Picking system

Abstract

The present application provides a kind of picking system.The picking system (100, 100a, 100A, 100b, 100c, 100d, 100e) has: the 1st shelf (10) has multiple upper layer side shelf layers (11) and lower layer side layers for storing goods (G);Lift conveying device (20), lift conveying goods (G) between upper layer side shelf layer (11) and lower layer side layer;Shuttle trolley (31) is arranged adjacent to the shelf layer of one layer in multiple upper layer side shelf layers (11), travels along the shelf layer of one layer, and stores or removes goods (G) in the shelf layer of one layer;Picking station (50) is arranged on the lower layer side layer or along the lower layer side layer;And multiple linear motor trolleys (41) are arranged adjacent to the lower layer side layer, travel along the lower layer side layer, and move goods (G) into or out of the picking station (50).

Description

Technical Field

[0001] This invention relates to a picking system for moving goods in and out between shelves and picking stations. Background Technology

[0002] Automated warehouses are known to have conveyor vehicles for transporting goods, each corresponding to a shelf layer of a rack for storing goods. Patent Document 1 discloses a technique for using multiple conveyor vehicles on the lower level connected to a picking station.

[0003] Patent Document 1: WO2012 / 032866 Summary of the Invention

[0004] On the lower shelf side of a rack, multiple goods need to be transported to connect with the picking station. Therefore, if a conveyor with the same performance as the upper shelf is used, the carrying capacity is insufficient, becoming a bottleneck in the transport of goods and sometimes unable to transport a sufficient amount of goods.

[0005] The purpose of this invention is to increase the speed of the conveyor on the lower side, enabling the transport of multiple goods relative to the picking station.

[0006] The following sections will describe several solutions as a means to solve the problem. These solutions can be combined arbitrarily as needed.

[0007] The picking system of the present invention comprises: The first shelf has multiple upper-side shelves for storing goods and lower-side shelves. A lifting and conveying device for lifting and conveying goods between the upper shelf layer and the lower shelf layer. A shuttle trolley is configured adjacent to one of the multiple upper shelf layers mentioned above, and travels along the shelf layer to store or retrieve goods from the shelf layer. Picking stations are configured on the lower layer or along the lower layer; and Multiple linear motor trolleys are arranged adjacent to the lower layer and travel along the lower layer to move goods in or out relative to the picking station.

[0008] The picking system of the present invention can move multiple goods into or out relative to the picking station by configuring a high-speed linear motor trolley on the lower side where the picking station is configured.

[0009] The picking system of the present invention also includes a second shelf having multiple shelf layers for storing goods. The second shelf mentioned above shares the lifting and conveying device with the first shelf mentioned above.

[0010] Picking systems with a second rack can reduce costs and deliver more goods to the picking station by sharing a lifting conveyor.

[0011] Alternatively, the aforementioned linear motor trolley can move in both directions.

[0012] By configuring the aforementioned linear motor trolley to move in both directions, the travel distance of the trolley can be suppressed.

[0013] Alternatively, the picking system described above may also include a circular track on which the linear motor trolley travels. The aforementioned linear motor trolley travels in one direction on the aforementioned circular track.

[0014] By having linear motor trolleys travel in one direction on a circular track, more trolleys can be configured, increasing the conveying capacity.

[0015] Alternatively, the picking system described above may also include a third shelf, which has multiple shelf levels for storing goods. The lower shelf of the third shelf described above is arranged adjacent to the aforementioned surrounding rail.

[0016] It can use a circular track to move goods from shelves located at a distance into and out of the picking station.

[0017] Effects of the invention: The picking system of the present invention can increase the speed of the conveyor of goods on the lower side and can move multiple goods from the shelf to the picking station. Attached Figure Description

[0018] Figure 1 This is a top view of the sorting system 100 of the first embodiment.

[0019] Figure 2 This is a schematic side view of the picking system 100 according to the first embodiment.

[0020] Figure 3 This is a top view of the lower shelf layer 12 of the picking system 100 of the first embodiment.

[0021] Figure 4 This is a top view of the upper shelf layer 11 of the picking system 100 of the first embodiment.

[0022] Figure 5 This is a schematic side view of the shuttle carriage device 30.

[0023] Figure 6 This is a schematic side view of the linear motor trolley device 40, 40a.

[0024] Figure 7This is a top view of the lower shelf of the picking system 100a in modified embodiment 1A.

[0025] Figure 8 This is a top view of the lower shelf of the picking system 100b according to the second embodiment.

[0026] Figure 9 This is a top view of the lower shelf of the picking system 100c in modified embodiment 2A.

[0027] Figure 10 This is a top view of the lower shelf of the picking system 100d in modified embodiment 2B.

[0028] Figure 11 This is a top view of the lower shelf of the picking system 100e in modified embodiment 2C.

[0029] Figure 12 This is a top view of the lower shelf of the picking system 100A in modified embodiment 2a. Detailed Implementation

[0030] 1. First Implementation Method (1) Overall description of the picking system 100 use Figures 1-4 The picking system of the first embodiment will be described. Figure 1 This is a summary front view of the picking system 100 according to the first embodiment. Figure 1 In the diagram, the height direction is marked as the Z direction, the length direction of the horizontal shelf 10 is marked as the Y direction, and the direction perpendicular to it is marked as the X direction. Figure 2 This is a summary side view of the picking system 100 viewed from the Y direction. Figure 3 , Figure 4 These are top-view overviews of the lower shelf 12 or the upper shelf 11 of the rack 10 of the picking system 100.

[0031] The picking system 100 includes a rack 10, a lifting conveyor 20, multiple shuttle trolley devices 30, a linear motor trolley device 40, and a picking station 50.

[0032] The shelving unit 10 has multiple upper-side shelf layers 11 and one or more lower-side shelf layers 12. A shelf layer refers to a layer equipped with shelves. Shelves are structures that constitute a place for storing goods. In this embodiment, a lower-side shelf layer can store goods in a portion of its area, and is therefore designated as a lower-side shelf layer 12. Goods G are stored in the upper-side shelf layers 11 for their safekeeping. The lower-side shelf layers 12 are typically one or two layers. The lower-side shelf layers 12 can also have three to four layers, as long as they are within the reach of an operator. Picking stations can also be configured in all or part of the lower-side shelf layer. A lower-side shelf layer equipped with a picking station can also be called a picking layer. The lower-side shelf layer can also be a temporary storage area (shelf layer) for goods G to be picked and sorted at the picking station. A portion of the lower-side shelf layer can also be used for the safekeeping of goods G. In other words, it can be used in the same way as the upper-side shelf layers 11. The lower shelf 12 may not be a shelf for placing goods, but a shelf only equipped with a picking station.

[0033] Goods G includes items and containers for storing those items. Containers include boxes, pallets, corrugated cardboard boxes, collapsible containers, and cargo pallets.

[0034] Furthermore, each shelf layer 11, 12 has a transfer device 15 at its adjacent portion to the lifting conveyor 20. This transfer device 15 is used to transfer goods G between itself and the lifting conveyor 20. The transfer device 15 is, for example, a conveyor. As the transfer device 15, there is a transfer device 15a for loading goods onto the lifting platform 22 of the lifting conveyor 20, and a transfer device 15b for unloading goods from the lifting platform 22. The transfer device 15 can also be a transfer device that performs bidirectional transfer of goods between itself and the lifting platform 22.

[0035] In this embodiment, the transfer device 15 for loading or unloading goods onto the lifting platform 22 uses different transfer devices on the upper and lower sides. The upper-side transfer device 15 uses a roller conveyor capable of conveying goods in one direction (here, the Y direction). The roller conveyor conveys goods G along the Y direction via the lifting platform 22 and the transfer device 15. Furthermore, the upper-side transfer device 15 transfers goods G with a shuttle carriage 31 along the X direction. The shuttle carriage 31 is equipped with a rear-hook type transfer device 32. The rear-hook type transfer device 32 conveys goods G between the carriage 31 and the transfer device 15 in the X direction. The lower-side transfer device 15 uses a switching conveyor. The switching conveyor can switch between the X and Y directions. The switching conveyor changes the conveying direction by lifting or lowering rollers in the X or Y direction. The switching conveyor transfers goods G with the lifting platform 22 in the Y direction and with the linear motor carriage 41 in the X direction.

[0036] The shelves 11 and 12 are arranged in a generally repeating manner when viewed from above. Each shelf extends along the Y direction. Trolley devices 30 and 40 for transporting goods G are arranged along each shelf.

[0037] In addition to the shelf 10, the picking system 100 of this embodiment also includes a shelf 10a. The shelf 10a has multiple upper shelf layers 11a and lower shelf layers 12a. A picking station 50 is assembled on the lower shelf layer 12a.

[0038] like Figures 1-4 As shown, the lifting conveyor 20 is assembled on the shelf 10. In this embodiment, three lifting conveyors 20 are inserted between shelf layers 11 and 12 along the length direction (Y direction) of the shelf 10. The lifting conveyor 20 moves goods G from the upper layer to the lower layer, or moves goods G from the lower layer to the upper layer. The lifting conveyor 20 includes a support column 21 and a lifting platform 22. Goods G can be placed on the lifting platform 22. The lifting platform 22 moves up and down along the support column in the vertical direction (Z direction) when goods G are placed on it or when goods G are not placed on it. The lifting platform 22 includes a conveyor for loading and unloading goods G relative to the lifting platform 22. This conveyor is a roller conveyor capable of moving goods in one direction (Y direction).

[0039] The shuttle carriage device 30 includes a shuttle carriage 31 and a guide rail 35.

[0040] The guide rail 35 extends along the upper shelf layer 11 in the Y direction. In principle, the guide rail 35 is arranged in groups of two on each shelf layer 11.

[0041] A shuttle carriage 31 is mounted on guide rail 35. One or more shuttle carriages 31 are arranged adjacent to each shelf layer 11 on the upper side. The shuttle carriage 31 is driven by a rotary motor. The shuttle carriage 31 transports goods G along the horizontal direction (Y direction) on each shelf 11. The shuttle carriage 31 can travel bidirectionally in the Y direction. Figure 5 As shown, the shuttle trolley 31 includes wheels 33 and a transfer device 32. The wheels 33 are mounted on guide rails 35. The drive of a rotary motor is transmitted to the wheels 33, and the shuttle trolley 31 moves in the Y direction by rotating the wheels 33. The transfer device 32 can be a rear hook type or a conveyor type. In this embodiment, the transfer device 32 is a rear hook type. The transfer device 32 transfers goods G between the shuttle trolley 31 and the shelf layer 11 or the transfer device 15. The transfer device 32 transports goods G from the trolley 31 to the upper shelf layer 11 or vice versa from the shelf layer 11 to the trolley 31 in the X direction. In addition, the transfer device 32 transports goods G from the trolley 31 to the transfer device 15 or vice versa in the X direction.

[0042] The linear motor trolley device 40 is arranged linearly in the Y direction along the lower shelf layer 12. The linear motor trolley device 40 on the lower side can transfer goods G to the transfer device 15 for loading or unloading goods onto the lifting platform 22. The linear motor trolley device 40 can also be configured to directly transfer goods to the lifting platform 22. Details of the linear motor trolley device 40 will be described later.

[0043] Picking stations 50 are arranged along the linear motor trolley assembly 40 on the lower side. Multiple picking stations 50 are spaced apart in the conveying direction of the linear motor trolley assembly 40. The picking stations 50 are arranged corresponding to the shelf layers 12 on the lower side. Therefore, if there are two shelf layers 12 on the lower side, picking stations 50 are arranged on both layers. In this embodiment, the picking stations 50 are arranged on the lower side of the shelf 10a. The picking stations 50 may also be arranged on the lower side of the shelf 10. They may also be arranged on both sides.

[0044] In picking station 50, a person or robot selects or sorts goods G. In picking station 50, a linear motor trolley 41 is linked to a conveyor to load and unload goods G.

[0045] Picking station 50 can also be a reciprocating conveyor that serves as both an unloading and loading unit. Multiple reciprocating conveyors can also be configured. Figure 3 In the picking station 50, four reciprocating conveyors are arranged in series. One or more picking stations 50 are arranged relative to a shelf layer on the lower side. In this embodiment, two picking stations 50 are arranged.

[0046] Picking station 50 can also be a conveyor that moves goods G in one direction for unloading goods from or loading goods onto trolleys. Picking station 50 can also have unloading conveyors, loading conveyors, and conveyors for transporting goods G between two conveyors arranged in a "ko" shape. Picking station 50 can also be a loading platform (without conveyors, etc.) that allows operators to pick from the back side (the side opposite to the trolley).

[0047] The controller 60 controls the transfer device 15, lifting conveyor 20, shuttle trolley 31, and linear motor trolley device 40 of the rack 10. The controller 60 is a computer. The computer includes a processor, storage devices, and various interfaces. The processor is, for example, a CPU. The storage devices include, for example, ROM, RAM, HDD, SSD, etc. The various interfaces include, for example, A / D converters, D / A converters, and communication interfaces.

[0048] (2) Linear motor trolley device 40 The linear motor trolley device 40 includes a linear motor trolley 41 and a guide rail 45.

[0049] The linear motor trolley device 40 includes a travel drive mechanism and a transfer mechanism. The travel drive mechanism causes the linear motor trolley 41 to travel on the guide rail 45. The transfer mechanism loads and unloads goods G from the linear motor trolley 41 at stations where the linear motor trolley 41 is stopped.

[0050] The linear motor trolley assembly 40 is arranged adjacent to the lower shelf layer 12. When there are two lower shelf layers, two linear motor trolley assemblies 40 are arranged along each lower shelf layer 12. Two or more linear motor trolleys 41 are arranged in each layer 12. It is preferred to arrange two or more. Figure 1 The unit is equipped with four linear motor trolleys 41. The linear motor trolleys 41 transport goods G along the horizontal direction (Y direction) of the shelf layer 12. The linear motor trolleys 41 are capable of traveling bidirectionally in the Y direction.

[0051] In the first embodiment, the guide rail 45 of the linear motor trolley device 40 is straight. The trolley 41 travels bidirectionally along the straight line. Multiple trolleys 41 are individually controlled to avoid colliding with each other while traveling within a repetitive range.

[0052] like Figure 6 As shown, the linear motor trolley 41 includes a main body 411, a first rotor 42a, a second rotor 43a, a first annular belt 441, a second annular belt 442, a first pulley 445, a second pulley 446, and a plurality of wheels 47. The linear motor trolley assembly 40 includes a guide rail 45, a first stator 42b, and a second stator 43b on the guide rail 45 side.

[0053] The driving mechanism of the linear motor trolley device 40 includes the second rotor 43a of the trolley 41 and the second stator 43b on the side of the guide rail 45.

[0054] The second rotor 43a is composed of multiple permanent magnets 431. The second rotor 43a is mounted on the lower surface of the trolley body 411. Figure 6 As shown, the second rotor 43a is configured with two rows arranged in the height direction (Z direction) with an opening in the X direction between them, and is arranged to insert the second stator 43b, which is fixed to the guide rail 45, through the opening. Multiple permanent magnets 431 are arranged with alternating N and S poles on the side opposite to the second stator 43b along the direction of carriage travel (Y direction). Figure 6 In the second rotor 43a, the permanent magnets 431 are arranged in two rows above and below the second stator 43b, but they can also be arranged in one row on one side.

[0055] The second stator 43b is arranged along the guide rail 45. The second stator 43b consists of multiple base plates arranged along the guide rail and multiple coils arranged in the extending direction of each base plate. By individually controlling the current flowing through the multiple coils, a force is generated in the Y direction through interaction with the permanent magnet of the second rotor 43a of the trolley 41. As a result, the trolley 41 obtains a propulsive force for travel in the Y direction.

[0056] The linear motor trolley 41 is driven by a linear motor, therefore, compared with the shuttle trolley 31, it can travel at a higher speed and has greater acceleration and deceleration. As a result, the linear motor trolley 41 can shorten the transport time of goods compared with the shuttle trolley 31.

[0057] Next, the transfer mechanism of the linear motor trolley device 40 will be described.

[0058] The transfer mechanism of the linear motor trolley device 40 in this embodiment is a belt conveyor using the first and second annular belts 441 and 442. A roller conveyor may also be used.

[0059] The transfer mechanism includes a first stator 42b on the guide rail side, a first rotor 42a of the linear motor trolley 41, a first annular belt 441, a second annular belt 442, a first pulley 445, and a second pulley 446.

[0060] The first rotor 42a has a cylindrical shape. The axis of the cylinder is arranged along the Y direction. A plurality of permanent magnets are arranged on the circumferential surface of the cylinder. The N poles and S poles of the permanent magnets are arranged alternately in the circumferential direction. A first annular belt 441 is wound on the first rotor 42a.

[0061] Multiple first stators 42b are distributed along guide rail 45 in the Y direction. In other words, the first stators 42b are arranged along guide rail 45 at positions where the linear motor trolley 41 loads or unloads cargo G relative to the station position, etc.

[0062] When trolley 41 is located at a position for loading or unloading goods, such as at a station location, Figure 6 As shown, the first stator 42b is configured as a cylinder covering the periphery of the first rotor 42a, which is a rod-shaped cylinder. An opening is formed in a portion of this cylinder. The first stator 42b is composed of a plurality of coils arranged circumferentially in the cylinder. A magnetic field is generated by the current flowing through the coils, and the magnetic field changes with the variation of the current, interacting with the permanent magnet of the first rotor 42a, thereby generating a force that causes the first rotor 42a to rotate.

[0063] One side of the first annular belt 441 is wound around the first rotor 42a and then wound around the first pulley 445 via a plurality of support rollers 422. Furthermore, one side of the second annular belt 442 is wound around the first pulley 445, and the other side is wound around the second pulley 446. Goods G are placed on the second annular belt 442.

[0064] When the current in the coil of the first stator 42b changes, it interacts with the permanent magnet of the first rotor 42a, causing the first rotor 42a to rotate. As the first rotor 42a rotates, the first annular belt 441 wound around it rotates. The rotation of the first annular belt 441 is transmitted to the first pulley 445. The rotation of the first pulley 445 is transmitted to the second annular belt 442. The second annular belt 442 moves, thereby conveying the cargo G on the second annular belt 442.

[0065] The transfer mechanism can also be different from the above. For example, it can be a rear hook type or the like.

[0066] Furthermore, as described above, the transfer mechanism is controlled by the current of the coil of the first stator 42b on the guide rail 45 side. The transfer mechanism can also be driven by a battery mounted on the trolley 41.

[0067] (3) The sequence of transporting goods G from shelf 10 to picking station 50 The sequence of transferring goods G stored on the upper shelf layer 11 of the shelf 10 to the picking station 50 will be explained.

[0068] First, the shuttle trolley 31 is moved to the front of the goods G stored in the upper shelf layer 11. The transfer device 32 of the shuttle trolley 31 moves the goods G on the shelf layer 11 onto the shuttle trolley 31. The trolley 31 loaded with goods G moves on the guide rail 35 and stops in front of the transfer device 15 adjacent to the lifting conveyor 20. The transfer device 32 of the shuttle trolley 31 moves the goods G on the trolley 31 onto the transfer device 15. The lifting conveyor 20 moves the lifting platform 22 to the designated upper shelf layer 11. The transfer device 15 loaded with goods G cooperates with the conveyor on the lifting platform 22 to transfer the goods G from the transfer device 15 to the lifting platform 22. The lifting platform 22, loaded with goods G, descends along the support column 21 and stops at the height of the lower shelf layer 12. The conveyor of the lifting platform 22 cooperates with the transfer device 15 at the height of the lower shelf layer 12 to move the goods G on the lifting platform 22 onto the transfer device 15.

[0069] Next, the linear motor trolley 41 is moved along the guide rail 45 to the station in front of the transfer device 15 along one of the lower shelf layers 12. The transfer device 15, loaded with goods G, cooperates with the transfer mechanism on the linear motor trolley 41 to move goods G from the transfer device 15 onto the linear motor trolley 41. The linear motor trolley 41, loaded with goods G, moves along the guide rail 45 and stops in front of the picking station 50. The transfer mechanism of the linear motor trolley 41 cooperates with the conveyor of the picking station 50 to transfer goods G from the linear motor trolley 41 onto the picking station 50.

[0070] Through the above procedures, the goods G stored on the upper shelf layer 11 of the shelf 10 can be transferred to the picking station 50.

[0071] After being picked at picking station 50, the remaining goods G are stored on the upper shelf layer 11 along a path that is roughly the opposite of the above.

[0072] As can be understood from the above description, in the picking system 100 of this embodiment, the number of shelves 11 on the upper side is greater than the number of shelves 12 on the lower side (which may have one or two shelves). Therefore, it is known that the conveying capacity of the linear motor trolleys 41 on the lower side is greater than the conveying capacity of the shuttle trolleys on the upper side. Therefore, as in the past, if the same shuttle trolleys are used on the lower side as those on the upper side, the conveying of goods G on the lower side becomes a bottleneck, and the conveying of goods G stops. Even if the number of trolleys on the lower side is increased, the stoppage of one trolley will hinder the movement of other trolleys, making it impossible to significantly increase the conveying speed. To improve this situation, in the picking system 100 of the present invention, high-speed linear motor trolleys 41 are used on the lower shelf layer. By using a linear motor trolley 41 on the lower shelf layer, the conveying speed of goods G on the lower shelf layer can be increased, thereby improving the overall conveying speed and conveying capacity of goods G in the picking station.

[0073] (4) Picking system 100a of modified embodiment 1A like Figure 7 As shown, the picking system 100a of modified embodiment 1A, in addition to the picking system 100 of the first embodiment, also includes a shelf 10b and a plurality of shuttle carriage devices 30a. The plurality of shuttle carriage devices 30a are arranged along the upper shelf layer 11b (not shown) and the lower shelf layer 12b of the shelf 10b. Each of the plurality of shuttle carriage devices 30a includes a shuttle carriage 31a and a guide rail 35a.

[0074] In modified embodiment 1A, the lifting conveyor 20 is shared by the rack 10 and the rack 10b. Each shelf layer 11b, 12b of the rack 10b is equipped with a transfer device 16. The transfer device 16 transfers goods G between the racks 10 and 10b along the X direction. The transfer device 16 is arranged adjacent to the transfer device 15. The lower-side transfer device 16 connects the lower-side shelf layer 12b of the rack 10b to the lower-side shelf layer 12 of the rack 10 at approximately the same height. Furthermore, the upper-side transfer device 16 connects the upper-side shelf layer 11b of the rack 10b to the upper-side shelf layer 11 of the rack 10 at approximately the same height. The transfer device 16 may also be a conveyor. As a conveyor, it may also be a roller conveyor that transports goods in one direction (X direction). The lifting conveyor 20 lifts and lowers the goods G to the height of the upper shelf 11b and the lower shelf 12b of the rack 10b. The goods G are then transported from the lifting platform 22 to the transfer device 15. From the transfer device 15, the goods G are further transported to the transfer device 16. From the transfer device 16, the goods G are transported from the transfer device 16 to the loading positions on each shelf 11b and 12b via the shuttle trolley 31a.

[0075] Compared to the picking system 100 of the first embodiment, the picking system 100a of Modified Embodiment 1A is equipped with additional shelves 10b, thus enabling it to accommodate more goods G. Furthermore, since the picking system 100a of Modified Embodiment 1A shares a lifting device between shelves 10 and shelves 10b, it simplifies the equipment and reduces the setup cost of the picking system compared to the capacity of goods G.

[0076] 2. Second Implementation Method (5) Picking system 100b of the second embodiment The configuration of the picking system 100b in the second embodiment is the same as that of the picking system 100 in the first embodiment, except that the linear motor trolley device 40a is the same. Figure 8 This is a top view of the lower shelf of the picking system 100b according to the second embodiment.

[0077] The linear motor trolley device 40a includes a linear motor trolley 41a and a guide rail 45a. The guide rail 45a is a circular track, forming a circular path. The linear motor trolley 41a travels in one direction on the circular track. Figure 8 In this example, eight linear motor trolleys 41a are arranged on a single circular track. The other configurations of the linear motor trolley device 40a are the same as those of the linear motor trolley device 40 in the first embodiment.

[0078] The picking system 100b of the second embodiment has a circular track, therefore, a large number of trolleys can be configured, and a large number of goods G can be transported at high speed. (6) Picking system 100A of modified embodiment 2a like Figure 12 As shown, the picking system 100A of modified embodiment 2a differs from the picking system 100b of the second embodiment ( Figure 8 In addition to the rack 10b, it also includes a shelf 10b and multiple shuttle carriage devices 30a (not shown). The multiple shuttle carriage devices 30a are arranged along the upper shelf layer 11b (not shown) on the upper side of the rack 10b. Each of the multiple shuttle carriage devices 30a has a shuttle carriage 31a and a guide rail 35a.

[0079] In modified embodiment 2a, the lifting conveyor 20 is shared by the rack 10 and the rack 10b. Each shelf layer 11b, 12b of the rack 10b is equipped with a transfer device 16. The transfer device 16 transfers goods G between the racks 10 and 10b along the X direction. The transfer device 16 is arranged adjacent to the transfer device 15. The lower-side transfer device 16 connects the lower-side shelf layer 12b of the rack 10b to the lower-side shelf layer 12 of the rack 10 at approximately the same height. Furthermore, the upper-side transfer device 16 connects the upper-side shelf layer 11b of the rack 10b to the upper-side shelf layer 11 of the rack 10 at approximately the same height. The transfer device 16 may also be a conveyor. As a conveyor, it may also be a roller conveyor that transports goods in one direction (X direction). The lifting conveyor 20 lifts and lowers the goods G to the height of the upper shelf 11b and lower shelf 12b of the rack 10b. Goods G are transported from the lifting platform 22 to the transfer device 15. On the lower side, goods are transferred between the transfer device 15 and the linear motor trolley 41a. On the lower side, goods G are moved to the placement position on shelf 12b by the linear motor trolley 41a. On the upper side, goods G transported from the lifting platform 22 to the transfer device 15 are transported from the transfer device 15 to the transfer device 16 of the rack 10b. On the upper side, goods are transferred between the transfer device 16 of the rack 10b and the shuttle trolley 31a. On the upper side, goods G are moved to the placement position on shelf 11b by the shuttle trolley 31a.

[0080] Compared to the picking system 100b of the second embodiment, the picking system 100A of modified embodiment 2a is equipped with an additional shelf 10b, thus enabling it to accommodate more goods G. Furthermore, the picking system 100A of modified embodiment 2a shares a lifting device between the shelf 10 and the shelf 10b, thus simplifying the equipment and reducing the setup cost of the picking system compared to the capacity of the goods G.

[0081] In addition, such as Figure 12As shown, the picking system 100A can also have a shelf 10c on the outside of the surrounding aisle. The shelf 10c is the same as the shelf 10, having multiple upper shelf layers 11c (not shown) and 1 to 2 lower shelf layers 12c. A circular linear motor trolley 40a travels along the lower shelf layer 12c and transfers goods between the lower shelf layer 12c and the linear motor trolley 40a. A shuttle trolley 31a used with another shelf layer 11b travels along each layer of the upper shelf layer 11c and transfers goods between the upper shelf layer 11c and the shuttle trolley 31a. The picking system 100A also has a shelf 10c, so the capacity of goods G can be increased in a more space-saving manner. (7) Picking system 100c of modified embodiment 2A Figure 9 This is a schematic top view of the lower shelf side of the picking system 100c according to Modified Embodiment 2A. The picking system 100c of Modified Embodiment 2A, in addition to the configuration of the picking system 100b of the second embodiment, also includes a shelf 10c, a lifting conveyor 20, and a shuttle trolley device 30 (not shown). The shelf 10c is similar to the shelf 10, having multiple upper shelf layers 11c (not shown) and 1 to 2 lower shelf layers. A linear motor trolley device 40a is arranged along the lower shelf layers 12c. In other words, the lower shelf layer of the shelf 10c is arranged adjacent to a surrounding track. Furthermore, a surrounding track is formed by being adjacent to the entire length of the shelves 10, 10a, and 10c, with curved guide rails arranged in the portions away from the shelves 10, 10a, and 10c. By increasing the distance between the adjacent shelves 10, 10a, 10c and the surrounding rails, more handover positions of goods G can be ensured between the linear motor trolley 41 and the picking stations 50 of shelves 10, 10a, 10c. When the lower shelf layer 12 of shelf 10 has two layers, the lower shelf layer 12c of shelf 10c also has two layers, and the linear motor trolley device 40a is also arranged in two sets along each shelf layer. That is, in this case, the surrounding rails (guide rails 45a) are also configured in two layers. Along the upper shelf layer 11c (not shown), a shuttle trolley device 30 (not shown) is arranged on the linear motor trolley device 40a. The shuttle trolley device 30 is arranged in a straight line, just like the shuttle trolley devices 30 arranged along the shelf 10.

[0082] Compared with the picking system 100 of the first embodiment and the picking system 100b of the second embodiment, the picking system 100c of modified embodiment 2A adds a shelf 10c, which increases the capacity of goods G. In the picking system 100c, the conveying volume of goods G on the lower side increases, and a large amount of conveying volume can be handled quickly by using a high-speed linear motor trolley 41a. (8) Picking system 100d of modified embodiment 2B like Figure 10 As shown, the picking system 100d of modified embodiment 2B differs from the picking system 100c of modified embodiment 2A in the position of the shelf 10c. The shelf 10d with picking station 50 is also provided on the lower shelf layer 12d. The shelf 10d has multiple upper shelf layers 11d (not shown) and 1 to 2 lower shelf layers 12d.

[0083] Compared to the picking system 100c in Modified Embodiment 2A, the picking system 100d in Modified Embodiment 2B adds a picking station 50, resulting in a higher picking capacity. Furthermore, it adds shelves 10d, increasing the capacity for goods G. Therefore, in the picking system 100d, the amount of goods G conveyed on the lower level increases, and by using a high-speed linear motor trolley 41a, a large volume of conveyed goods can be handled quickly.

[0084] Furthermore, in the picking system 100a of modified embodiment 1A, it is described that the shelf 10 and the shelf 10b are arranged adjacent to each other, and the shelf 10 and the shelf 10b share the lifting conveyor 20. Similarly, in the picking system 100d of modified embodiment 2B, the shelf 10 and the shelf 10c can also be arranged close to each other and share the lifting conveyor 20. (9) Picking system 100e of modified embodiment 2C like Figure 11 As shown, the picking system 100e of modified embodiment 2C has a branch guide rail 45b on the lower side to separate the interior of the guide rail 45a that forms the surrounding track. Furthermore, a shelf layer 12e on the lower side of shelf 10e and a shelf layer 12f on the lower side of shelf 10f are arranged along the branch guide rail 45b. Shelves 10e and 10f also each have an upper shelf layer. Shelves 10e and 10f may also be provided with only one of them.

[0085] Compared to the picking system 100d in Modified Embodiment 2B, the picking system 100e in Modified Embodiment 2C adds shelves 10e and 10f, allowing for a larger capacity of goods G. Therefore, in the picking system 100e, the amount of goods G conveyed on the lower level increases, and by using a high-speed linear motor trolley 41a, a large volume of conveyed goods can be handled quickly.

[0086] Furthermore, in the picking system 100d of Modified Embodiment 2B, it is described that shelf 10 and shelf 10c are arranged adjacent to each other, and shelf 10 and shelf 10c share the lifting conveyor 20. Similarly, in the picking system 100e of Modified Embodiment 2C, shelf 10 and shelf 10e or shelf 10c and shelf 10f can also be arranged close to each other and share the lifting conveyor 20.

[0087] 3. Common aspects of implementation methods The first, second, and modified embodiments described above all have the following structure and function.

[0088] Picking systems 100, 100a, 100A, 100b, 100c, 100d, and 100e include racks 10, lifting conveyors 20, shuttle cart devices 30, linear motor cart devices 40 and 40a, and picking stations 50. The racks 10 have multiple shelf levels for storing goods G. The lifting conveyor 20 can transfer goods G to and from each shelf level of the racks, lifting and transporting the goods G. The shuttle cart device 30 has shuttle carts 31 and guide rails 35. The shuttle carts are arranged adjacent to the upper shelf level 11 of the multiple shelf levels of the racks, performing inbound or outbound transport of goods G on each shelf level. The picking station 50 is arranged along the lower shelf level 12 of the multiple shelf levels of the racks. The linear motor cart devices 40 and 40a have linear motor carts 41 and 41a and guide rails 45. Linear motor trolleys 41 and 41a are arranged adjacent to the lower shelf of multiple shelf layers of the rack, and are used to move goods G in and out relative to the picking station.

[0089] In addition, in the above description, the lower side of the shelf is described as a lower shelf layer, but in any case, it may also be a lower shelf layer without shelves.

[0090] The picking systems 100, 100a, 100A, 100b, 100c, 100d, and 100e of the present invention have high-speed linear motor trolleys 41 and 41a arranged on the lower side of the picking station 50, thereby enabling multiple goods G to be moved in and out relative to the picking station.

[0091] 4. Other implementation methods The present invention has been described above as one embodiment, but the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the invention. In particular, the various embodiments and variations described in this specification can be arbitrarily combined as needed.

[0092] Industrial availability The picking system of the present invention can be used in automated warehouses for moving goods in and out between shelves and picking stations.

[0093] Symbol Explanation 100, 100a, 100A, 100b, 100c, 100d, 100e: Picking system; 10: Shelf; 11: Upper shelf layer; 12: Lower shelf layer; 15, 15a, 15b: Transfer device; 16: Transfer device; 20: Lifting conveyor; 30: Shuttle trolley device; 31: Shuttle trolley; 35: Guide rail; 40, 40a: Linear motor trolley device; 41, 41a: Linear motor trolley; 411: (Linear motor trolley) main body; 42a: 1st rotor; 42b: 1st stator; 422: Support roller; 43a: 2nd rotor; 43b: 2nd stator; 431: Permanent magnet; 441: 1st annular belt; 442: 2nd annular belt; 445: 1st pulley; 446: 2nd pulley; 45, 45a: Guide rail; 47: Wheel; 50: Picking station; 60: Controller; G: Goods.

Claims

1. A picking system, comprising: The first shelf has multiple upper-side shelves and lower-side shelves for storing goods. The second shelf, which is independent of the first shelf mentioned above, has multiple upper-side shelves and lower-side shelves for storing goods. A lifting and conveying device for lifting and conveying goods between the upper shelf layer and the lower shelf layer. A shuttle trolley is configured adjacent to one of the multiple upper shelf layers mentioned above, and travels along the shelf layer to store or retrieve goods from the shelf layer. Picking stations are configured on or along the lower shelf level, where people or robots select or classify goods. Multiple linear motor trolleys, arranged adjacent to the lower shelf layer, travel parallel to and along the lower shelf layer of the shuttle trolley's path, moving goods in or out relative to the picking station; and The linear motor trolley travels on the circular track, which has a first straight section, a second straight section, and a curved section connecting the first straight section and the second straight section. The lower shelf of the first shelf is arranged adjacent to the first straight section of the surrounding track. The lower shelf of the aforementioned second shelf is arranged adjacent to the aforementioned second straight section of the surrounding track. The aforementioned linear motor trolley travels in one direction on the aforementioned circular track.

2. The picking system according to claim 1, wherein, The picking system also has a third shelf, independent of the first and second shelves, which has multiple shelf layers for storing goods. The third shelf is located on the opposite side of the first shelf relative to the first straight section. The third shelf mentioned above shares the lifting and conveying device with the first shelf mentioned above.

3. A picking system, comprising: The first shelf has multiple upper-side shelves and lower-side shelves for storing goods. The fourth shelf, which is independent of the first shelf mentioned above, has multiple upper-side shelves and lower-side shelves for storing goods. A lifting and conveying device for lifting and conveying goods between the upper shelf layer and the lower shelf layer. A shuttle trolley is configured adjacent to one of the multiple upper shelf layers mentioned above, and travels along the shelf layer to store or retrieve goods from the shelf layer. Picking stations are configured on or along the lower shelf level, where people or robots select or classify goods. Multiple linear motor trolleys, arranged adjacent to the lower shelf layer, travel parallel to and along the lower shelf layer of the shuttle trolley's path, moving goods in or out relative to the picking station; and A linear track on which the aforementioned linear motor trolley travels; The first shelf mentioned above is positioned adjacent to the aforementioned linear track; The fourth shelf is located on the opposite side of the first shelf relative to the straight track. The fourth shelf mentioned above shares the lifting and conveying device with the first shelf mentioned above; The aforementioned linear motor trolley is capable of bidirectional movement on the aforementioned straight track.

Images