Goods picking system, warehousing system and goods picking method

Abstract

The application relates to the technical field of logistics storage, and discloses a material picking system, a storage system and a material picking method. The material picking system comprises a goods shelf and a goods taking and placing assembly. The goods shelf has storage positions and buffer positions. The storage positions are used for placing inventory containers storing materials, and the buffer positions are used for placing or picking order containers by a carrying robot. The goods taking and placing assembly has a first bearing table and a second bearing table. The goods taking and placing assembly can be moved to the storage positions to take the inventory containers to the first bearing table or place the inventory containers on the storage positions, and be moved to the buffer positions to take the order containers to the second bearing table or place the order containers on the buffer positions. A picking mechanism is arranged on the goods taking and placing assembly. The picking mechanism is used for picking at least part of the materials in the inventory containers on the first bearing table into the order containers on the second bearing table according to orders corresponding to the order containers. In the above manner, the material picking efficiency can be improved, and the space utilization rate of the warehouse can be optimized.

Description

Technical Field

[0001] This application relates to the field of logistics and warehousing technology, specifically to a material picking system, a warehousing system, and a material picking method. Background Technology

[0002] With the accelerating pace of life and the increasing automation of logistics, higher demands are being placed on the material handling efficiency of warehousing systems.

[0003] Currently, material picking typically involves using transport robots to move bins from shelves to designated workstations, where operators manually pick the items. The robots then transport the picked bins back to the shelves. This process consumes a significant amount of time and effort for transporting the bins, and also requires dedicated workstations for material picking operations, thus occupying warehouse space and impacting space utilization. Summary of the Invention

[0004] In view of the above problems, this application provides a material picking system, a warehousing system and a material picking method, which can improve material picking efficiency while optimizing warehouse space utilization.

[0005] According to one aspect of this application, a material picking system is provided, including a shelf and a picking and placing component; the shelf has storage positions and buffer positions, at least one storage position for placing an inventory container storing materials, and at least one buffer position for a handling robot to place or pick up an order container thereon; the picking and placing component is movably disposed on the shelf, the picking and placing component has a first carrier platform and a second carrier platform, the picking and placing component can be moved to the storage position to pick up the inventory container to the first carrier platform or place the inventory container to the storage position, and can be moved to the buffer position to pick up the order container to the second carrier platform or place the order container to the buffer position; the picking and placing component is provided with a picking mechanism, the picking mechanism being used to pick up at least a portion of the materials in the inventory container on the first carrier platform to the order container on the second carrier platform according to the order corresponding to the order container.

[0006] In one alternative embodiment, the picking and placing component has a first picking and placing mechanism and a second picking and placing mechanism, the first picking and placing mechanism being disposed on a first support platform and the second picking and placing mechanism being disposed on a second support platform, the first picking and placing mechanism being used to pick and place inventory containers in storage locations and the second picking and placing mechanism being used to pick and place order containers in cache locations.

[0007] In one alternative embodiment, the first and second carrier platforms are arranged adjacent to each other in a horizontal direction, and the picking and placing component has a third picking and placing mechanism; the third picking and placing mechanism is disposed on the first carrier platform and is used to pick up and place inventory containers in the storage position; the third picking and placing mechanism can also be used to pick up order containers from the buffer position to the first carrier platform and place the order containers on the first carrier platform to the second carrier platform; the third picking and placing mechanism is also used to pick up order containers from the second carrier platform to the first carrier platform and place the order containers on the first carrier platform to the buffer position.

[0008] In one alternative approach, the third picking and placing mechanism is used to place the order container on the first carrier platform to the second carrier platform, and then sequentially retrieve the inventory container from multiple storage locations according to the order corresponding to the order container, and place it on the first carrier platform for the picking mechanism to pick the material and put it back, so as to complete the order corresponding to the order container.

[0009] In one alternative, the first platform and the third loading / unloading mechanism are configured to rotate synchronously along a vertical axis, with the third loading / unloading mechanism rotating synchronously with the first platform to a position facing the second platform for loading / unloading order containers on the second platform.

[0010] In one alternative embodiment, the first and second carrier platforms are arranged adjacent to each other in a horizontal direction, and the picking and placing component has a fourth picking and placing mechanism; the fourth picking and placing mechanism is disposed on the second carrier platform and is used to pick and place order containers in the buffer position; the third picking and placing mechanism can also be used to pick up the inventory container in the storage position to the second carrier platform and place the inventory container on the second carrier platform to the first carrier platform; the fourth picking and placing mechanism is also used to pick up the inventory container on the first carrier platform to the second carrier platform and place the inventory container on the second carrier platform to the storage position.

[0011] In one alternative configuration, the first and second support platforms are configured to move vertically and / or horizontally in sync.

[0012] In one alternative embodiment, the shelf is provided with transverse rails and longitudinal rails; the transverse rails are fixed to the shelf, the longitudinal rails are movably connected to the transverse rails in the horizontal direction, and the picking and placing components are movably connected to the longitudinal rails in the vertical direction; or, the longitudinal rails are fixed to the shelf, the transverse rails are movably connected to the longitudinal rails in the vertical direction, and the picking and placing components are movably connected to the transverse rails in the horizontal direction; or, the transverse rails are movably connected to the shelf in the vertical direction, the longitudinal rails are movably connected to the shelf in the horizontal direction, the picking and placing components are movably connected to the transverse rails in the horizontal direction, and are also movably connected to the longitudinal rails in the vertical direction.

[0013] In one alternative configuration, the shelf is arranged with multiple layers of storage compartments in a vertical direction, with the bottom layer being a buffer compartment and at least one of the remaining layers being storage compartments.

[0014] In one alternative embodiment, a shelf is placed on a bearing surface. The shelf has a support member at its bottom end near the bearing surface, forming a buffer position. A passageway for a handling robot to move between the support member and the bearing surface is formed. A loading channel is vertically oriented through the support member, and the loading channel has an opening horizontally on the side facing and / or away from the picking and placing components. The opening allows a lifting mechanism on a handling robot carrying an order container to enter the loading channel horizontally, so that the lifting mechanism on the handling robot lowers and places the order container on the support member. The loading channel allows a lifting mechanism on an empty handling robot to pass vertically, so that the lifting mechanism on the handling robot lifts the order container. The opening allows a lifting mechanism on a handling robot carrying an order container to move horizontally out of the loading channel.

[0015] In one alternative embodiment, the load-bearing component includes a crossbeam and at least one set of cantilever arms. The crossbeam is horizontally positioned on one side of the bottom of the shelf. Each set of cantilever arms includes at least a first cantilever arm and a second cantilever arm. One end of the first cantilever arm and one end of the second cantilever arm are both fixed to the crossbeam, and both the first and second cantilever arms are perpendicular to the crossbeam. The first and second cantilever arms together form a buffer position. The first and second cantilever arms are spaced apart from each other along the extension direction of the crossbeam, thereby forming a cargo carrying channel between the first and second cantilever arms.

[0016] According to another aspect of this application, a warehousing system is provided, including a handling robot and a material picking system as described in any of the preceding claims, wherein the handling robot is used to place and move order containers at buffer locations on shelves.

[0017] According to another aspect of this application, a material picking method is provided, applied to the aforementioned warehousing system. The material picking method includes: controlling a handling robot to place an order container on a buffer position of a shelf; controlling a picking and placing component to move to the buffer position of the shelf and pick up the order container to a second carrier; controlling the picking and placing component to move to a storage position of the shelf and pick up an inventory container to a first carrier; controlling a picking mechanism to pick up at least a portion of the materials from the inventory container on the first carrier to the order container on the second carrier; after picking is completed, controlling the picking and placing component to place the order container on the second carrier to the buffer position of the shelf; and controlling a handling robot to transport the order container on the buffer position of the shelf to a target location.

[0018] In one alternative approach, controlling the picking and placing component to move to a storage location on a shelf and retrieve an inventory container to a first carrier, and controlling the picking mechanism to pick at least a portion of the materials from the inventory container on the first carrier to an order container on a second carrier, includes: controlling the picking and placing component to move to the storage location of a target inventory container, wherein the target inventory container contains the items required for the order corresponding to the order container; controlling the picking and placing component to retrieve the target inventory container to the first carrier; controlling the picking mechanism to pick the materials to be picked from the target inventory container on the first carrier to the order container on the second carrier; controlling the picking and placing component to return the target inventory container on the first carrier to its storage location; identifying another new inventory container as the target inventory container and proceeding to the step of controlling the picking and placing component to move to the storage location of the target inventory container, until all required materials have been picked to the order container on the second carrier or the shelf that the picking and placing component can retrieve no longer includes the target inventory container.

[0019] The material picking system provided in this application is built around a shelving unit. A buffer space on the shelving unit interfaces with a handling robot to handle the input and output of order containers. A picking and placing component, which can move to different positions on the shelving unit to retrieve containers, is integrated into the original storage space. The inventory containers and order containers corresponding to the current picking operation are placed on a first and second support platform at the picking and placing component, allowing the picking mechanism on the component to perform picking work more conveniently and quickly. The entire picking process is fully automated, requiring no human intervention. Furthermore, the system does not require multiple robots working together; only simple mechanical structures are needed to pick and place containers and their contents, effectively reducing operating costs. Since the entire system is integrated into the shelving, there is no need to set up additional workstations for picking operations within the limited warehouse space, thus improving warehouse space utilization.

[0020] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0021] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0022] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of the present invention;

[0023] Figure 2 This is a structural schematic diagram of a warehousing system provided in an embodiment of the present invention from another perspective;

[0024] Figure 3 This is a schematic diagram of the structure of a warehousing system from one perspective, provided in another embodiment of the present invention;

[0025] Figure 4 This is a structural schematic diagram of a warehousing system from another perspective, provided in another embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the movable connection between the picking and placing components and the shelf in the material picking system provided in an embodiment of the present invention;

[0027] Figure 6 for Figure 3 A magnified structural diagram at point A;

[0028] Figure 7 This is a flowchart illustrating the material picking method provided in an embodiment of the present invention.

[0029] Figure 8 for Figure 7 A flowchart illustrating the sub-steps of steps 630 and 640.

[0030] The reference numerals in the detailed embodiments are as follows:

[0031] 100. Material picking system; 110. Shelf; 111. Storage location; 112. Buffer location; 113. Horizontal rail; 114. Vertical rail; 115. Load-bearing component; 1151. Carrying aisle; 11511. Opening; 1152. Beam; 1153. Cantilever; 11531. First cantilever; 11532. Second cantilever; 120. Picking and placing assembly; 121. First platform; 122. Second platform; 123. First picking and placing mechanism; 124. Second picking and placing mechanism; 125. Third picking and placing mechanism; 130. Picking mechanism; 140. Aisle;

[0032] 210. Inventory container; 220. Order container;

[0033] 300. Handling robot; 310. Lifting mechanism;

[0034] 400, bearing plane;

[0035] 500, Channel;

[0036] 1000. Warehousing system. Detailed Implementation

[0037] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0039] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0040] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0041] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.

[0042] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0043] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0044] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" 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. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0045] With the continuous upgrading and innovation of logistics automation and intelligent manufacturing, as well as the continuous rise in labor costs, fully automated picking systems have become the mainstream development trend in order to achieve stronger productivity.

[0046] In the current warehousing system, the picking process requires not only the collaborative operation of various types of robots, but also human intervention. This results in a time-consuming, labor-intensive, costly, and inefficient process. Furthermore, since the picking workstation occupies a certain amount of warehouse space, this space cannot be used for container storage, leading to low warehouse space utilization and a small amount of goods that can be stored.

[0047] Based on this, this application proposes a material picking system. The entire system is built around a shelving unit, which is designed as a fully automated system for material storage and picking. The shelving unit integrates storage locations, picking and placing components, and a picking mechanism. As the names suggest, the storage locations are used to store containers, the picking and placing components are used to transfer containers between the storage locations and the picking mechanism, and the picking mechanism is responsible for automatically picking designated containers. The entire system does not require the cooperation of multiple robots or human intervention, effectively reducing operating costs. It also eliminates the need to occupy additional warehouse space outside the shelving unit for picking stations, thereby improving warehouse space utilization.

[0048] The material picking system provided in this application includes, but is not limited to, warehousing systems used in e-commerce, manufacturing, retail, pharmaceutical, and food industries.

[0049] Please see Figure 1 The figure shows a schematic diagram of the material picking system provided in this application embodiment. As shown in the figure, the material picking system 100 includes a shelf 110 and a picking and placing component 120. The shelf 110 has a storage position 111 and a buffer position 112. At least one storage position 111 is used to place an inventory container 210 containing materials, and at least one buffer position 112 is used for a handling robot 300 to place or pick up an order container 220. The picking and placing component 120 is movably disposed on the shelf 110. The picking and placing component 120 has a first support platform 121 and a second support platform 122. The picking and placing component 120 can move to the storage position 111 to pick up the inventory container 210 to the first support platform 121 or place the inventory container 210 to the storage position 111, and can move to the buffer position 112 to pick up the order container 220 to the second support platform 122 or place the order container 220 to the buffer position 112. The picking and placing component 120 is equipped with a picking mechanism 130, which is used to pick at least a portion of the materials in the inventory container 210 on the first carrier 121 to the order container 220 on the second carrier 122 according to the order corresponding to the order container 220.

[0050] like Figure 1 and Figure 2 As shown, the shelf 110 can be arranged in multiple layers along the z-axis (i.e., the height direction). Each layer has multiple compartments along the x-axis, each compartment being used to place a container. Of these compartments, some form storage positions 111, and others form buffer positions 112. Figure 1 and Figure 2 In the specific embodiment shown, since the handling robot 300 is a lifting robot, the lowest level compartment is set as a buffer compartment 112, allowing the handling robot 300 to place or retrieve containers at the buffer compartment 112 via the lifting mechanism. The remaining at least one level of compartments are storage compartments 111. In other embodiments, when the handling robot 300 is a robot with a lifting and placing mechanism, that is, when the handling robot can retrieve and place goods at any height of the compartments on the shelf 110, the specific locations of the buffer compartment 112 and the storage compartment 111 are not limited and can be set according to requirements.

[0051] The picking and placing assembly 120 can be connected to one side of the shelf 110 or installed on the ground on the side of the shelf 110 where picking and placing are performed, via a sliding mechanism along the x-axis and z-axis. This allows the picking and placing assembly 120 to move to any position corresponding to any area on the shelf 110, driven by the sliding mechanism. The picking and placing assembly 120 can be... Figure 1 and Figure 2The shown uses a picking and placing mechanism to access containers (such as bins) in storage position 111 and buffer position 112. The specific picking and placing mechanism can be implemented by a robotic arm, hook, suction cup, etc., and is not limited here.

[0052] exist Figure 1 and Figure 2 In the specific embodiment shown, the positions of the first support platform 121, the second support platform 122, and the picking and placing component 120 are fixed to each other, and they share the same drive system to move synchronously relative to the shelf 110, thereby controlling costs. In other embodiments, the first support platform 121, the second support platform 122, and the picking and placing component 120 can each move independently relative to the shelf 110 through their own drive system, making the control of each part more flexible and diverse during operation. Alternatively, two of these three can share a drive system to move synchronously, while the other can move independently. The picking mechanism 130 is a robotic arm, suction mechanism, etc., capable of gripping and placing materials.

[0053] For ease of understanding, the following is based on Figure 1 and Figure 2 The illustrated embodiment exemplifies the workflow of the material picking system 100:

[0054] First, a storage container 210 is placed on storage location 111, and the storage container 210 stores materials. The handling robot 300 moves the order container 220 and places it on the buffer position 112. It should be noted that the order container 220 may include empty order containers and / or pre-picked order containers. Pre-picked order containers refer to containers that have already picked a portion of materials at other workstations but still need to be picked by the material picking system 100 provided in this embodiment. This is because the types of materials corresponding to each workstation / picking system in the warehousing system may be different, and different types of materials may need to be picked in the same order container 220. Therefore, the pre-picked order containers that have been picked by the previous workstation / picking system will flow into the material picking system 100 in this embodiment to continue picking. Similarly, the order containers 220 that have been picked by the material picking system 100 in this embodiment include order containers that have completed all material picking and can be directly packaged in the downstream stage, and / or pre-picked order containers that have completed all material picking in this embodiment but still need to enter the next workstation / picking system to continue picking.

[0055] Next, the picking and placing component 120 is moved to the corresponding buffer position 112, the order container 220 is removed from the buffer position 112 and placed on the second support platform 122, and then moved to the corresponding storage position 111, the corresponding inventory container 210 is removed from the storage position 111 and placed on the first support platform 121. Alternatively, the picking and placing component 120 is moved to the corresponding storage position 111, the inventory container 210 is removed from the storage position 111 and placed on the first support platform 121, and then moved to the corresponding buffer position 112, the corresponding order container 220 is removed from the buffer position 112 and placed on the second support platform 122.

[0056] Then, the picking mechanism 130 picks the required materials from the inventory container 210 on the first carrier 121 into the order container 220 on the second carrier 122.

[0057] Next, if the order container 220 on the second carrier platform 122 still needs materials from other inventory containers 210, the picking and placing component 120 will put the inventory container 210 currently on the first carrier platform 121 back into the storage position 111 (the returned storage position 111 can be the original storage position 111 where the inventory container 210 was located, or any empty storage position 111), and then move to another storage position 111 to pick up the corresponding inventory container 210 onto the first carrier platform 121 for picking, until all the materials required by the material picking system 100 in this embodiment of the order container 220 have been picked up, or there are no longer any materials required by the order container 220 on the shelf 110 that the picking and placing component 120 can pick up and place. The shelf 110 that the picking and placing component 120 can pick up and place depends on the warehouse layout and its own structure. It may only include the shelf 110 where it is located, or it may include the shelves 110 arranged side by side and facing the picking and placing component 120. During this process, if all the materials in one or more of the inventory containers 210 are picked into the order container 220, making it an empty container, the pick-and-place component 120 can directly place it into the buffer position 112 without having to put it back into the storage position 111.

[0058] Finally, the picking and placing component 120 places the picked order container 220 onto the buffer position 112, and then the handling robot 300 transports the picked order container 220 to the designated location, completing the picking work of the corresponding order container 220 in the material picking system 100 in this embodiment.

[0059] The material picking system 100 provided in this embodiment is built around a shelf. A buffer position 112 on the shelf 110 interfaces with a handling robot 300 to handle the input and output of order containers 220. A picking and placing component 120, which can move to different positions on the shelf for container retrieval, is integrated into the shelf space that was originally only used for storage. The inventory container 210 and order container 220 corresponding to the current picking operation are placed on the first and second support platforms 121 and 122 of the picking and placing component 120, allowing the picking mechanism 130 on the picking and placing component 120 to perform picking work more conveniently and quickly. The entire picking process is fully automated, without human intervention. Furthermore, the system does not require multiple robots to work together; only simple mechanical structures are needed for picking and placing containers and their contents, effectively reducing operating costs. Since the entire system is integrated into the shelf, there is no need to set up additional workstations for picking operations in the limited warehouse space, thus improving warehouse space utilization.

[0060] To facilitate the placement and retrieval of containers on the first support platform 121 and the second support platform 122, this application further proposes an embodiment, which can be found in the following details. Figure 1 and Figure 2 As shown in the figure, the picking and placing component 120 has a first picking and placing mechanism 123 and a second picking and placing mechanism 124. The first picking and placing mechanism 123 is disposed on the first support platform 121, and the second picking and placing mechanism 124 is disposed on the second support platform 122. The first picking and placing mechanism 123 is used to pick and place the inventory container 210 at the storage position 111, and the second picking and placing mechanism 124 is used to pick and place the order container 220 at the buffer position 112.

[0061] By setting a first picking and placing mechanism 123 on the first carrying platform 121 and a second picking and placing mechanism 124 on the second carrying platform 122, the transfer of inventory container 210 between storage location 111 and the first carrying platform 121 and the transfer of order container 220 between cache location 112 and the second carrying platform 122 can be realized conveniently and efficiently, thereby improving the efficiency of automated picking.

[0062] Regarding the handling of containers, this application also proposes an implementation method, please refer to the details below. Figure 3 and Figure 4The figure shows a schematic diagram of the material picking system provided in another embodiment of this application from two perspectives. As shown in the figure, the first carrier platform 121 and the second carrier platform 122 are arranged adjacent to each other in the horizontal direction (the direction shown by the x-axis in the figure), and the picking and placing component 120 has a third picking and placing mechanism 125. The third picking and placing mechanism 125 is disposed on the first carrier platform 121. The third picking and placing mechanism 125 is used to pick up and place the inventory container 210 at the storage position 111. The third picking and placing mechanism 125 can also be used to pick up the order container 220 from the buffer position 112 to the first carrier platform 121 and place the order container 220 on the first carrier platform 121 to the second carrier platform 122. The third picking and placing mechanism 125 is also used to pick up the order container 220 on the second carrier platform 122 to the first carrier platform 121 and place the order container 220 on the first carrier platform 121 to the buffer position 112.

[0063] Specifically, the third picking and placing mechanism 125 can be a forklift, a robotic arm, etc., without limitation here.

[0064] By setting the first carrier platform 121 and the second carrier platform 122 horizontally adjacent to each other, and setting the third picking and placing mechanism 125 on the first carrier platform 121, the automated transfer of the inventory container 210 and the order container 220 between the shelf 110 and the first carrier platform 121, and between the first carrier platform 121 and the second carrier platform 122, is realized.

[0065] Furthermore, in some embodiments, the third picking and placing mechanism 125 is used to place the order container 220 on the first carrying platform 121 onto the second carrying platform 122, and then take out the inventory container 210 from multiple storage positions 111 according to the order corresponding to the order container 220, and place it on the first carrying platform 121 for the picking mechanism 130 to pick the materials and put it back, so as to complete the order corresponding to the order container 220.

[0066] For situations where the same order container 220 needs to pick the required materials from multiple inventory containers 210, by setting the third picking and placing mechanism 125 on the first carrying platform 121, the order container 220 does not need to be transferred after being placed on the second carrying platform 122. The third picking and placing mechanism 125 only needs to take the inventory containers 210 from each storage position 111 to the first carrying platform 121 for picking, which helps to ensure the efficiency of material picking.

[0067] Regarding the specific operating mode of the third pickup and delivery mechanism, this application proposes one implementation method; please refer to further details. Figure 3 and Figure 4As shown in the figure, the first support platform 121 and the third loading / unloading mechanism 125 are configured to rotate synchronously along a vertical axis (the axis parallel to the z-axis in the figure). The third loading / unloading mechanism 125 can rotate synchronously with the first support platform 121 to a position facing the second support platform 122 to load / unload the order container 220 on the second support platform 122.

[0068] By rotatably arranging the first carrier platform 121 and the third picking and placing mechanism 125 along the vertical axis, the order container 220 can be transferred between the first carrier platform 121 and the second carrier platform 122 when the third picking and placing mechanism 125 rotates synchronously with the first carrier platform 121 toward the second carrier platform 122. Based on this, various working conditions required for picking can be met, and compared with the method of picking and placing containers on the first carrier platform 121 and the second carrier platform 122 respectively by the dual picking and placing mechanism, the required cost can be effectively saved.

[0069] It is understood that in other embodiments, based on the fact that the first and second carrier platforms are arranged adjacent to each other in the horizontal direction and the picking and placing component has a third picking and placing mechanism, a fourth picking and placing mechanism can also be provided on the second carrier platform. The fourth picking and placing mechanism is used to pick up and place order containers in the buffer position, and can also be used to pick up inventory containers from the storage position to the second carrier platform and place the inventory containers on the second carrier platform to the first carrier platform. Similarly, the fourth picking and placing mechanism can also pick up inventory containers from the first carrier platform to the second carrier platform and then place the inventory containers on the second carrier platform to the storage position.

[0070] In order to reduce the cost of the material picking system 100 and optimize the control logic of each mechanism, this application proposes an implementation method in which the first carrier platform 121 and the second carrier platform 122 are configured to move vertically and / or move horizontally synchronously.

[0071] exist Figures 1 to 4 In the specific embodiment shown, the first support platform 121 and the second support platform 122 are fixed on the same base, which is movably mounted on one side of the shelf 110 via a slide rail. A drive mechanism moves the base, causing the first support platform 121 and the second support platform 122 to move vertically and horizontally synchronously. By configuring the first support platform 121 and the second support platform 122 to move synchronously vertically and horizontally, only one drive system is needed. This ensures simple control logic, reduces the likelihood of errors, and improves the reliability of material picking operations.

[0072] It is understandable that if the first support platform 121 and the second support platform 122 only need to move vertically or horizontally synchronously, then the first support platform 121 and the second support platform 122 need to be set separately, and each needs to be equipped with a corresponding slider for vertical lifting or horizontal movement, and the synchronous movement of the two is driven by the same drive mechanism.

[0073] Regarding the movement of the picking and placing component 120, this application proposes an implementation method, please refer to the following for details. Figure 1 As shown in the figure, the shelf 110 is provided with a horizontal rail 113 and a vertical rail 114. The horizontal rail 113 is fixed to the shelf 110, and the vertical rail 114 is movably connected to the horizontal rail 113 along the horizontal direction (the direction shown by the x-axis in the figure). The picking and placing component 120 is movably connected to the vertical rail 114 along the vertical direction (the direction shown by the z-axis in the figure).

[0074] The vertical movement of the picking and placing component 120 relative to the longitudinal track 114, in conjunction with the horizontal movement of the longitudinal track 114 relative to the transverse track 113, allows the picking and placing component 120 to move to a position corresponding to any storage location 111 or buffer location 112 on the shelf 110, so that the picking and placing component 120 can pick up and place containers in the corresponding storage location 111 or buffer location 112.

[0075] In other embodiments, for the movement of the picking and placing component, the longitudinal rail can be fixed to the shelf, the transverse rail can be movably connected to the longitudinal rail in the vertical direction, and the picking and placing component can be movably connected to the transverse rail in the horizontal direction. Furthermore, as... Figure 5 As shown, the transverse track 113 can also be movably connected to the shelf 110 in the vertical direction, and the longitudinal track 114 can be movably connected to the shelf 110 in the horizontal direction. The picking and placing component 120 can be movably connected to the transverse track 113 in the horizontal direction and to the longitudinal track 114 in the vertical direction. Both of these methods can also enable the picking and placing component to move to any position on the shelf for picking and placing containers.

[0076] like Figure 3 As shown, in some embodiments, the shelf 110 has multiple layers of storage compartments arranged along the vertical direction (the direction shown by the z-axis in the figure), wherein the bottom layer is a buffer compartment 112, and at least one of the remaining layers are storage compartments 111.

[0077] Optionally, please refer to [the relevant document / reference]. Figure 4 The material picking system 100 has a double-deep rack 110. Only one deep buffer position 112 is formed on the side of the bottom compartment of the double-deep rack that is close to the picking and placing components. The other deep position is empty, forming the passage 140 of the handling robot 300. The handling robot 300 can carry containers and move in this passage 140.

[0078] By setting up multiple storage compartments on the shelf 110, warehouse space is fully utilized, ensuring that more containers can be placed on one shelf 110. Furthermore, by setting the bottom storage compartment as a buffer position 112, the handling robot 300 can place and retrieve order containers 220 more efficiently.

[0079] Furthermore, regarding the design of the structure carrying the cache bit 112, this application proposes an implementation method, which can be found in the following details. Figure 3 and further combine Figure 6 ,in Figure 6 It shows Figure 3 As shown in the enlarged structure at point A, the shelf 110 is placed on a support plane 400 (e.g., a support platform on the ground or in a warehouse). A support member 115 is provided at the bottom of the shelf 110 near the support plane 400. A buffer position 112 is formed on the support member 115. A passageway 500 for the handling robot 300 to move between the support member 115 and the support plane is formed. A loading passage 1151 extends vertically through the support member 115. An opening 11511 is provided horizontally (indicated by the y-axis in the figure) on the side facing and / or away from the picking and placing assembly 120. The opening 11511 allows the lifting mechanism 310 on the handling robot 300, which is carrying the order container 220, to enter the loading passage 1151 horizontally, so that the lifting mechanism 310 lowers and places the order container 220 onto the support member 115. The loading channel 1151 is used for the lifting mechanism 310 on the empty handling robot 300 to pass through vertically, so that the lifting mechanism 310 on the handling robot 300 can lift the order container 220. The opening 11511 is used for the lifting mechanism 310 on the handling robot 300 carrying the order container 220 to move out horizontally from the loading channel 1151.

[0080] Specifically, the lifting mechanism 310 on the handling robot 300 can be a scissor lift mechanism, hydraulic jack, etc., which is not limited here. A loading platform can be set on the top of the lifting mechanism 310 to ensure the stability when handling containers. The carrier 115 can be made of a horizontal plate, and a loading channel 1151 with an opening 11511 can be formed by machining notches on it.

[0081] The process of placing the order container 220 in the buffer position 112 is as follows: the lifting mechanism 310 on the handling robot 300 carrying the order container 220 is in a raised state. The handling robot 300 enters the loading channel 1151 from the side where the opening 11511 is located. At this time, the top of the lifting mechanism 310 is higher than the top of the carrier 115, that is, the bottom of the order container 220 is higher than the top of the carrier 115. Then the lifting mechanism 310 descends, so that the order container 220 is placed on the carrier 115. The handling robot 300 moves out to perform the next operation.

[0082] The process of moving the order container 220 in the buffer position 112 is as follows: The lifting mechanism 310 on the unloaded handling robot 300 is in a lowered state. The handling robot 300 can enter the channel 500 between the carrier 115 and the carrier plane 400 from any position and make its lifting mechanism 310 correspond to the loading channel 1151 on the buffer position 112 in the height direction. Then, the lifting mechanism 310 rises and passes through the loading channel 1151, lifting the order container 220 on the carrier 115. Then, the handling robot 300 moves out from the opening 11511 and carries the order container 220 on it to the designated position.

[0083] Regarding the specific structure and installation method of the bearing member 115, this application further proposes an implementation method, please refer to the following for details. Figure 6 As shown in the figure, the load-bearing component 115 includes a crossbeam 1152 and at least one set of cantilever arms 1153. The crossbeam 1152 is horizontally arranged on one side of the bottom of the shelf 110. Each set of cantilever arms 1153 includes at least a first cantilever arm 11531 and a second cantilever arm 11532. One end of the first cantilever arm 11531 and one end of the second cantilever arm 11532 are fixed to the crossbeam 1152, and both the first cantilever arm 11531 and the second cantilever arm 11532 are perpendicular to the crossbeam 1152. The first cantilever arm 11531 and the second cantilever arm 11532 together form a buffer position 112. The first cantilever arm 11531 and the second cantilever arm 11532 are spaced apart from each other along the extension direction of the crossbeam 1152, so that a cargo passage 1151 is formed between the first cantilever arm 11531 and the second cantilever arm 11532.

[0084] The load-bearing component 115, employing a combination of a crossbeam 1152 and a cantilever 1153, saves materials, reduces costs, and facilitates assembly. According to another aspect of the embodiments of this application, a warehousing system is also provided; please refer again for details. Figure 1 The figure shows the structure of the warehousing system. The warehousing system 1000 includes a handling robot 300 and a material picking system 100 as described in any of the above embodiments. The handling robot 300 is used to place and handle order containers 220 on the buffer position 112 of the shelf 110.

[0085] Specifically, the warehousing system 1000 may include multiple material picking systems 100, each material picking system 100 is responsible for picking different materials, and the handling robot 300 can be responsible for transferring the same order container 220 between different material picking systems 100. Taking a warehousing system 1000 containing two material picking systems 100 as an example, a specific work process is provided below for illustrative purposes:

[0086] First, the transport robot 300 transports the empty order container 220 and places it on the buffer position 112 of one of the material picking systems 1000. After the material picking system 1000 picks all the materials that need to be picked into the empty order container 220, the empty order container 220 becomes a picked order container 220 for the material picking system. Then, the order container 220 is placed back on the buffer position 112. The transport robot 300 then takes the order container 220 from the buffer position 112 and transports it to the buffer position 112 of another material picking system 1000. After the other material picking system 1000 picks all the materials that need to be picked into the order container 220, the order container 220 becomes the final order container 220. After the final order container 220 is placed on the buffer position 112 of the other material picking system 1000, the transport robot 300 carries it to the downstream process, such as to the packaging workstation for packaging.

[0087] Optionally, if two material picking systems 1000 are arranged side by side, forming an aisle between the shelves 110 of the two material picking systems 1000, and the picking and placing component 120 moves within the aisle to pick and place the inventory containers 210 of the two material picking systems 1000 and the order containers 220 on the buffer positions 112 of at least one material picking system 1000, then there is no need for the handling robot 300 to transfer the order containers 220 between the two material picking systems 1000; the picking and placing component 120 can directly perform the picking. The warehousing system 1000 provided in this application embodiment, by adopting the material picking system 100 in any of the above embodiments, enables the warehousing system 1000 to not only achieve fully automated picking operations but also reduce operating costs and improve the space utilization rate of the warehousing system 1000.

[0088] According to another aspect of the embodiments of this application, a material picking method is also provided, which is applied to the warehousing system in any of the above embodiments, and the method can be executed by a controller in the warehousing system. Please refer to [link / reference] for details. Figure 7 The diagram illustrates the flow of a material picking method, which includes the following steps:

[0089] Step 610: Control the handling robot to place the order container on the buffer position of the shelf.

[0090] In this step, the movement path of the handling robot and the action of placing order containers can be controlled through wireless communication between the controller and the handling robot.

[0091] Step 620: Control the picking and placing component to move to the buffer position of the shelf and pick up the order container to the second carrier.

[0092] Step 630: Control the picking and placing component to move to the storage location on the shelf and pick up the inventory container to the first carrier.

[0093] Similarly, in steps 620 and 630, wireless or wired communication can be established between the controller and the corresponding drive control module on the picking and placing component to control the movement of the picking and placing component and the picking and placing of inventory containers and order containers.

[0094] It should be noted that there is no order requirement between steps 620 and 630. The order container can be moved to the second carrier platform first, or the inventory container can be moved to the first carrier platform first. Furthermore, if the structural conditions allow (e.g., the first and second carrier platforms are set up separately and move independently of each other), the operations of moving the order container to the second carrier platform and moving the inventory container to the first carrier platform can also be performed simultaneously.

[0095] Step 640: Control the picking mechanism to pick at least a portion of the materials from the inventory containers on the first platform to the order containers on the second platform.

[0096] Step 650: After picking is completed, control the pick and place component to place the order container on the second carrier platform into the buffer position of the shelf.

[0097] Step 660: Control the handling robot to move the order containers on the shelf's buffer position to the target location.

[0098] The control methods for steps 640 to 660 are the same as those for steps 610 to 630, and will not be repeated here.

[0099] By adopting the material picking method provided in this embodiment, fully automated material picking operations can be achieved, and the entire operation process does not require the coordination of multiple types of robots, which can effectively reduce operating costs.

[0100] Furthermore, in some embodiments, such as Figure 8 As shown, steps 630 and 640 include the following steps:

[0101] Step 6341: Control the picking and placing component to move to the storage location where the target inventory container is located, where the target inventory container contains the items required for the order corresponding to the order container.

[0102] Step 6342: Control the pick-and-place component to pick up the target inventory container and place it on the first carrier platform.

[0103] Step 6343: Control the picking mechanism to pick the materials to be picked from the target inventory container on the first carrier platform to the order container on the second carrier platform.

[0104] Step 6344: Control the pick-and-place component to place the target inventory container on the first carrier platform back into the storage location.

[0105] Step 6345: Identify another new inventory container as the target inventory container and proceed to step 6341 until all required materials have been picked into the order containers on the second carrier or the shelves that the pick-and-place components can pick up and place no longer include the target inventory container.

[0106] This embodiment addresses the scenario where the same order container needs to pick materials from different inventory containers on the same shelf. It adopts a method where the order container is always placed on the second carrying platform, and different inventory containers are picked up in sequence to pick the corresponding materials, thus ensuring the high efficiency of material picking operations.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way.

Claims

1. A material picking system, characterized in that, Includes shelving and picking / placing components; The shelf has storage positions and buffer positions, at least one of the storage positions is used to place an inventory container containing materials, and at least one of the buffer positions is used for a handling robot to place or pick up order containers thereon; The picking and placing component is movably mounted on the shelf. The picking and placing component has a first carrying platform and a second carrying platform. The picking and placing component can move to the storage position to pick up the inventory container to the first carrying platform or place the inventory container to the storage position, and can move to the buffer position to pick up the order container to the second carrying platform or place the order container to the buffer position. The picking and placing component is equipped with a picking mechanism, which is used to pick at least a portion of the materials in the inventory container on the first carrier platform to the order container on the second carrier platform according to the order corresponding to the order container; The picking and placing components are integrated into the shelf; The first support platform, the second support platform, and the picking and placing components share the same drive system for synchronous vertical lifting and horizontal movement relative to the shelf. The first and second support platforms are arranged adjacent to each other in the horizontal direction, and the loading and unloading assembly has a third loading and unloading mechanism; The third picking and placing mechanism is disposed on the first carrier platform. The third picking and placing mechanism is used to pick up and place inventory containers in the storage position. The third picking and placing mechanism can also be used to pick up order containers in the buffer position to the first carrier platform and place order containers on the first carrier platform to the second carrier platform; the third picking and placing mechanism is also used to pick up order containers on the second carrier platform to the first carrier platform and place order containers on the first carrier platform to the buffer position. The first and second support platforms are arranged adjacent to each other in the horizontal direction, and the loading and unloading assembly has a fourth loading and unloading mechanism. The fourth picking and placing mechanism is disposed on the second carrier platform. The fourth picking and placing mechanism is used to pick up and place order containers in the buffer position. The fourth picking and placing mechanism can also be used to pick up inventory containers in the storage position to the second carrier platform and place the inventory containers on the second carrier platform to the first carrier platform. The fourth picking and placing mechanism is also used to pick up inventory containers on the first carrier platform to the second carrier platform and place the inventory containers on the second carrier platform to the storage position.

2. The material picking system according to claim 1, characterized in that, The third picking and placing mechanism is used to place the order container on the first carrier platform to the second carrier platform, and then take out the inventory container from multiple storage positions in sequence according to the order corresponding to the order container, and place it on the first carrier platform for the picking mechanism to pick the material and put it back, so as to complete the order corresponding to the order container.

3. The material picking system according to claim 1, characterized in that, The first carrier platform and the third loading / unloading mechanism are configured to rotate synchronously along a vertical axis. The third loading / unloading mechanism can rotate synchronously with the first carrier platform to a position facing the second carrier platform in order to load and unload order containers on the second carrier platform.

4. The material picking system according to any one of claims 1-3, characterized in that, The shelf is equipped with horizontal and vertical rails; The transverse track is fixed to the shelf, and the longitudinal track is movably connected to the transverse track in the horizontal direction. The picking and placing component is movably connected to the longitudinal track in the vertical direction; or, the longitudinal track is fixed to the shelf, and the transverse track is movably connected to the longitudinal track in the vertical direction. The picking and placing component is movably connected to the transverse track in the horizontal direction; or, the transverse track is movably connected to the shelf in the vertical direction, and the longitudinal track is movably connected to the shelf in the horizontal direction. The picking and placing component is movably connected to the transverse track in the horizontal direction and also movably connected to the longitudinal track in the vertical direction.

5. The material picking system according to any one of claims 1-3, characterized in that, The shelf is arranged with multiple layers of storage compartments in a vertical direction, with the bottom layer being the cache compartment and at least one of the remaining layers being the storage compartments.

6. The material picking system according to claim 5, characterized in that, The shelf is used to be placed on the bearing plane. The shelf is provided with a bearing member at the bottom end near the bearing plane. The bearing member forms the buffer position. A channel for the handling robot to walk is formed between the bearing member and the bearing plane. The carrier has a cargo-carrying channel extending through it in the vertical direction, and the cargo-carrying channel has an opening in the horizontal direction on the side facing and / or away from the cargo-taking and placing component. The opening is used to allow the lifting mechanism on the handling robot carrying the order container to enter the loading channel in the horizontal direction, so that the lifting mechanism on the handling robot can lower and place the order container on the carrier. The loading channel is used for the lifting mechanism on an empty handling robot to pass through in the vertical direction, so that the lifting mechanism on the handling robot can lift the order container. The opening is used for the lifting mechanism on the handling robot carrying the order container to move out of the loading channel in the horizontal direction.

7. The material picking system according to claim 6, characterized in that, The load-bearing component includes a crossbeam and at least one set of cantilever arms. The crossbeam is horizontally disposed on one side of the bottom of the shelf. Each set of cantilever arms includes at least a first cantilever arm and a second cantilever arm. One end of the first cantilever arm and one end of the second cantilever arm are both fixed to the crossbeam, and the first cantilever arm and the second cantilever arm are both perpendicular to the crossbeam. The first cantilever arm and the second cantilever arm together form the buffer position. The first cantilever arm and the second cantilever arm are spaced apart from each other along the extension direction of the crossbeam, so that the loading channel is formed between the first cantilever arm and the second cantilever arm.

8. A warehousing system, characterized in that, Includes a handling robot and a material picking system as described in any one of claims 1-7, wherein the handling robot is used to place and move order containers at buffer positions on the shelf.

9. A material picking method, characterized in that, The material picking method, applied to the warehousing system of claim 8, comprises: The handling robot is controlled to place the order container on the buffer position of the shelf; Control the picking and placing component to move to the buffer position of the shelf and pick up the order container to the second carrying platform; Control the picking and placing component to move to the storage position of the shelf and pick up the inventory container to the first carrying platform; The picking mechanism is controlled to pick at least a portion of the materials from the inventory container on the first carrier platform to the order container on the second carrier platform; After picking is completed, the picking and placing component is controlled to place the order container on the second carrier platform into the buffer position of the shelf; The handling robot is controlled to move the order containers on the buffer position of the shelf to the target location.

10. The material picking method according to claim 9, characterized in that, The control of moving the picking and placing component to the storage location of the shelf and picking up the inventory container to the first carrier platform, and the control of the picking mechanism to pick at least a portion of the materials from the inventory container on the first carrier platform to the order container on the second carrier platform, include: Control the picking and placing component to move to the storage location where the target inventory container is located, wherein the target inventory container contains the items required for the order corresponding to the order container; The picking and placing component is controlled to pick up the target inventory container and place it on the first carrying platform; The picking mechanism is controlled to pick the materials to be picked from the target inventory container on the first carrier platform to the order container on the second carrier platform; The loading and unloading component is controlled to return the target inventory container on the first carrier platform to the storage location; Another new inventory container is identified as the target inventory container, and the process proceeds to the step of controlling the picking and placing component to move to the storage location of the target inventory container, until all required materials are picked into the order containers on the second carrier platform or the shelves that the picking and placing component can pick and place no longer include the target inventory container.

Images