Warehouse system, method, robot control unit and sortation processing system

Abstract

The application relates to a warehouse system, a method, a robot control unit and a sorting processing system. The warehouse system comprises a plurality of rack units and a warehouse robot; the plurality of rack units are distributed at intervals, interval areas between adjacent rack units form aisles, the rack units comprise column groups arranged at two ends in the width direction of the aisles, and the column groups comprise a plurality of columns distributed at intervals along the length direction of the aisles; at least part of the opposite columns in the two column groups of the adjacent rack units close to one end of the aisle are provided with climbing chains; the warehouse robot has a carrying device and a climbing assembly, the climbing assembly is used for ascending and descending along the climbing chains, so that the carrying device obtains a storage object from a target storage layer or places the storage object on the target storage layer. The height of the warehouse robot is less than the height of the crossbeam at the bottom end of the rack unit. The scheme provided by the application enables the warehouse robot to reduce the walking distance and improve the work efficiency.

Description

Technical Field

[0001] This application relates to the field of warehousing technology, and in particular to warehousing systems, methods, robot control units, and sorting systems. Background Technology

[0002] Warehouse robots are robots used in indoor environments such as logistics warehouses and production warehouses for operations such as handling, sorting, and picking of goods in and out of the warehouse. They are one of the core equipment of intelligent logistics.

[0003] In related technologies, some warehouse robots can move longitudinally along chains on shelves to move goods stored at different heights. To achieve longitudinal movement, guide rails compatible with the warehouse robot are generally installed on the shelves. The warehouse robot is confined to the guide rails and can move along them to different heights on the shelves, thus enabling the handling of goods at different heights. These types of shelf-climbing robots typically travel along aisles between shelves, resulting in relatively low efficiency. Summary of the Invention

[0004] To address or partially address the problems existing in related technologies, this application provides a warehousing system, method, robot control unit, and sorting system, enabling warehousing robots to reduce walking distances and improve work efficiency.

[0005] The first aspect of this application provides a warehouse robot, comprising:

[0006] Multiple shelving units; the multiple shelving units are spaced apart, with the gaps between adjacent shelving units forming aisles; each shelving unit includes upright groups located at both ends in the width direction of the aisle; each upright group includes multiple uprights spaced apart along the length direction of the aisle; adjacent uprights form storage columns, each storage column having multiple storage layers; at least some of the opposing uprights in the two upright groups of adjacent shelving units near one end of the aisle are provided with climbing chains; and...

[0007] A warehouse robot; the warehouse robot has a movable base, a handling device and a climbing assembly, the movable base is used to drive the warehouse robot to move on a support surface, and the climbing assembly is used to move up and down along a plurality of climbing chains so that the handling device can retrieve the storage object from the target storage layer or place the storage object on the target storage layer.

[0008] The height of the warehouse robot is less than the height of the bottom beam of the shelf unit.

[0009] A second aspect of this application provides a warehousing method applied to a warehousing robot, the warehousing robot having a movable base, a handling device, and a climbing assembly, wherein the height of the warehousing robot is less than the height of the bottom beam of the shelf unit; the method includes:

[0010] Loading the container from the target storage layer to the handling device; and

[0011] The warehouse robot is controlled to move via the bottom of the shelf unit to the target sorting position so that the cartons are sorted at the target sorting position;

[0012] The loading of the cargo box from the target storage layer to the handling device includes:

[0013] The climbing components of the warehouse robot are controlled to climb along multiple climbing chains located in adjacent shelf units, so that the handling device can retrieve the cargo box from the target storage layer.

[0014] A third aspect of this application provides a warehouse robot control unit, comprising:

[0015] Processor; and

[0016] A memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method as described in any of the preceding methods.

[0017] A fourth aspect of this application provides a sorting and processing system, including a warehousing system as described in any of the preceding claims; wherein the warehousing robot includes a warehousing robot control unit as described above.

[0018] The technical solution provided in this application may include the following beneficial effects:

[0019] The warehousing system of this application embodiment sets the height of the warehousing robot to be less than the height of the bottom beam of the shelf unit, so that the warehousing robot can walk at the bottom of the shelf unit instead of having to walk along the aisle. Therefore, the walking distance can be reduced and the target location can be reached quickly.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] The above and other objects, features and advantages of this application will become more apparent from the following description of exemplary embodiments of this application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components.

[0022] Figure 1 This is a perspective view of a warehousing system according to an embodiment of this application;

[0023] Figure 2 This is a plan view of a warehousing system according to an embodiment of this application;

[0024] Figure 3 This application illustrates a shelf unit according to an embodiment of the present application;

[0025] Figure 4 This is a perspective view of a warehousing system according to another embodiment of this application;

[0026] Figure 5 This is a side view of a warehousing system according to an embodiment of this application;

[0027] Figure 6 This is a schematic diagram of the descent state of a warehouse robot according to an embodiment of this application;

[0028] Figure 7 yes Figure 6 A top view of the warehouse robot shown;

[0029] Figure 8 yes Figure 6 The side view of the warehouse robot shown;

[0030] Figure 9 This is a schematic diagram of the raised state of a warehouse robot according to an embodiment of this application;

[0031] Figure 10 Show Figure 6 The movable base of the warehouse robot shown;

[0032] Figure 11 Show Figure 6 The climbing module of the warehouse robot shown;

[0033] Figure 12 This is a schematic diagram of the descent state of a warehouse robot carrying a load, according to an embodiment of this application.

[0034] Figure 13 This is a schematic diagram of the raised state of a warehouse robot carrying a load according to an embodiment of this application;

[0035] Figure 14 Show Figure 6 The lifting mechanism of the warehouse robot shown;

[0036] Figure 15 Show Figure 6 The conveying device of the warehouse robot shown;

[0037] Figure 16 This is a side view of a warehouse robot according to an embodiment of this application;

[0038] Figure 17 yes Figure 6 The diagram shows the state of the warehouse robot as it climbs along the climbing chain.

[0039] Figures 18A to 18D This illustration shows the climbing process of a warehouse robot according to an embodiment of this application;

[0040] Figure 19 This is a schematic diagram of a warehouse robot according to an embodiment of the present application, used by operators for direct sorting.

[0041] Figure 20 This is a schematic diagram of a warehouse robot connected to a conveyor line according to an embodiment of this application;

[0042] Figure 21 This application illustrates a sorting and processing system according to an embodiment of the present application;

[0043] Figure 22 This application illustrates a sorting system according to another embodiment;

[0044] Figure 23 This is a schematic diagram of the working mode of the warehouse robot in an embodiment of this application;

[0045] Figure 24 This illustrates the walking mode of a warehouse robot in the relevant technology;

[0046] Figure 25 This application illustrates a checkerboard-patterned walking pattern of a warehouse robot according to an embodiment of the present application;

[0047] Figure label:

[0048] 100 Shelf Unit; 102 Aisle; 104 Storage Row; 106 Storage Tier; 108 Tote Bin; 110 Climbing Chain for Shelf Unit; 111 Positioning Plate; 112 Floor-Mounted Upright; 114 Cantilever Upright; 120, 130 Upright Assemblies; 122, 124, 132, 134 Uprights; 142 Fixed Base; 144 Pallet; 145, 146 Beams; 160 Upper Shelf; 162 Loading Platform; 164 First Opening; 166 Guide Rail; 170 Lower Shelf; 180 Transfer Cart; 182 Chain for Transfer Cart; 190 Shelf Area;

[0049] 200 Warehouse robot; 210 Movable base; 211 Main body; 212 Second drive unit; 214 Drive wheel; 216 Idler wheel; 220 Support column; 222 Brake; 224 Third pulley; 226 Second synchronous belt; 228 Spring guide rod mechanism; 230 Rack; 232, 234 Spindle; 240 Climbing assembly; 242 Climbing module; 244 Base; 245 Second opening; 246 Rolling element; 248 Push rod; 250 Positioning plate; 252 Opening 253 Groove; 251 Recess; 254 First drive unit; 256 Toothed belt / double-sided toothed synchronous belt; 258 Positioning sleeve; 260 Climbing wheel assembly; 262 Sprocket; 264 Guide wheel; 266 Ball spline assembly; 270 Synchronous extension mechanism; 272 First pulley; 273 Second pulley; 274 First synchronous belt; 276 Support frame; 278 Connector; 280 Handling device; 282 Telescopic fork; 284 Crossbeam; 286 Swing arm; 288 Push-pull fingers;

[0050] 300 Sorting workstation; 302 Sorting position; 304 First shelf; 306 Second shelf; 308 Sorting table; 310 Conveyor line; 312 Loading port; 314 Picking port. Detailed Implementation

[0051] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0052] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0053] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0054] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0055] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0056] One embodiment of this application provides a warehousing system, see reference. Figure 1 and Figure 2 The warehousing system in this embodiment includes multiple shelving units 100 and a warehousing robot 200.

[0057] Multiple shelving units 100 are spaced apart, and the gaps between adjacent shelving units 100 form aisles 102. Each shelving unit 100 includes two sets of uprights 120 and 130 located at both ends in the width direction of the aisle 102. The sets of uprights 120 and 130 include multiple uprights spaced apart along the length direction of the aisle 102. Storage columns 104 are formed between adjacent uprights, and the storage columns 104 have multiple storage layers 106. At least some of the opposing uprights of the two sets of uprights 120 and 130 of the adjacent shelving units 100 near one end of the aisle 102 are provided with climbing chains 110. It is understood that in some embodiments, the shelving unit is an integral structure, and multiple uprights are connected as one unit by beams 146 extending along the length direction. In other embodiments, the shelving unit may be formed by multiple independent small shelves arranged side by side.

[0058] The warehouse robot 200 has a movable base, a handling device and a climbing component. The movable base is used to drive the warehouse robot to move on the support surface, and the climbing component is used to lift and lower along multiple climbing chains 110 so that the handling device can transfer the storage object between the target storage layer 106, that is, the handling device can retrieve the storage object from the target storage layer 106 or place the storage object on the target storage layer 106.

[0059] The height of the warehouse robot 200 is less than the height of the bottom beam 146 of the shelf unit 100.

[0060] In some embodiments, the multiple columns of each column group 120, 130 are connected as one unit by a top crossbeam 145 and a bottom crossbeam 146.

[0061] In this embodiment, by setting the height of the warehouse robot 200 to be less than the height of the bottom beam 146 of the shelf unit 100, the warehouse robot 200 can walk at the bottom of the shelf unit instead of having to walk along the aisle, thus reducing the walking distance and quickly reaching the target location.

[0062] In one related technology, the movement of a warehouse robot is limited by the height of the lowest level of the rack unit, preventing it from traversing the bottom of the rack unit 100. It can only move along the length of the aisle 102 or around the rack unit 100. (See [reference]). Figure 23 As shown in the diagram. Suppose you need to pick up goods at point B from point A and then reach workstation C. You would need to follow the route shown in the diagram to the bottom of the alley before heading to the workstation.

[0063] See Figure 24 As shown, according to an embodiment of this application, the warehouse robot can walk at the bottom of the shelf unit, thus having a higher degree of freedom, such as being able to walk in a checkerboard pattern. Assume the warehouse robot has... Figure 23 With the same starting point, ending point, and pickup point—that is, a workstation that needs to pick up goods at point E from point D and then reach point F—the robot can follow the route shown in the diagram. Starting from point D, it travels along aisle 102 to a position aligned with point E. Then, it traverses the bottom of shelf unit 100, crossing both shelf unit 100 and aisle 102 to reach point E for pickup. Afterward, it continues traversing shelf unit 100 and aisle 102 to reach the workstation at point F. In this application, the checkerboard-style walking method refers to the warehouse robot's ability to walk along a defined path within an imaginary checkerboard-like walking space. The path is defined by the edges of the checkerboard squares it traverses. Understandably, the specific checkerboard squares and edges traversed may depend on system scheduling, obstacle avoidance requirements, etc. The position and size of the squares in the checkerboard may, but are not limited to, depend on the position of the storage column of the shelf unit, the width of the storage column, the size of the shelf unit, and the spacing between adjacent shelf units.

[0064] contrast Figure 23 and Figure 24As can be seen from the walking route, the warehouse robot of this embodiment can realize the function of picking and placing goods across aisles in the shelving area. It has more choices in the driving path from the workstation to the warehouse area, reducing congestion. The number of rotations is reduced and the walking path is saved during the entire operation, which improves the efficiency of the robot. In addition, due to the larger walking space, the number of warehouse robots in the site can be increased without increasing the possibility of congestion.

[0065] See also Figure 3 In some embodiments, the column groups 120 and 130 include multiple columns, including ground-mounted columns 112 and suspended columns 114, which are alternately arranged, meaning that a suspended column 114 is provided between adjacent ground-mounted columns 112. A storage column 104 is formed between adjacent ground-mounted columns 112 and suspended columns 114. In other embodiments, two or more suspended columns 114 may be provided between adjacent ground-mounted columns 112, forming a storage column 104 between adjacent ground-mounted columns 112 and suspended columns 114, and also between adjacent suspended columns 114. The spacing between adjacent columns may be the same or different. In this embodiment, suspended columns are set between the ground columns 112, and storage columns are formed between adjacent ground columns 112 and suspended columns 114. Compared with only ground columns and storage columns of equal width formed between the ground columns, the spacing between the ground columns is larger, which gives the warehouse robot greater freedom when walking from the aisle to under the shelf unit and reduces the difficulty of controlling the walking of the warehouse robot.

[0066] In some embodiments, the climbing chain 110 is mounted on corresponding columns via multiple fixing seats 142. The multiple fixing seats 142 are distributed at the vertical ends of the climbing chain 110 and at preset positions between the two ends, for example, Figure 3 In the example, the climbing chain 110 is mounted on the corresponding uprights via two fixed seats 142 distributed at both vertical ends and two fixed seats 142 in the middle. It is understood that the spacing between adjacent fixed seats 142 can be the same or different. In related technologies, the climbing chain is only fixed to the uprights at the top and bottom ends, which results in a large deviation in chain length due to the large number of chain links, thus limiting the height of the racking unit. In this embodiment, multiple fixed seats distributed at preset positions at both vertical ends and between the ends of the climbing chain 110 directly mount the climbing chain 110 to the uprights. This ensures the accuracy of the chain length between adjacent fixed seats, thereby reducing the overall chain length deviation and allowing the racking unit to have a higher height.

[0067] In some embodiments, the uprights of the two upright groups 120 and 130 of the shelving unit 100 are aligned in pairs along the length of the aisle 102, and multiple pallets 144 for carrying goods are provided between the aligned uprights of the two upright groups 120 and 130. A storage column 104 is formed between two adjacent pairs of aligned uprights 122, 132, 124, and 134 of the two upright groups 120 and 130, and multiple storage layers 106 of the storage column 104 are formed by the pallets between the uprights. It is understood that the length of the pallet 144 can be set to accommodate a single row or double row of boxes, or it can be set to accommodate multiple rows of boxes.

[0068] See Figure 4 and Figure 5 Another embodiment of the storage system in this application includes an upper shelf 160 and a lower shelf 170, with the upper shelf 160 located above the lower shelf 170. The upper shelf 160 and the lower shelf 170 each have a plurality of shelf units 100.

[0069] The upper shelf 160 and the lower shelf 170 are provided with a support platform 162 for supporting the upper shelf 160. At least part of the aisle positions of the upper shelf 160 and the lower shelf 170 correspond to each other. The support platform 162 is provided with a first opening 164 at the aisle position corresponding to the aisle position of the lower shelf 170, so that the warehouse robot 200 can move between the lower shelf 170 and the upper shelf 160 through the first opening 164.

[0070] In some embodiments, the shelf unit 100 of the upper shelf 160 is equipped with a guide rail 166 that connects to the upright at the first opening 164. The guide rail 166 extends along the aisle and in the width and / or length directions. The warehousing system also includes a transfer cart 180, which is equipped with a chain 182 and wheels (not shown) that cooperate with the guide rail 166. The chain 182 of the transfer cart 180 is used to connect with the climbing chain 110 of the lower shelf 170 at the first opening 164. The wheels are used to allow the transfer cart 180 to move along the guide rail 166 after the warehousing robot 200 climbs onto the chain of the transfer cart 180.

[0071] In some embodiments, the climbing component of the warehouse robot 200 is height-adjustable relative to the movable base; the distance between the guide rail 166 and the support platform 162 does not exceed the maximum lifting height of the climbing component, so that the warehouse robot 200 can descend from the transfer mother car 180 to the support platform 162 at the guide rail 166.

[0072] When the warehouse robot 200 moves from the lower shelf 170 to the upper shelf 160, the transfer trolley 180 moves to the first opening 164. The chain 182 of the transfer trolley 180 engages with the climbing chain 110 of the lower shelf 170. After the warehouse robot 200 climbs from the climbing chain 110 of the lower shelf 170 and engages with the chain 182 of the transfer trolley 180, the transfer trolley 180 can carry the warehouse robot 200 and move it horizontally along the guide rail 166 from the first opening 164 to the target position. The warehouse robot 200 can then descend from the transfer trolley 180 to the carrying platform 162.

[0073] When the warehouse robot 200 moves from the upper shelf 160 to the lower shelf 170, it moves to the transfer trolley at the guide rail 166 and climbs from the carrying platform 162 to engage with the chain 182 of the transfer trolley 180. The transfer trolley 180 can carry the warehouse robot 200 and move it horizontally along the guide rail 166 to the first opening 164. The climbing chain 110 of the transfer trolley 180 connects with the climbing chain 110 of the lower shelf 170, and the warehouse robot 200 descends along the climbing chain 110 of the lower shelf 170.

[0074] Understandably, in some embodiments, the chain 182 of the transfer mother car 180 can also be connected to the climbing chain 110 of the upper shelf 160, so that the warehouse robot can move between the upper shelf 160 and the lower shelf 170 via the chain 182 of the transfer mother car 180.

[0075] In some embodiments, the first opening 164 is provided with a cross-layer connecting chain integrally connected to the climbing chain 110 of the upper shelf 160 and the corresponding climbing chain 110 of the lower shelf 170, so that the warehouse robot 200 can move between the lower shelf 170 and the upper shelf 160 via the cross-layer connecting chain.

[0076] See Figures 6 to 9 One embodiment of this application includes a warehouse robot 200 comprising a movable base 210, a handling device 280, and a plurality of climbing components 240. The movable base 210 is used to drive the warehouse robot 200 to move on a support surface. The handling device 280 is used to retrieve storage objects from a target location of the shelf unit 100 or to place storage objects on a target location of the shelf unit.

[0077] The climbing assembly 240 includes multiple climbing modules 242. Each climbing module 242 includes a climbing wheel assembly 260, a base 244 mounted on the movable base 210, and a first drive device 254 mounted on the base 244. The climbing wheel assembly 260 includes guide wheels 264 and sprockets 262 driven by the first drive device 254. The sprockets 262 and guide wheels 264 are spaced apart to clamp the climbing chain 110 when the sprockets 262 engage with the climbing chain 110 located on the upright of the shelf unit 100. When the multiple sprockets 262 of the multiple climbing assemblies 240 move up and down along the climbing chain 110, they drive the movable base 210 and the conveying device 280 to move up and down.

[0078] In this embodiment, the climbing module 242 clamps the climbing chain 110 through the guide wheel 264 and the sprocket 262, so it can directly clamp the climbing chain 110 for climbing without the need to set up a guide rail on the rack unit, which can reduce material and installation costs.

[0079] See also Figure 10 In some embodiments, the movable base 210 includes a main body 211 and a first set of wheels and a second set of wheels disposed on the main body 211.

[0080] In one specific implementation, the main body 211 of the movable base 210 includes a square frame. It is understood that this application is not limited to this; for example, the main body 211 can also be rectangular or elliptical. The first walking wheel set can be a drive wheel set, with the drive wheels 214 of the drive wheel set driven by a second drive device 212. The second drive device 212 can be a motor (e.g., a servo motor), but is not limited to this. The second walking wheel set can be an idler wheel set. The figure shows that the second walking wheel set includes two idler wheels 216, located on the front and rear sides of the main body 211 along the walking direction, and the first walking wheel set includes two drive wheels 214, respectively located on the left and right sides of the main body 211 along the walking direction. It is understood that the number and type of walking wheels in the first and second walking wheel sets are not limited to this. In some embodiments, the walking direction of the warehouse robot 200 is changed by differential rotation of the drive wheels 214.

[0081] See also Figure 11 In some embodiments, the climbing module 242 further includes a positioning sleeve 258 that is retractably mounted on the base 244, and a sprocket 262 and a guide wheel 264 are rotatably mounted on the positioning sleeve 258. When the positioning sleeve 258 extends, it drives the sprocket 262 and the guide wheel 264 to extend, so that the sprocket 262 engages with the climbing chain 110. When the positioning sleeve 258 retracts, it drives the sprocket 262 and the guide wheel 264 to retract, so that the sprocket 262 separates from the climbing chain 110.

[0082] In some embodiments, the warehouse robot is provided with two climbing components 240 at both ends of a first direction, and each climbing component 240 includes two climbing modules 242 at both ends of a second direction; wherein, one of the first direction and the second direction is the walking direction of the warehouse robot 200, and the other is a direction perpendicular to the walking direction of the warehouse robot 200.

[0083] In some embodiments, referring to the accompanying drawings, the first direction is the walking direction of the warehouse robot 200 (as shown by Y in the figure), and the second direction is a direction perpendicular to the walking direction of the warehouse robot 200 (as shown by X in the figure). Support columns are fixedly installed at the four corners of the main body 211 of the movable base 210, and four climbing modules 242 are installed on the four support columns 220. The positioning sleeves 258 and climbing wheel sets 260 of the two climbing modules 242 of the climbing assembly 240 are positioned opposite to each other. The bases 244 of the two climbing modules 242 of the climbing assembly 240 are integrally formed, for example, integrally molded or integrally connected, so that the two climbing modules 242 form a climbing assembly 240.

[0084] Understandably, in other embodiments, the warehouse robot has a climbing component, four climbing modules mounted on four support columns, and the base of the four climbing modules is integrally formed, so that the four climbing modules form a climbing component.

[0085] In some embodiments, the climbing assembly 240 includes two running parts. The two positioning sleeves 258 of the two climbing modules 242 of the climbing assembly 240 are connected to the two running parts. The two running parts are used to drive the two positioning sleeves 258 to extend or retract synchronously in opposite directions.

[0086] In one embodiment, the base 244 of the two climbing modules 242 of the climbing assembly 240 is integrally disposed. The climbing assembly 240 includes a synchronous extension mechanism 270, which includes a single drive device (not shown in the figure), a first transmission mechanism, and two running parts mounted on the base 244. The drive device drives the two running parts to move in opposite directions through the first transmission mechanism, thereby causing the two positioning sleeves 258 to extend or retract synchronously in opposite directions. It is understood that in another embodiment, two independent drive devices may also be configured to drive the two running parts respectively.

[0087] Referring to the accompanying drawings, the first transmission mechanism includes a first pulley 272 and a second pulley 273 spaced apart along a second direction. One of the first pulley 272 and the second pulley 273 is a driving pulley, and the other is a driven pulley. The driving pulley is connected to the single drive device. A first synchronous belt 274 is sleeved on the first pulley 272 and the second pulley 273. Two running parts are respectively located on the upper and lower sections of the first synchronous belt 274 in opposite directions of operation. The positioning sleeve 258 of the climbing module 242 is connected to the corresponding running part through a support frame 276 and a connector 278. The support frame 276 and the connector 278 are movably supported on the base 244. The positioning sleeve 258 is fixedly installed on the support frame 276, and the support frame 276 is movably supported on the base 244. The running part is connected to the support frame 276 through the connector 278. One end of the connector 278 is fixedly connected to the running part, and the other end is fixedly connected to the support frame 276. When the first synchronous belt 274 rotates, the two running parts move in opposite directions in the second direction, respectively pushing the support frame 276 and the positioning sleeve 258 through the connector 278, so that the two positioning sleeves 258 of the climbing module extend or retract synchronously in opposite directions in the second direction.

[0088] Understandably, in other embodiments, the first transmission mechanism may be of other types. For example, the first transmission mechanism may include a gear connected to a single drive device and two racks meshing with the gear at both ends in the diametrical direction; two running parts with opposite directions of operation are respectively disposed on the two racks. When the drive device drives the gear to rotate, the gear drives the two racks to move in opposite directions in the second direction, thereby causing the two positioning sleeves of the climbing module to extend or retract synchronously in opposite directions in the second direction.

[0089] In some embodiments, a lifting mechanism is provided between the movable base 210 and the climbing module 242. The lifting mechanism is used to drive the climbing module 242 and the conveying device 280 to move up and down relative to the movable base 210. The lifting mechanism may be, for example, but not limited to, a rack and pinion lifting mechanism, a chain lifting mechanism, a scissor lifting mechanism, etc.

[0090] In some embodiments, the base 244 of the climbing module 242 is sleeved on the support column 220. When the base 244 moves up and down along the support column 220, it makes rolling contact with the support column 220 through a rolling element 246 disposed between the base 244 and the support column 220. The rolling element 246 may be, for example, a roller or a drum.

[0091] See Figures 6 to 11The base 244 of the climbing module 242 has a second opening 245. The base 244 is sleeved on the support column 220 through the second opening 245. The base 244 is provided with a roller 246 at the second opening 245. When the base 244 moves up and down along the support column 220, it makes rolling contact with the support column 220 through the roller 246. The roller 246 can be installed on the push rod 248 extending in the second direction of the support frame 276 and is confined to the second opening 245.

[0092] A positioning plate 250 is provided on one side of the second opening 245 of the base 244. The positioning plate 250 has a slot 252 extending along the height direction of the support column, with the slot opening facing upwards. A mandrel 232 is provided at the top of the support column. The axial direction of the mandrel 232 extends along the second direction, and the diameter of the mandrel 232 is slightly smaller than the width of the slot 252. During the process of the climbing module 242 rising relative to the support column 220, the positioning plate 250 rises, allowing the mandrel 232 to enter the slot 252 through the slot opening until the mandrel 232 abuts against the bottom end of the slot 252. At this time, the rise of the base 244 is restricted by the mandrel 232, and the climbing module 242 reaches the highest position that it can rise relative to the support column 220. At the same time, since the diameter of the mandrel 232 is slightly smaller than the width of the slot 252, the movement of the base 244 in the first direction is also restricted. After the climbing module 242 reaches the highest position relative to the support column 220, it continues to climb along the climbing chain 110, which can drive the movable base 210 to climb together.

[0093] Figure 12 This is a schematic diagram of the lifting mechanism of a warehouse robot in the lowered state, under load. Figure 13 This is a schematic diagram of the lifting mechanism of the warehouse robot when it is in the raised state and carrying a load. In one embodiment, when the lifting mechanism is in the lowered state, the material box 108 does not exceed the support column 220 in the height direction, and the height of the support column 220 from the support surface is less than the height of the bottom beam 146 of the shelf unit 100 from the support surface, thereby ensuring that the warehouse robot 200 can carry the material box 108 and move under the shelf unit 100.

[0094] In some embodiments, the lifting mechanism includes a rotating component mounted on the base 244 of the climbing module 242 and a linear moving component mounted on the support column 220. The rotating component meshes with the linear moving component; when the rotating component rotates along the linear moving component, it causes the base 244 to rise or fall relative to the support column 220. In some embodiments, the rotating component and the linear moving component are meshed by teeth; the rotating component may be, for example, a gear or rack, and the linear moving component may be, for example, a rack. In other embodiments, the rotating component and the linear moving component are meshed by a chain; the rotating component may be, for example, a sprocket, and the linear moving component may be, for example, a chain.

[0095] In some embodiments, the warehouse robot 200 further includes a brake 222 mounted on the support column 220, the brake 222 being drive-connected to the linear moving member. The brake 222 has a braking state and a released state; when the brake 222 is in the braking state, it keeps the linear moving member in a stopped state, and the linear moving member can only move up and down relative to the support column 220 when the force exceeds the braking force of the brake 222; when the brake 222 is in the released state, it allows the linear moving member to move up and down freely relative to the support column 220.

[0096] See also Figure 14 In some embodiments, the lifting mechanism includes a toothed belt 256 mounted on the base 244 of the climbing module 242 and a rack 230 mounted on the support column 220; the brake 222 is connected to the rack 230 via a second synchronous belt 226 and a spring guide rod mechanism 228; the second synchronous belt 226 is connected to the brake 222 via a third pulley 224, and the rack 230 is connected to the second synchronous belt 226 via the spring guide rod mechanism 228; more specifically, the third pulley 224, the second synchronous belt 226, and the spring guide rod mechanism 228 are located inside the support column 220, and the brake 222 and the rack 230 are located outside the support column 220. The brake 222 has a braking state and a released state. When the brake 222 is in the braking state, the rack 230 is kept in a stopped state. When the toothed belt 256 rotates, it can rotate and rise and fall along the stopped rack 230. When the brake 222 is in the released state, the rack 230 can slide and rise and fall freely relative to the support column 220. When the toothed belt 256 rotates in a preset direction, it drives the base 244 to rise and causes the rack 230 to slide down along the support column 220 until the rack 230 slides to the lowest position it can descend. When the toothed belt 256 rotates in the opposite direction to the preset direction, it drives the base 244 to fall and causes the rack 230 to slide up along the support column 220 until the rack 230 slides to the highest position it can rise.

[0097] Understandably, due to the difference in ground height and installation errors, the teeth of the sprocket 262 and the climbing chain 110 may not be aligned at first during the meshing process. At this time, the spring guide rod mechanism 228 connected to the rack 230 can generate a certain amount of compression, thereby compensating for the height error and making the climbing sprocket 262 mesh with the climbing chain 110.

[0098] In some embodiments, the rotating component of the lifting mechanism is driven by the first drive device 254, meaning that both the rotating component of the lifting mechanism and the sprocket 262 of the climbing module 242 are driven by the first drive device 254. It is understood that in other embodiments, the rotating component and the sprocket 262 each have independent drive devices.

[0099] See Figure 11In some embodiments, the toothed belt 256 mounted on the base 244 is a double-sided toothed synchronous belt. The first drive device 254 drives the double-sided toothed synchronous belt 256 and the sprocket 262 via a second transmission mechanism. In one specific implementation, the second transmission mechanism includes a first gear driven by the first drive device 254 and a second gear connected to the first gear. The first and second gears are located inside the double-sided toothed synchronous belt 256 and mesh with its internal teeth. Rotation of the first and second gears drives the double-sided toothed synchronous belt 256 to rotate. The external teeth of the double-sided toothed synchronous belt 256 mesh with the rack 230 on the column. The second gear is also connected to the sprocket 262, and its rotation also drives the sprocket 262 to rotate.

[0100] See Figure 12 In one embodiment, the second gear is connected to the sprocket 262 via a ball spline assembly 266. The spline shaft of the ball spline assembly 266 passes through the positioning sleeve 258 and is fixedly connected to the sprocket 262. The second gear is fixedly connected to the spline sleeve fitted outside the spline shaft. When the second gear rotates, it drives the spline shaft to rotate through the spline sleeve, thereby causing the sprocket 262 to rotate. A bearing assembly is provided between the spline shaft and the positioning sleeve 258, which allows the spline shaft to rotate freely relative to the positioning sleeve 258 and to drive the positioning sleeve 258 to move axially. The spline shaft is part of the support frame 276. When the first synchronous belt 274 of the synchronous extension mechanism 270 translates the support frame 276 through the connector 278, the spline shaft pushes the positioning sleeve 258 to extend or retract, thereby causing the climbing wheel assembly 260 to extend or retract. The connector 278 can be a rod-shaped member.

[0101] In some embodiments, when the drive unit of the synchronous extension mechanism 270 has no output, the extension amount of the positioning sleeve 258 can be varied. Simultaneously, the drive unit of the synchronous extension mechanism 270 can stop outputting during the climbing process of the climbing module 242. Therefore, the warehouse robot can adapt to the spacing error between the two chains at different heights in the aisle width direction by varying the extension amount of the positioning sleeve 258 as it climbs or descends along the climbing chain 110. In one specific example, the variation in the extension amount of the positioning sleeve 258 can allow for a distance error of ±18mm between the two chains in the aisle width direction.

[0102] In some embodiments, the handling device 280 includes a telescopic fork 282, which is mounted between multiple climbing modules 242. The telescopic fork 282 extends and retracts in a direction perpendicular to the walking direction of the warehouse robot 200. Push-pull fingers are provided at the four corners of the telescopic fork 282. Using a push-pull method to pick up and place the material box allows for double-extension picking and placing.

[0103] In some embodiments, the transport device 280 is pivotally mounted on a plurality of climbing modules 242. See also... Figure 15The bottom of the handling device 280 is provided with a pair of span beams 284 spaced apart along the first direction. The span beams 284 extend along the second direction. The two ends of the span beams 284 are provided with swing arms 286. The handling device 280 is installed on multiple climbing modules 242 through multiple swing arms 286. The span beams 284 are provided with a reversing mechanism, so that the swing arms 286 at both ends of the span beams 284 have the same swing angle and opposite swing direction. In this way, it can be ensured that the handling device 280 is always in the center of the warehouse robot during the climbing process.

[0104] In some embodiments, the two climbing modules 242 at both ends of the first direction are oscillatingly mounted on the movable base 210 to adjust the spacing between the two sprockets 262 of the two climbing modules 242, thereby accommodating the distance error between the two chains at different heights in the tunnel length direction.

[0105] See Figure 16 In some embodiments, the top of the support column 220 is provided with a pair of mandrels 232 and 234 spaced apart along the height direction. The slot 252 of the positioning plate 250 has recesses 253 on both sides of the middle. When the climbing module 242 reaches the highest position that it can rise relative to the column, the second opening 245 of the base 244 is higher than the top of the support column 220. The lower mandrel 232 abuts against the bottom end of the slot 252, and the upper mandrel 234 is located at the position where the slot 252 has the recesses 253. By setting the recesses 253, a gap 251 is left between the upper mandrel 234 and the inner wall of the slot 252, thereby allowing the base 244 of the climbing module 242 to swing relative to the support column in the direction of the arrow in the figure. In a specific example, the swing of the base 244 relative to the support column 220 can allow a distance error of ±6mm between the two chains in the direction of the tunnel length.

[0106] Please refer to the following together. Figure 17 and Figures 18A to 18D Based on the structure of the shelf unit 100, the climbing process of the warehouse robot 200 in this application embodiment will be described exemplarily.

[0107] When the warehouse robot 200 determines that it needs to climb to the target storage layer of the target storage column, it moves to the target storage column within the aisle 102, with the four climbing modules 242 of the warehouse robot 200 positioned opposite the four climbing chains 110 on both sides of the aisle 102. For example... Figure 18A As shown, in the initial state, the brake 222 is in a braking state, and the rack 230 is at its highest possible position. Because the brake 222 is in a braking state, the position of the rack 230 remains unchanged when the toothed belt 256 rises and falls. Figure 18BAs shown, the first drive device 254 drives the toothed belt 256 to rise along the rack 230, causing the climbing module 242 to rise to a predetermined height. Then, the synchronous extension mechanism 270 causes the positioning sleeve 258, carrying the sprocket 262 and guide wheel 254, to extend to a position where the positioning sleeve 258 contacts the positioning piece 111 at the bottom of the climbing chain 110. At this point, the guide wheel 264 and sprocket 262 are located below the climbing chain 110. It can be understood that the predetermined height is determined based on the height of the bottom of the climbing chain 110 and is lower than the highest position that the climbing module 242 can rise relative to the support column 220. Then, the toothed belt 256 continues to rise along the rack 230, driving the guide wheel 264 and sprocket 262 to rise, causing the sprocket 262 to mesh with the climbing chain 110, and the guide wheel 264 and sprocket 262 clamp the climbing chain 110. When the toothed belt 256 and the climbing module 242 rise to the desired height... Figure 18C After reaching its highest position relative to the support column 220, the brake 222 is switched to the released state. Then, as shown... Figure 18D As shown, sprocket 262 and guide wheel 264 climb along climbing chain 110. Since brake 222 is in the released state, the rotation of toothed belt 256 causes rack 230 to descend. After rack 230 disengages from toothed belt 256, climbing module 242 disengages from rack 230 and climbs with movable base 210 and conveying device 280 until it reaches the target storage layer. The storage object is then transferred between the target storage layer and the conveying device 280.

[0108] This application also provides a sorting system, including the warehousing system described above; wherein, a warehousing robot of the warehousing system is configured to load boxes to be sorted from the target storage layer onto a handling device and then move to a target sorting position, so that the boxes to be sorted are sorted. Furthermore, the warehousing robot can also unload the sorted boxes from the handling device to the target storage layer.

[0109] In some embodiments, sorting method information can be obtained, and the target height of the transport device can be determined based on the sorting method information. The raising or lowering of the transport device is controlled according to the target height of the transport device so that the height of the transport device can adapt to the requirements of the sorting method. The raising or lowering of the transport device can be controlled by controlling the lifting mechanism of the warehouse robot. The sorting method can be, for example, direct manual sorting, that is, sorting personnel directly sort the boxes on the warehouse robot. When the box 108 is placed on the transport device 280, the lifting height of the lifting mechanism can be adjusted so that the height of the box on the transport device is suitable for sorting personnel to directly sort on the warehouse robot. Figure 19As shown; alternatively, the sorting method can also be sorting at a sorting table, where a warehouse robot transports the boxes to the sorting table, and sorting personnel sort the boxes on the sorting table; the lifting height of the lifting mechanism can be adjusted so that the height of the conveying device 280 aligns with the conveyor line 310, for example as... Figure 20 As shown, this conveyor system transports the boxes to be sorted to the target sorting location. The conveyor line can be, for example, a belt conveyor, a roller conveyor, a flow line, etc.

[0110] In some embodiments, the conveying device 280 performs the transfer from the side. See also Figure 20 As shown, the storage robot walks in a direction perpendicular to the direction shown by X. When unloading, it pushes the bin from the side to the conveyor line 310 in the direction shown by X. When loading, it pulls the bin from the conveyor line 310 to the handling device 280 in the opposite direction to the direction shown by X.

[0111] See Figure 21 As shown, in some embodiments, the sorting system includes a sorting workstation 300; the sorting workstation 300 is provided with a sorting position 302; it may also be provided with a first shelf 304 and a second shelf 306; the first shelf 304 may, for example, hold empty boxes, and the second shelf 306 may, for example, hold sorted boxes (i.e., order boxes). The warehouse robot 200 is configured to, after loading the box 108 from the shelf unit to the conveying device 280, control the conveying device 280 to a preset height via a lifting mechanism, so that the warehouse robot can carry the box 108 through the bottom of the shelf unit, and after leaving the shelf area 190 and reaching the target position (e.g., at the sorting position 302 or within a preset range of the sorting position 302), raise the conveying device 280 via the lifting mechanism so that the height of the box 108 on the conveying device 280 is suitable for direct manual sorting, that is, the sorting personnel at the sorting position 302 can directly sort the box 108 on the warehouse robot 200. After detecting a sorting completion command indicating that the sorting personnel are directly sorting the boxes on the raised handling device, the warehouse robot can be controlled to carry the boxes to the target storage location. The sorting completion command can be input by the sorting personnel via a button on the warehouse robot 200, or via a button on the sorting workstation 300 and transmitted to the warehouse robot 200. Understandably, in the diagram, shelf area 190 represents the checkerboard-like movement space of the warehouse robot 200.

[0112] In some embodiments, the warehouse robot 200 is configured to reduce its walking speed while adjusting the handling device 280 after leaving the shelving area 190 and reaching the target location, in order to ensure the stability of the hopper 108.

[0113] See Figure 22As shown, in some embodiments, the sorting system includes a sorting workstation 300, which is equipped with a sorting table 308. Sorting positions 302 are formed at the sorting table 308. The sorting table may be located, for example, on a conveyor line 310 with a movable bin function (e.g., Figure 20 (As shown), or a workbench without the function of moving the toy box. When the sorting table 308 is located on a conveyor line, the warehouse robot unloads the toy box 108 onto the conveyor line 310, and the conveyor line 310 transports the toy box to the sorting position 302 for sorting. The warehouse robot 200 is configured to, after loading the toy box 108 from the shelf unit onto the handling device 280, control the handling device 280 to a preset height via a lifting mechanism so that the warehouse robot can carry the toy box 108 through the bottom of the shelf unit, and after leaving the shelf area 190 and reaching the target position (e.g., the docking point of the sorting table 308 or reaching the preset range of the sorting table 308), raise the handling device 280 via the lifting mechanism so that the height of the toy box 108 on the handling device 280 is suitable for docking with the sorting table 308. At the docking point of the handling device 280 and the sorting table 308, control the handling device to unload the toy box 108 onto the sorting table 308.

[0114] In some embodiments, the warehouse robot 200 is configured to perform a dual-loop task: first, it unloads the bins 108 from the unloading port 312 onto the conveyor line 310, and then moves to the picking port 314 to retrieve the sorted bins 108 and load them onto the handling device 280. After retrieving the bins 108, the warehouse robot 200 is configured to lower the height of the handling device 280 via a lifting mechanism to lower the center of gravity and ensure stability during movement.

[0115] Understandably, in other embodiments, the sorting system includes a conveyor line with multiple sorting positions 302. The warehouse robot controls the handling device 280 at a second height, such that the height of the hopper 108 on the handling device 280 is suitable for docking with the conveyor line. At the docking point between the handling device 280 and the conveyor line 308, the handling device 280 unloads the hopper 108 onto the conveyor line, so that the conveyor line transports the hopper 108 to the target sorting position 302 for sorting.

[0116] In some embodiments, the warehouse robot 200 is also configured to:

[0117] Obtain the working mode information and determine the walking path of the warehouse robot based on the working mode information.

[0118] In some embodiments, determining the walking path of the warehouse robot based on this working mode information includes:

[0119] If the working mode information indicates that the working mode of the warehouse robot is the first working mode, the walking path of the warehouse robot is determined according to the checkerboard walking pattern.

[0120] If the working mode information indicates that the working mode of the warehouse robot is the second working mode, the walking path of the warehouse robot is determined according to the circular walking method.

[0121] In a specific example, the first working mode of the warehouse robot is a discrete working mode, and the second working mode is a lane machine working mode.

[0122] In discrete working mode, warehouse robots can be configured to move in a checkerboard pattern, following a predetermined path at the bottom of the racking units. The path can be rationally planned as needed within the checkerboard space. In discrete working mode, the racking units can be arranged without main aisles, and each row of racking units can be arranged in a seamless, uninterrupted manner.

[0123] Corresponding to the aisle-mounted robot operating mode, multiple rack units are arranged in parallel at intervals, with aisles between adjacent rack units. Two adjacent rack units form a rack unit group, with the two rack units in the group designated as the first rack unit and the second rack unit, respectively. In aisle-mounted robot operating mode, the warehouse robot is configured to operate corresponding to a single rack unit group and a single target sorting position. For example... Figure 23 As shown, the target sorting position 300 is located at one end of the shelf unit group 192, for example, it can be located between the first shelf unit and the second shelf unit. Figure 23 The horizontal line L1 at the bottom represents the walking path at the bottom of the first shelf unit, the horizontal line L2 at the top represents the walking path at the bottom of the second shelf unit, and the horizontal line L3 in the middle represents the aisle between the first and second shelf units. Both the first and second shelf units have multiple storage columns. The vertical lines between horizontal lines L1 and L2 in the diagram represent the picking positions of the warehouse robot at different storage columns. The warehouse robot is configured to cyclically retrieve different cartons from the first or second shelf unit and deliver them to the target sorting position 300 for sorting. Figure 23 The example diagram illustrates the walking paths of the warehouse robot during three delivery processes at points P1, P2, and P3. The aisle robot operating mode ensures that the warehouse robot's walking path to the target sorting position is a circular path each time it delivers goods. Furthermore, it operates only in a single aisle within the shelving area, resulting in high efficiency per robot and meeting the needs of high-traffic scenarios.

[0124] According to one embodiment, the delivery control process of a warehouse robot is described as follows.

[0125] Obtain target storage location information, which includes target storage column information and target storage layer information; it is understood that the target storage column can be the storage column of the first shelf unit or the storage column of the second shelf unit.

[0126] Based on the target storage location information, control the warehouse robot to move from the target sorting position to the bottom of the first shelf unit, and then move to the corresponding target storage column at the bottom of the first shelf unit.

[0127] The warehouse robot is controlled to move from the bottom of the first shelf unit into the aisle at the corresponding target storage column, so that the handling device can retrieve the cargo box from the target storage layer;

[0128] The warehouse robot is controlled to carry the cargo box from the aisle to the bottom of the second shelf unit, and moves at the bottom of the second shelf unit until it leaves the second shelf unit and returns to the target sorting position.

[0129] For ease of understanding, combined with Figure 23 The delivery process corresponding to point P2 will explain the above process. The target location is a storage layer in the storage column corresponding to the first or second shelf unit at point P2. The controllable warehouse robot moves from the target sorting position 300 to the bottom left of the first shelf unit, and moves along L1 in the direction shown by arrow N1 to the picking position at point P2. Then, the warehouse robot turns and moves from the bottom of the first shelf unit to the picking position in the aisle in the direction shown by arrow N2, climbs to the target storage layer of the first or second shelf unit, and allows the handling device to retrieve the box from the target storage layer. Then, it descends back to the ground. After that, it continues to move upwards with the box to the bottom of the second shelf unit, and moves along L2 in the direction shown by arrow N3 at the bottom of the second shelf unit until it leaves the bottom left of the second shelf unit and returns to the target sorting position 300, thus completing one delivery.

[0130] This application also provides a warehousing method applied to a warehousing robot. The warehousing robot has a movable base, a handling device, and a climbing assembly. The height of the warehousing robot is less than the height of the bottom beam of the shelf unit. According to one embodiment, the warehousing method includes:

[0131] Loading the container from the target storage layer to the handling device; and

[0132] The warehouse robot is controlled to move from the bottom of the rack unit to the target sorting position so that the cartons are sorted at the target sorting position;

[0133] Loading the container from the target storage layer to the handling device includes:

[0134] The climbing components that control the warehouse robot climb along multiple climbing chains located in adjacent shelf units so that the handling device can retrieve the cargo box from the target storage layer.

[0135] In some embodiments, the method further includes:

[0136] Obtain sorting method information;

[0137] The target height of the handling device is determined based on the sorting method information;

[0138] The raising or lowering of the conveying device is controlled according to the target height of the conveying device.

[0139] In some embodiments, the method further includes:

[0140] After the cargo box is loaded onto the handling device, the handling device is controlled to a preset height so that the warehouse robot carries the cargo box and moves along the bottom of the rack unit; and,

[0141] After moving to the target location in the non-shelf area, the handling device is raised.

[0142] In some embodiments, the method further includes:

[0143] After moving to the target location, the warehouse robot is controlled to slow down.

[0144] In some embodiments, the method further includes:

[0145] Upon detecting a sorting completion command indicating that sorting personnel are directly sorting the boxes on the raised handling device, the warehouse robot is controlled to move the boxes to the target storage location; or...

[0146] At the junction of the transport device and the sorting table or conveyor line, the raised transport device is controlled to unload the cargo box onto the sorting table or conveyor line.

[0147] In some embodiments, the method further includes:

[0148] Obtain work mode information;

[0149] The walking path of the warehouse robot is determined based on the working mode information.

[0150] In some embodiments, determining the walking path of the warehouse robot based on the working mode information includes:

[0151] If the working mode information indicates that the working mode of the warehouse robot is the first working mode, the walking path of the warehouse robot is determined according to the chessboard-shaped walking pattern;

[0152] If the working mode information indicates that the working mode of the warehouse robot is the second working mode, the walking path of the warehouse robot is determined according to the circular walking method.

[0153] In some embodiments, multiple shelving units are arranged in parallel and spaced apart, with an aisle between two adjacent shelving units. The two adjacent shelving units form a shelving unit group, and the two shelving units in the shelving unit group are a first shelving unit and a second shelving unit, respectively.

[0154] The warehouse robot is configured to operate corresponding to a single shelving unit group and a single target sorting position;

[0155] The process of loading the container from the target storage layer to the handling device includes:

[0156] Obtain target storage location information, which includes target storage column information and target storage layer information, wherein the target storage column is the storage column of the first shelf unit or the second shelf unit;

[0157] Based on the target storage location information, the warehouse robot is controlled to move from the target sorting position to the bottom of the first shelf unit in the shelf unit group, and then moves to the position corresponding to the target storage column at the bottom of the first shelf unit.

[0158] The warehouse robot is controlled to move from the bottom of the first shelf unit into the aisle at the location corresponding to the target storage column, so that the handling device can retrieve the cargo box from the target storage layer;

[0159] The control of the warehouse robot to move to the target sorting position via the bottom of the shelf unit includes:

[0160] The warehouse robot is controlled to carry the cargo box from the aisle to the bottom of the second shelf unit, and moves at the bottom of the second shelf unit until it leaves the second shelf unit and returns to the target sorting position.

[0161] This application provides a warehouse robot control unit, including a processor and a memory, wherein executable code is stored in the memory, and when the executable code is executed by the processor, the processor performs part or all of the methods described above.

[0162] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0163] Memory can include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM can store static data or instructions required by the processor or other modules of the computer. Permanent storage devices can be read-write storage devices. Permanent storage devices can be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use high-capacity storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices can be removable storage devices (e.g., floppy disks, optical drives). System memory can be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory can store some or all of the instructions and data required by the processor during operation. Furthermore, memory can include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks can also be used. In some implementations, the memory may include removable storage devices that are readable and / or writable, such as laser discs (CDs), read-only digital versatile optical discs (e.g., DVD-ROMs, dual-layer DVD-ROMs), read-only Blu-ray discs, ultra-high density optical discs, flash memory cards (e.g., SD cards, mini SD cards, Micro-SD cards, etc.), magnetic floppy disks, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0164] The memory stores executable code, which, when processed by the processor, can cause the processor to execute some or all of the methods described above.

[0165] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.

[0166] Alternatively, this application may be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) storing executable code (or computer program, or computer instruction code) thereon, which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform part or all of the steps of the above-described method according to this application.

[0167] One embodiment of this application provides a sorting and processing system, including the aforementioned warehousing system; wherein the warehousing robot includes the aforementioned warehousing robot control unit.

[0168] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A warehousing system, characterized in that, Includes: Multiple shelving units; the multiple shelving units are spaced apart, with the gaps between adjacent shelving units forming aisles; each shelving unit includes upright groups located at both ends in the width direction of the aisle; each upright group includes multiple uprights spaced apart along the length direction of the aisle; adjacent uprights form storage columns, each storage column having multiple storage layers; at least some of the opposing uprights in the two upright groups of adjacent shelving units near one end of the aisle are provided with climbing chains; and... A warehouse robot; the warehouse robot has a movable base, a handling device and a climbing assembly, the movable base is used to drive the warehouse robot to move on a support surface, and the climbing assembly is used to move up and down along a plurality of climbing chains so that the handling device can retrieve the storage object from the target storage layer or place the storage object on the target storage layer. The climbing assembly includes a climbing module, which includes a climbing wheel assembly, a base mounted on the movable base, and a drive device mounted on the base. A lifting mechanism is provided between the movable base and the climbing module. The movable base has multiple support columns. The lifting mechanism includes a rotating component mounted on the base and a linear moving component mounted on the support columns. The rotating component and the linear moving component mesh with each other. When the rotating component rotates along the linear moving component, it causes the base to rise or fall relative to the support columns. The height of the warehouse robot is less than the height of the bottom beam of the shelf unit.

2. The warehousing system as described in claim 1, characterized in that, The plurality of columns include ground-mounted columns and suspended columns, with at least one suspended column between adjacent ground-mounted columns.

3. The warehousing system as described in claim 1, characterized in that, The climbing chain is mounted on the column by multiple fixing seats, which are distributed at the vertical ends of the climbing chain and at preset positions between the two ends.

4. The warehousing system as described in claim 1, characterized in that, The columns of the two column groups are aligned in pairs along the length direction, and a tray for supporting and storing objects is provided between the aligned columns of the two column groups.

5. The warehousing system as described in claim 1, characterized in that, The system includes an upper shelf and a lower shelf, the upper shelf being located above the lower shelf, and the upper shelf and the lower shelf each having the plurality of shelf units; The upper shelf and the lower shelf are provided with a support platform for supporting the upper shelf. At least a portion of the aisle positions of the upper shelf and the lower shelf correspond to each other. The support platform has an opening at the aisle position corresponding to the aisle position of the lower shelf, so that the warehouse robot can move between the lower shelf and the upper shelf through the opening.

6. The warehousing system as described in claim 5, characterized in that, The upper shelf unit is equipped with a guide rail that connects to the upright at the opening, and the guide rail extends along the width direction and / or the length direction; The warehousing system also includes a transfer mother car, which is equipped with a chain and wheels that cooperate with the guide rail; The chain of the transfer mother car is used to connect with the climbing chain of the lower shelf at the opening; The wheels are used to allow the transfer vehicle to move along the guide rail after the storage robot climbs onto the chain of the transfer mother vehicle.

7. The warehousing system as described in claim 6, characterized in that, The distance between the guide rail and the support platform does not exceed the maximum lifting height of the climbing component, so that the warehouse robot can descend from the transfer mother car to the support platform at the guide rail.

8. The warehousing system as described in claim 5, characterized in that, The opening is provided with a cross-layer connecting chain that is integrally connected to the climbing chain of the upper shelf and the climbing chain of the lower shelf, so that the warehouse robot can move between the lower shelf and the upper shelf through the cross-layer connecting chain.

9. The warehousing system according to any one of claims 1 to 8, characterized in that, The climbing wheel assembly includes guide wheels and sprockets driven by a drive device; the sprockets and guide wheels are spaced apart to clamp the climbing chain when the sprockets engage with the climbing chain; when the multiple sprockets of the climbing assembly move up and down along the climbing chain, they drive the movable base and the conveying device to move up and down.

10. The warehousing system as described in claim 9, characterized in that, The climbing module also includes: A positioning sleeve is retractably mounted on the base, and the sprocket and guide wheel are rotatably mounted on the positioning sleeve; when the positioning sleeve extends, it drives the sprocket and guide wheel to extend, so that the sprocket engages with the climbing chain; when the positioning sleeve retracts, it drives the sprocket and guide wheel to retract, so that the sprocket separates from the climbing chain.

11. The warehousing system as described in claim 9, characterized in that, The lifting mechanism is used to lift the climbing module and the transport device relative to the movable base.

12. The warehousing system as described in claim 9, characterized in that, The rotating component is driven by the driving device; The rotating component is a double-sided toothed synchronous belt, and the linear moving component is a rack. The outer teeth of the double-sided toothed synchronous belt are used to mesh with the rack. The drive device drives the double-sided toothed synchronous belt and the sprocket through a transmission mechanism; The transmission mechanism includes a first gear driven by the drive device and a second gear connected to the first gear. The first gear and the second gear mesh with the internal teeth of the double-sided toothed synchronous belt, and the second gear is connected to the sprocket.

13. The warehousing system as described in claim 11, characterized in that, The transport device is installed between multiple climbing modules; The handling device includes telescopic forks, the telescopic direction of which is perpendicular to the walking direction of the warehouse robot.

14. A warehousing method, characterized in that, An application is made to a warehouse robot, which has a movable base, a handling device, and a climbing assembly. The climbing assembly includes a climbing module, which includes a climbing wheel assembly, a base mounted on the movable base, and a drive device mounted on the base. A lifting mechanism is provided between the movable base and the climbing module. The movable base has multiple support columns. The lifting mechanism includes a rotating component mounted on the base and a linear moving component mounted on the support columns, the rotating component meshing with the linear moving component. When the rotating component rotates along the linear moving component, it causes the base to rise or fall relative to the support columns. The height of the warehouse robot is less than the height of the bottom beam of the shelf unit. The method includes: Loading the container from the target storage layer to the handling device; and The warehouse robot is controlled to move via the bottom of the shelf unit to the target sorting position so that the cartons are sorted at the target sorting position; The loading of the cargo box from the target storage layer to the handling device includes: The climbing components of the warehouse robot are controlled to climb along multiple climbing chains located in adjacent shelf units, so that the handling device can retrieve the cargo box from the target storage layer.

15. The warehousing method according to claim 14, characterized in that, The method further includes: Obtain sorting method information; The target height of the handling device is determined based on the sorting method information; The raising or lowering of the conveying device is controlled according to the target height of the conveying device.

16. The warehousing method according to claim 14, characterized in that, The method further includes: After the cargo box is loaded onto the handling device, the handling device is controlled to a preset height so that the warehouse robot carries the cargo box and moves along the bottom of the rack unit; and, After moving to the target location in the non-shelf area, the handling device is raised.

17. The warehousing method according to claim 16, characterized in that, The method further includes: After moving to the target location, the warehouse robot is controlled to slow down.

18. The warehousing method according to claim 16, characterized in that, The method further includes: Upon detecting a sorting completion command indicating that sorting personnel are directly sorting the boxes on the raised handling device, the warehouse robot is controlled to move the boxes to the target storage location; or... At the junction of the transport device and the sorting table or conveyor line, the raised transport device is controlled to unload the cargo box onto the sorting table or conveyor line.

19. The warehousing method according to claim 14, characterized in that, The method further includes: Obtain work mode information; The walking path of the warehouse robot is determined based on the working mode information.

20. The warehousing method according to claim 19, characterized in that, The path of the warehouse robot is determined based on the working mode information, including: If the working mode information indicates that the working mode of the warehouse robot is the first working mode, the walking path of the warehouse robot is determined according to the chessboard-shaped walking pattern; If the working mode information indicates that the working mode of the warehouse robot is the second working mode, the walking path of the warehouse robot is determined according to the circular walking method.

21. The warehousing method according to claim 14, characterized in that: Multiple shelving units are arranged in parallel and spaced apart, with an aisle between two adjacent shelving units. The two adjacent shelving units form a shelving unit group, and the two shelving units in the shelving unit group are the first shelving unit and the second shelving unit, respectively. The warehouse robot is configured to operate corresponding to a single shelving unit group and a single target sorting position; The process of loading the container from the target storage layer to the handling device includes: Obtain target storage location information, which includes target storage column information and target storage layer information, wherein the target storage column is the storage column of the first shelf unit or the second shelf unit; Based on the target storage location information, the warehouse robot is controlled to move from the target sorting position to the bottom of the first shelf unit in the shelf unit group, and then moves to the position corresponding to the target storage column at the bottom of the first shelf unit. The warehouse robot is controlled to move from the bottom of the first shelf unit into the aisle at the location corresponding to the target storage column, so that the handling device can retrieve the cargo box from the target storage layer; The control of the warehouse robot to move to the target sorting position via the bottom of the shelf unit includes: The warehouse robot is controlled to carry the cargo box from the aisle to the bottom of the second shelf unit, and moves at the bottom of the second shelf unit until it leaves the second shelf unit and returns to the target sorting position.

22. A warehouse robot control unit, characterized in that, include: processor; as well as A memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method as described in any one of claims 14-21.

23. A sorting and processing system, characterized in that, The system includes the warehousing system as described in any one of claims 1 to 13; wherein the warehousing robot includes the warehousing robot control unit as described in claim 22.

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