ground mobile robot to operate, and the flexibility and adaptability of the intelligent warehouse are good; corresponding to enterprise users, the warehouse is not only used as an assembled product warehouse, but also forms a comprehensive warehouse with a tool warehouse, a raw material warehouse and a purchased part warehouse; corresponding to e-commerce users, the storage and picking processes of goods are integrated, the supermarket shelf is eliminated, the storage area is reduced, and the picking efficiency is improved.

[0039] (3) The ground mobile robot under the outermost shelf exchanges goods with a double-goods-position stacker or two supporting stackers at a position, which can be any lowest position of the outermost shelf, and the optimal delivery position of the goods in the aisle is optimized, so that the longitudinal moving distance of the double-goods-position stacker or the supporting stacker in the aisle is greatly shortened, and the access efficiency is high.

[0040] (4) The conveying line is located at one end or two ends of the shelf, the two-end conveying line is configured below the floor passage crossing the shelf and located in the middle of the shelf, the one-end conveying line is configured below the floor passage crossing the shelf and located close to the other end of the shelf, the floor mobile robot exchanges goods with the double-goods-position stacker or the two supporting stackers, so that the longitudinal moving distance of the double-goods-position stacker or the supporting stacker in the aisle is greatly shortened, and the access efficiency is high.

[0041] (5) When the double-goods-position stacker or the two supporting stackers exchange goods with the jacking mobile robot, the lifting car and the fork of the double-goods-position stacker or the two supporting stackers do not move up and down, but the jacking platform or the jacking support bar of the floor mobile robot and the ground mobile robot moves up and down, so that the energy saving is efficient and the control precision is high.

[0042] (6) The present application can be used as an integrated warehouse of tools, purchased parts, self-made parts and assembled products of enterprises, and is also suitable for the integration of e-commerce storage and picking processes. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 It is a setting relationship diagram of the intelligent warehouse of the present application.

[0044] Figure 2 It is an elevation structure schematic diagram of the intelligent warehouse of the double-goods-position stacker of the present application.

[0045] Figure 3 is an enlarged view of the A-A partial section in Figure 2

[0046] Figure 4 is an enlarged view of the B-B partial section in Figure 2

[0047] Figure 5 is an enlarged view of the C-C partial section in Figure 2

[0048] Figure 6 is an enlarged view of the D-D partial section in Figure 2

[0049] Figure 7 is a schematic diagram of the plane layout of the intelligent warehouse of the double-goods-position stacker of the present application.

[0050] Figure 8 is a schematic diagram of the elevation structure of the intelligent warehouse of the symmetrically arranged support stacker of the present application.

[0051] Figure 9 is an enlarged view of the E-E partial section in Figure 8

[0052] Figure 10 is a schematic diagram of the plane layout of the intelligent warehouse of the symmetrically arranged support stacker of the present application.

[0053] wherein:

[0054] 1, floor mobile robot; 2, goods shelf; 3, double-goods-position stacker; 4, support stacker; 5, ground rail; 6, floor passage; 7, conveying line; 8, overhead rail; 9, floor mobile robot; 10, angle correction device;

[0055] 301, first load platform; 302, first double-goods-fork assembly; 303, first lower crossbeam; 304, first driving source; 305, first driving gear; 306, first driven gear; 307, first wall-hanging bearing; 308, first roller driving shaft integrated piece; 309, first guide roller shaft integrated piece; 310, first bearing with seat; 311, first roller driven shaft integrated piece; 312, first upper guide roller; 313, first door-type guide column; 314, first cable drum part; 34, laser ranging device;

[0056] ​​​​​401, second loading platform; 402, second double fork assembly; 403, second lower crossbeam; 404, second driving source; 405, second driving gear; 406, second driven gear; 407, second wall-hung bearing; 408, second roller driving shaft integrated piece; 409, second guide roller shaft integrated piece; 410, second bearing with seat; 411, second roller driven shaft integrated piece; 412, second upper guide roller; 413, cable guide roller assembly; 414, second guide column; 415, second cable drum part.

[0057] The specific embodiments of the present application are described below in conjunction with the accompanying drawings.

[0058] The specific structure and function of the present application are as follows:

[0059] As Figure 1 shown in the setting relationship diagram of the intelligent warehouse of the present application, the intelligent warehouse comprises: a floor mobile robot 1, a shelf 2, a double-position stacker 3, a supporting stacker 4, a ground rail 5, a floor passage 6, a conveying line 7, a sky rail 8, a ground mobile robot 9, and an angle correction device 10.

[0060] One end or both ends of the lane are provided with the conveying line 7 for entering and exiting the warehouse, and the conveying line 7 interfaces with the double-position stacker 3 and the supporting stacker 4 to transfer goods, which include box types that meet the access prerequisites, or operation units including warehouse pallets and stacked boxes and bags on the warehouse pallets.

[0061] One double-position stacker 3 is arranged in each lane, or two supporting stackers 4 are symmetrically arranged, or one supporting stacker 4 is arranged, or any two of the above three arrangements or all three arrangements are mixedly used according to the quantity and frequency of the goods entering and exiting and the inventory position (the quantities of raw materials, finished products, semi-finished products, and purchased parts entering and exiting the warehouse are large, and the quantities of tools, gauges, spare parts, and consumables entering and exiting the warehouse are small); the ground rail 5 and the sky rail 8 provide guidance for the double-position stacker 3 and the supporting stacker 4.

[0062] The floor mobile robot 1 is configured, and an equal-height floor passage 6 for the floor mobile robot 1 to travel is laid under the shelf 2 perpendicular to the direction of the ground rail 5, the floor passage 6 has a height equal to that of the ground rail 5, the width and height of the floor passage 6 satisfy the travel of two floor mobile robots 1, and the floor mobile robot 1 traveling on the floor passage 6 needs to pass over the ground rail 5.

[0063] The ground mobile robot 9 is arranged or not arranged, and travels on the ground under the outermost shelf 2 perpendicular to the direction of the ground rail 5 and cannot pass over the ground rail 5; the goods on the outermost shelf 2 or the next outermost shelf 2 can be directly transported in and out by the ground mobile robot 9 through the double-position stacker 3 or the supporting stacker 4 in the outermost lane.

[0064] A support stacker 4 can only exchange goods with one floor moving robot 1, one ground moving robot 9; and the parallel double goods location operation is that a double goods location stacker 3 in the aisle simultaneously exchanges goods with two floor moving robots 1 or simultaneously exchanges goods with two ground moving robots 9; the two support stackers 4 symmetrically arranged in the aisle are each limited in their own area and work, and the special structure design of the support stacker 4 enables the two support stackers 4 to simultaneously exchange goods with two floor moving robots 1 without interfering with each other or simultaneously exchange goods with two ground moving robots 9 without interfering with each other.

[0065] The floor passage 6 in each aisle is temporarily set as a forbidden area, and the principle is that the double goods location stacker 3 and the support stacker 4 have priority in passing, and the preferred direction is to pass through the least number of rails 5 to enter and exit the warehouse; the rectangular area on the floor passage 6 under the adjacent two racks 2 also includes the area in the aisle (not under the rack 2) that does not affect the movement of the double goods location stacker 3 and the support stacker 4, and the rectangular area can accommodate one to four floor moving robots 1, and the floor moving robots 1 move in four directions to adjust the position.

[0066] An angle correction device 10 is provided for the floor moving robot 1 and the ground moving robot 9.

[0067] The floor moving robot 1 carries goods to enter and carry goods to exit, and does not enter and exit the warehouse empty; in addition to the conveying line 7 transporting goods in and out, the floor moving robot 1 and the ground moving robot 9 exchange goods with the double goods location stacker 3 and the support stacker 4 in a coordinated mode.

[0068] The coordinated mode is that the floor moving robot 1 and the ground moving robot 9 wait for or adapt to the double goods location stacker 3 and the support stacker 4, and the forks on the double goods location stacker 3 and the support stacker 4 directly exchange goods with the floor moving robot 1 and the ground moving robot 9; in the rectangular area and within the transverse dimension of the floor passage 6, the floor moving robot 1 slightly moves and accurately positions the double goods location stacker 3 and the support stacker 4.

[0069] The floor moving robot 1 is a four-directional moving top-lifting type mobile robot, the chassis of the floor moving robot 1 has two pairs of wheels parallel to the aisle direction and four pairs of wheels perpendicular to the aisle direction, two pairs of driven wheels are adjacent and have the same speed, and two pairs of driving wheels are adjacent and have the same speed, so as to pass over the rail 5 on the floor passage 6 without obstruction.

[0070] Optionally, the wide-body floor mobile robot with two sets of jacking, the wide-body floor mobile robot takes two goods from the double-goods-position stacker 3 at the same time and then enters and exits the warehouse, or the wide-body floor mobile robot takes two goods from two symmetrically arranged support stackers 4 at the same time and then enters and exits the warehouse, or the wide-body floor mobile robot takes one of the goods from one of the symmetrically arranged support stackers 4 and then enters and exits the warehouse after being loaded with two goods.

[0071] The initial height and stroke of the jacking operation of the ground mobile robot 9 are the same as those of the floor mobile robot 1, and there is no need to cross the ground rail 5.

[0072] The floor mobile robot 1 and the ground mobile robot 9 are provided with front-rear direction and left-right direction photoelectric measurement modules and / or ultrasonic ranging devices to determine the positions of the floor mobile robot 1 and the ground mobile robot 9 on the floor passage 6, the distances between the floor mobile robots 1 or between the ground mobile robots 9, and the detection of the micro-movement and accurate positioning of the double-goods-position stacker 3 and the support stacker 4 by the floor mobile robot 1.

[0073] The front end of the double-goods-position stacker 3 and the rear end of the support stacker 4 are provided with laser ranging devices 34 to measure the position information and speed information of the double-goods-position stacker 3 and the support stacker 4 along the direction of the ground rail 5, which are used to position the position of the goods shelf 2.

[0074] In the application scenario of two symmetrically arranged support stackers 4, the rear ends of the two support stackers 4 measure the opposite information and speed information, which are also used for anti-collision detection and speed control between the two support stackers 4.

[0075] The floor mobile robot 1 and the ground mobile robot 9 receive the position information and speed information of the front end of the double-goods-position stacker 3 and the rear end of the support stacker 4 measured by the laser ranging along the ground rail 5, and comprehensively measure the information measured by the front-rear direction photoelectric measurement modules and / or ultrasonic ranging devices of the floor mobile robot 1 and the ground mobile robot 9, and cross the ground rail 5 according to the control strategy.

[0076] An angle correction device 10 for the floor mobile robot 1 and the ground mobile robot 9 perpendicular to the ground rail 5 is provided, and the floor mobile robot 1 and the ground mobile robot 9 moving in four directions will generate cumulative errors after long-time operation, and the angle correction is performed in the vertical rotation mode.

[0077] As shown in FIG. 1, the floor mobile robot 1 and the ground mobile robot 9 are provided with a front-rear direction photoelectric measurement module 11 and a left-right direction photoelectric measurement module 12. Figure 1 , Figures 2-7As shown, the intelligent warehouse of the dual-position stacker crane 3 of the present invention includes: a first loading platform 301, a first double fork assembly 302, a first lower crossbeam 303, a first drive source 304, a first drive gear 305, a first driven gear 306, a first wall-mounted bearing 307, a first roller drive shaft integrated component 308, a first guide wheel shaft integrated component 309, a first seated bearing 310, a first roller driven shaft integrated component 311, a first upper guide wheel 312, a first portal guide column 313, and a first cable reel component 314.

[0078] The first portal guide column 313 is fixed to the first lower crossbeam 303. Guided by the two side guide columns of the first portal guide column 313, the first loading platform 301 moves up and down by the cable traction of the first cable reel component 314. The first loading platform 301 is equipped with two first double fork assemblies 302, which are bidirectional retractable forks. The lower part of one end of the first lower crossbeam 303 is provided with a first drive source 304, which transmits power through the meshing of the first drive gear 305 and the first driven gear 306. The first driven gear 306 is fixed to the first roller drive shaft integrated component 308. The two ends of the first roller drive shaft integrated component 308 are supported on the first lower crossbeam 303 by two first wall-mounted bearings 307. The lower part of the other end of the first lower crossbeam 303 is also provided with a first roller driven shaft integrated component 311. The integrated component 311 is supported on the first lower crossbeam 303 by two first wall-mounted bearings 307 at both ends; each of the two end faces of the first lower crossbeam 303 in the direction of movement is provided with a pair of first guide wheel shaft integrated components 309, and each first guide wheel shaft integrated component 309 is fixed on the end face of the first lower crossbeam 303 in the direction of movement by two first seated bearings 310; the first portal guide column 313 is also provided with two pairs of first upper guide wheels 312, and each pair of first upper guide wheels 312 is guided in the groove of the overhead rail 8; the double-position stacker crane 3 is supported on the ground rail 5 by the first roller drive shaft integrated component 308 and the first roller driven shaft integrated component 311, guided on the side of the ground rail 5 by two pairs (four) of first guide wheel shaft integrated components 309, and guided on the overhead rail 8 by two pairs (four) of first upper guide wheels 312, and travels along the aisle under the drive of the first drive source 304.

[0079] like Figures 8-10 As shown, the intelligent warehouse of the dual-position stacker crane 3 of the present invention includes a stacker crane 4 supported by: a second loading platform 401, a second double fork assembly 402, a second lower crossbeam 403, a second drive source 404, a second drive gear 405, a second driven gear 406, a second wall-mounted bearing 407, a second roller drive shaft assembly 408, a second guide wheel shaft assembly 409, a second seated bearing 410, a second roller driven shaft assembly 411, a second upper guide wheel 412, a cable guide wheel assembly 413, a second guide post 414, and a second cable drum assembly 415.

[0080] The second guide column 414 is fixed on the second lower crossbeam 403, and under the guidance of the second guide column 414, the second load platform 401 pulls the cable through the second cable drum part 415, is guided through the cable guide wheel assembly 413 and moves up and down, the second load platform 401 is provided with a second double fork assembly 402, and the second double fork assembly 402 is a bidirectional retractable fork; the second lower crossbeam 403 is provided with a second driving source 404 at one end of the lower part, and the second driving source 404 is in meshing transmission with a second driven gear 406 through a second driving gear 405, the second driven gear 406 is fixed on a second roller driving shaft integrated part 408, and the second roller driving shaft integrated part 408 is supported on the second lower crossbeam 403 through two second wall-mounted bearings 407 at both ends; the second lower crossbeam 403 is also provided with a second roller driven shaft integrated part 411 at the lower part of the other end, and the second roller driven shaft integrated part 411 is supported on the second lower crossbeam 403 through two second wall-mounted bearings 407 at both ends; the second lower crossbeam 403 is provided with a pair of second guide wheel shaft integrated parts 409 on the end faces in the moving direction respectively, the two second guide wheel shaft integrated parts 409 are fixed on the end faces in the moving direction of the second lower crossbeam 403 through two second bearing seat bearings 410, and the other two second guide wheel shaft integrated parts 409 are fixed on the inside of the second lower crossbeam 403 through two second bearing seat bearings 410; the second guide column 414 is also provided with two pairs of second upper guide wheels 412, and each pair of second upper guide wheels 412 is guided in the groove of the overhead rail 8; the support stacker 4 is supported on the upper surface of the ground rail 5 through the second roller driving shaft integrated part 408 and the second roller driven shaft integrated part 411, is guided on the side surface of the ground rail 5 through two pairs (four) of second guide wheel shaft integrated parts 409, and is guided on the overhead rail 8 through two pairs (four) of second upper guide wheels 412, and drives along the roadway under the drive of the second driving source 404.

[0081] The first roller driving shaft integrated part 308, the first guide wheel shaft integrated part 309, the first roller driven shaft integrated part 311, the second roller driving shaft integrated part 408, the second guide wheel shaft integrated part 409 and the second roller driven shaft integrated part 411 are all made of nodular cast iron material, and have better wear resistance than the high polymer material guide wheels used at present.

[0082] In the multi-pass system warehouse and method of the stacker cooperating with the mobile robot according to the new industry form demand of "industrial up to the building", the allocation method of the goods location of the goods shelf 2, the scheduling method of the double-goods-location stacker 3 and the support stacker 4 are all quite different from the traditional stereoscopic warehouse, and the cooperative control strategy of the floor mobile robot 1, the ground mobile robot 9, the double-goods-location stacker 3 and the support stacker 4 is also an unprecedented application scenario, and these new contents need to be further analyzed and optimized.

[0083] The above description is an explanation of the application, not a limitation of the application, and the scope defined by the application is referred to the claims, and any form of modification within the protection scope of the application can be made.

Claims

1. A smart warehouse with mobile robots traversing in parallel double-depot operation, characterized in that: The warehouse comprises a floor moving robot (1), a shelf (2), a double-locating stacker (3), a supporting stacker (4), a ground rail (5), a floor passage (6), a conveying line (7), an overhead rail (8), a ground moving robot (9) and an angle correction device (10); One end or both ends of the lane are provided with the conveying line (7) for entering and leaving the warehouse, the conveying line (7) is connected with the double-locating stacker (3) and the supporting stacker (4) to transfer the goods, the goods include the box type, the warehouse pallet and the palletized box or bag on the warehouse pallet under the premise of satisfying the storage and access; One double-locating stacker (3) is arranged in each lane, or two supporting stackers (4) are symmetrically arranged, or one supporting stacker (4) is arranged, or any two of the above three arrangements or a combination of the three arrangements is adopted according to the quantity and frequency of the goods entering and leaving and the storage location; The floor moving robot (1) is arranged, the floor passage (6) with a height equal to that of the ground rail (5) is arranged under the shelf (2) perpendicular to the ground rail (5) to provide a traveling path for the floor moving robot (1) carrying goods, the width and height of the floor passage (6) satisfy the traveling of two floor moving robots (1), and the floor moving robot (1) traveling on the floor passage (6) needs to pass over the ground rail (5); The ground moving robot (9) is arranged to travel on the ground under the outermost shelf (2) perpendicular to the ground rail (5) and cannot pass over the ground rail (5); the goods on the outermost shelf (2) or the next outermost shelf (2) are directly transported by the ground moving robot (9) through the double-locating stacker (3) or the supporting stacker (4) in the outermost lane; One supporting stacker (4) is connected with one floor moving robot (1) and one ground moving robot (9) to transfer the goods; the parallel double-locating operation is that one double-locating stacker (3) in the lane simultaneously connects with two floor moving robots (1) to transfer the goods or simultaneously connects with two ground moving robots (9) to transfer the goods; two supporting stackers (4) symmetrically arranged in the lane are respectively limited in their own areas with the middle of the floor passage (6) as a boundary, the structure design of the supporting stacker (4) enables the two supporting stackers (4) to simultaneously connect with two floor moving robots (1) to transfer the goods without interfering with each other or simultaneously connect with two ground moving robots (9) to transfer the goods without interfering with each other; The floor passage in each lane is temporarily set as a forbidden area, the principle of passing priority of the double-locating stacker (3) and the supporting stacker (4) is adopted, and the preferred direction is the direction with the least number of ground rails (5) for entering and leaving the warehouse; the rectangular area on the floor passage (6) between two adjacent shelves (2) further comprises an area in the lane which does not affect the movement of the double-locating stacker (3) and the supporting stacker (4), the rectangular area accommodates one to four floor moving robots (1), and the floor moving robots (1) move in four directions in the rectangular area to adjust positions; The floor moving robot (1) and the ground moving robot (9) are provided with an angle correction device (10); The floor moving robot (1) is loaded into and out of the warehouse, and is not empty into and out of the warehouse; The floor moving robot (1) and the ground moving robot (9) cooperate with the double-goods-position stacker (3) and the support stacker (4) to deliver the goods; The cooperation mode is that the floor moving robot (1) and the ground moving robot (9) wait or adapt to the double-goods-position stacker (3) and the support stacker (4), and the forks on the double-goods-position stacker (3) and the support stacker (4) directly deliver the goods from the floor moving robot (1) and the ground moving robot (9); in the rectangular area and in the transverse dimension range of the floor passage (6), the floor moving robot (1) is slightly moved and accurately positioned to the double-goods-position stacker (3) and the support stacker (4); The floor moving robot (1) is a four-way moving top-lifting mobile robot, the chassis of the floor moving robot (1) has two pairs of wheels parallel to the direction of the aisle and four pairs of wheels perpendicular to the direction of the aisle, the two pairs of driven wheels are adjacent and have the same speed, and the two pairs of driving wheels are adjacent and have the same speed, so that the floor moving robot (1) can pass the ground rail (5) on the floor passage (6) without obstruction; Optionally, a wide-body floor moving robot with two sets of jacks, which simultaneously delivers two pieces of the goods with the double-goods-position stacker (3) and then enters and exits the warehouse, or simultaneously delivers two pieces of the goods with two symmetrically arranged support stackers (4) and then enters and exits the warehouse, or respectively delivers one piece of the goods with one symmetrically arranged support stacker (4) and then enters and exits the warehouse after being fully loaded with two pieces of the goods; The initial height and stroke of the lifting operation of the ground moving robot (9) are the same as those of the floor moving robot (1), and the ground moving robot (9) does not need to pass the ground rail (5).

2. The smart warehouse with mobile robot crossing operating in parallel double locations as claimed in claim 1, wherein, The double-goods-position stacker (3) comprises a first goods carrying platform (301), a first double-fork assembly (302), a first lower cross beam (303), a first driving source (304), a first driving gear (305), a first driven gear (306), a first wall-mounted bearing (307), a first roller driving shaft integrated part (308), a first guide roller shaft integrated part (309), a first bearing with seat (310), a first roller driven shaft integrated part (311), a first upper guide roller (312), a first door-type guide column (313), a first cable drum part (314), and a laser ranging device (34). The laser ranging device (34) is arranged at the front end of the first lower cross beam (303), the first portal guide column (313) is fixed on the first lower cross beam (303), the first load platform (301) moves up and down under the guidance of the two side guide columns of the first portal guide column (313) and is pulled by the cable of the first cable drum component (314), the first load platform (301) is provided with two first double forks (302), the first double forks (302) are bidirectional contraction forks; the first lower cross beam (303) is provided with a first driving source (304) at one end of the lower part, the first driving source (304) is in engagement with the first driven gear (306) through the first driving gear (305), the first driven gear (306) is fixed on the first roller driving shaft integral part (308), the two ends of the first roller driving shaft integral part (308) are supported on the first lower cross beam (303) through the two first wall-mounted bearings (307); the first lower cross beam (303) is also provided with a first roller driven shaft integral part (311) at the other end of the lower part, the two ends of the first roller driven shaft integral part (311) are supported on the first lower cross beam (303) through the two first wall-mounted bearings (307); the first lower cross beam (303) is provided with a pair of first guide roller shaft integral parts (309) on the two end faces in the moving direction, each first guide roller shaft integral part (309) is fixed on the end face in the moving direction of the first lower cross beam (303) through the two first bearing seats (310); the first portal guide column (313) is also provided with two pairs of first upper guide rollers (312), each pair of first upper guide rollers (312) is guided in the groove of the overhead rail (8); the double-position stacker (3) is supported on the overhead rail (5) through the first roller driving shaft integral part (308) and the first roller driven shaft integral part (311), is guided on the side face of the overhead rail (5) through the two pairs of first guide roller shaft integral parts (309), and is guided on the overhead rail (8) through the two pairs of first upper guide rollers (312), and moves along the lane under the drive of the first driving source (304).

3. The smart warehouse with mobile robot crossing operating in parallel double locations as claimed in claim 1, wherein, The support stacker (4) comprises a second load platform (401), a second double fork assembly (402), a second lower cross beam (403), a second driving source (404), a second driving gear (405), a second driven gear (406), a second wall-mounted bearing (407), a second roller driving shaft integral part (408), a second guide roller shaft integral part (409), a second bearing seat (410), a second roller driven shaft integral part (411), a second upper guide roller (412), a cable guide roller assembly (413), a second guide column (414), a second cable drum component (415), and a laser ranging device (34). The laser ranging device (34) is arranged outside the rear end of the second lower crossbeam (403), the second guide column (414) is fixed on the second lower crossbeam (403), and the second cargo platform (401) pulls the cable through the second cable drum component (415) under the guidance of the second guide column (414) and moves up and down through the cable guide wheel assembly (413). The second double fork assembly (402) is arranged on the second cargo platform (401), and the second double fork assembly (402) is a bidirectional contraction fork; the second drive source (404) is arranged at the lower end of one end of the second lower crossbeam (403), power is transmitted through the meshing of the second driving gear (405) and the second driven gear (406), the second driven gear (406) is fixed on the second roller driving shaft integrated part (408), and the second roller driving shaft integrated part (408) is supported on the second lower crossbeam (403) through the two second wall-mounted bearings (407). The second roller driven shaft integrated part (411) is also arranged at the lower end of the other end of the second lower crossbeam (403), and the second roller driven shaft integrated part (411) is supported on the second lower crossbeam (403) through the two second wall-mounted bearings (407). A pair of second guide wheel shaft integrated parts (409) are arranged on the two end faces of the moving direction of the second lower crossbeam (403) respectively, the two second guide wheel shaft integrated parts (409) are fixed on the end faces of the moving direction of the second lower crossbeam (403) through the two second bearing seat bearings (410), and the other two second guide wheel shaft integrated parts (409) are fixed inside the second lower crossbeam (403) through the two second bearing seat bearings (410). The second guide column (414) is also provided with two pairs of second upper guide wheels (412), each pair of second upper guide wheels (412) is guided in the groove of the overhead rail (8); the support stacker (4) is supported on the overhead rail (5) through the second roller driving shaft integrated part (408) and the second roller driven shaft integrated part (411), is guided on the side face of the overhead rail (5) through the two pairs of second guide wheel shaft integrated parts (409), and is guided on the overhead rail (8) through the two pairs of second upper guide wheels (412), and moves along the roadway under the drive of the second drive source (404).

4. The smart warehouse with mobile robot crossing operating in parallel double locations as claimed in claim 2 or 3, characterized in that: The first roller driving shaft integrated part (308), the first guide wheel shaft integrated part (309), the first roller driven shaft integrated part (311), the second roller driving shaft integrated part (408), the second guide wheel shaft integrated part (409) and the second roller driven shaft integrated part (411) are all made of nodular cast iron material.

5. The smart warehouse with mobile robot crossing operating in parallel double locations as claimed in claim 1, wherein: The floor moving robot (1) and the ground moving robot (9) are provided with front-rear direction, left-right direction photoelectric measuring modules and / or ultrasonic ranging devices, the positions of the floor moving robot (1) and the ground moving robot (9) on the floor passage (6) are judged, the distances between the floor moving robots (1) or between the ground moving robots (9) are judged, and the detection of the floor moving robot (1) micro-movement and accurate positioning double-fork stacker (3) and support stacker (4) is realized.

6. The smart warehouse with mobile robot crossing operating in parallel double locations as claimed in claim 1, wherein: The front end of the double-goods-position stacker (3) and the rear end of the support stacker (4) are provided with a laser ranging device (34), which measures the position information and speed information of the double-goods-position stacker (3) and the support stacker (4) along the direction of the ground rail (5), and is used for positioning the position of the goods shelf (2); In the application scenario of two symmetrically arranged support stackers (4), the rear ends of the two support stackers (4) measure the opposite information and speed information, and are also used for anti-collision detection and speed control between the two.

7. The smart warehouse with mobile robot crossing operating in parallel double locations as claimed in claim 1, wherein: The floor mobile robot (1) and the ground mobile robot (9) receive the position information and speed information measured by the laser ranging of the front end of the double-goods-position stacker (3) and the rear end of the support stacker (4) along the ground rail (5), and comprehensively measure the information measured by the photoelectric measurement module and / or ultrasonic ranging device in the front-rear direction of the floor mobile robot (1) and the ground mobile robot (9), and cross the ground rail (5) according to the control strategy.

8. The smart warehouse with mobile robot crossing operating in parallel double locations as claimed in claim 1, wherein: An angle correction device (10) is arranged for the floor mobile robot (1) and the ground mobile robot (9) to correct the angle perpendicular to the ground rail (5). After a long time of operation of the four-way mobile floor mobile robot (1) and the ground mobile robot (9), cumulative errors will be generated, and the angle correction is performed in the vertical rotation mode.

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